WorldWideScience

Sample records for dual powered locomotives

  1. 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 ...

  2. Advanced underground Vehicle Power and Control: The locomotive Research Platform

    Energy Technology Data Exchange (ETDEWEB)

    Vehicle Projects LLC

    2003-01-28

    Develop a fuelcell mine locomotive with metal-hydride hydrogen storage. Test the locomotive for fundamental limitations preventing successful commercialization of hydride fuelcells in underground mining. During Phase 1 of the DOE-EERE sponsored project, FPI and its partner SNL, completed work on the development of a 14.4 kW fuelcell power plant and metal-hydride energy storage. An existing battery-electric locomotive with similar power requirements, minus the battery module, was used as the base vehicle. In March 2001, Atlas Copco Wagner of Portland, OR, installed the fuelcell power plant into the base vehicle and initiated integration of the system into the vehicle. The entire vehicle returned to Sandia in May 2001 for further development and integration. Initial system power-up took place in December 2001. A revision to the original contract, Phase 2, at the request of DOE Golden Field Office, established Vehicle Projects LLC as the new prime contractor,. Phase 2 allowed industry partners to conduct surface tests, incorporate enhancements to the original design by SNL, perform an extensive risk and safety analysis, and test the fuelcell locomotive underground under representative production mine conditions. During the surface tests one of the fuelcell stacks exhibited reduced power output resulting in having to replace both fuelcell stacks. The new stacks were manufactured with new and improved technology resulting in an increase of the gross power output from 14.4 kW to 17 kW. Further work by CANMET and Hatch Associates, an engineering consulting firm specializing in safety analysis for the mining industry, both under subcontract to Vehicle Projects LLC, established minimum requirements for underground testing. CANMET upgraded the Programmable Logic Control (PLC) software used to monitor and control the fuelcell power plant, taking into account locomotive operator's needs. Battery Electric, a South Africa manufacturer, designed and manufactured (at no cost

  3. Biodiesel fuel costs and environmental issues when powering railway locomotives

    Energy Technology Data Exchange (ETDEWEB)

    Mirza, Abdul; Ziemer, Norbert; Tatara, Robert; Moraga, Reinaldo; Mirman, Clifford; Vohra, Promod

    2010-09-15

    Issues for adopting biodiesel fuel, instead of petrodiesel, to power railroad locomotives are engine performance and emissions, fuel infrastructure, and fuel cost. These are evaluated for B2 through B100 blends. Biodiesel's solvent action on fuel systems is addressed. With biodiesel, hydrocarbon, carbon monoxide, and particulate emissions are unchanged or reduced. Nitrogen oxides are elevated but it is believed that engine alterations can minimize these emissions. A Transportation Model, using data from a major railway, has demonstrated that refueling depots can be fully supplied with biodiesel at a pricing premium of 1% to 26%, depending on blend and geographical location.

  4. A locomotive inspection robot for turbine building interior inspection in nuclear power plants

    International Nuclear Information System (INIS)

    Obama, M.; Ozaki, F.; Asano, K.

    1985-01-01

    A locomotive inspection robot, named Turbine Building Inspection System (TBIS), has been developed for turbine building interior inspections in nuclear power plants. This robot is made up of a vehicle, a telescopic support, turning head and a multijoint arm which has dual TV cameras and a diagnostic rod on its tip. The multijoint arm has 17 degrees of freedom and its length is 243 cm. Minimum and maximum heights for the multijoint arm shoulder are 1.5 meter and 4 meters respectively. The total degree of freedom in the combination of the multijoint arm, turning head and telescopic support is 19 and the area, it is capable of inspecting, is equal to the cylindrical dome whose height and diameter are 6.4 meters and 4.8 meters respectively. The design philosophy, hardware structure and operation method of the TBIS are described. 2 refs.; 10 figs

  5. 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.

  6. 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).

  7. A remotely-controlled locomotive IC driven by electrolytic bubbles and wireless powering.

    Science.gov (United States)

    Hsieh, Jian-Yu; Kuo, Po-Hung; Huang, Yi-Chun; Huang, Yu-Jie; Tsai, Rong-Da; Wang, Tao; Chiu, Hung-Wei; Wang, Yao-Hung; Lu, Shey-Shi

    2014-12-01

    A batteryless remotely-controlled locomotive IC utilizing electrolytic bubbles as propelling force is realized in 0.35 μm CMOS technology. Without any external components, such as magnets and on-board coils, the bare IC is wirelessly powered and controlled by a 10 MHz ASK modulated signal with RS232 control commands to execute movement in four moving directions and with two speeds. The receiving coil and electrolysis electrodes are all integrated on the locomotive chip. The experiment successfully demonstrated that the bare IC moved on the surface of an electrolyte with a speed up to 0.3 mm/s and change moving directions according to the commands. The total power consumptions of the chip are 207.4 μW and 180 μ W while the output electrolysis voltages are 2 V and 1.3 V, respectively.

  8. Effect of high power microwaves on rats locomotion and cognition

    International Nuclear Information System (INIS)

    Seze, Rene de; Ammari, Mohamed; Sakly, Mohsen; Abdelmelek, Hafedh

    2008-01-01

    Full text: Introduction: High power microwaves (HPM) are suspected to produce some behavioural deficits in rats, however very few studies have been published on this topics. The aim of our experiment was to determine if exposure to HPM could affect behaviour in locomotor (open field) and memory (objects recognition) tasks. Materials and methods: Exposure Six-weeks male rats were exposed to a 13 cm-diameter electromagnetic beam at 10 GHz ; radiation was emitted through 10 seconds trains of 1 ns-pulses at 100 Hz. Power of the source was 350 MW and peak-intensity of the field was 50 GW/m 2 (6100 kV/m) at 5 cm from the conical emitting horn. A single exposure was applied every 5 minutes for 1 h and the behavioural test was performed in the following hour. Time-averaged SAR over that period was estimated at 0.34 W/kg. Peak-power in one pulse was 95 MW/kg and in any second, 9.5 W/kg. Groups: A group of 12 individually exposed animals was compared to a group of 12 sham-exposed animals, set at the same place and in the same ambient conditions as the exposed animals, but omitting HPM emission. Behaviour: An open-field video-track was performed during the different phases. Each phase includes 3 successive trials of 5 min, with 3 minutes in between. Phase 1 studied spontaneous locomotor activity and animal anxiety by recording its position in the arena (periphery meaning anxiety). Phase 2 looked at exploratory behaviour, adding three objects in the field. Time spent close to the objects reflects curiosity. Phase 3 looked at habituation and spatial memory, changing an object from one quadrant (Nr.3) to another one (Nr.4). Phase 4 looked at memory and attention, changing one object by a new one in quadrant Nr.3. Measured parameters were, for any central or peripheral area, containing or not a previously present or a new object: time spent in a quadrant, number of crossed quadrants and run distance. Results and discussion: No significant difference was found for the different

  9. The speed-curvature power law in Drosophila larval locomotion.

    Science.gov (United States)

    Zago, Myrka; Lacquaniti, Francesco; Gomez-Marin, Alex

    2016-10-01

    We report the discovery that the locomotor trajectories of Drosophila larvae follow the power-law relationship between speed and curvature previously found in the movements of human and non-human primates. Using high-resolution behavioural tracking in controlled but naturalistic sensory environments, we tested the law in maggots tracing different trajectory types, from reaching-like movements to scribbles. For most but not all flies, we found that the law holds robustly, with an exponent close to three-quarters rather than to the usual two-thirds found in almost all human situations, suggesting dynamic effects adding on purely kinematic constraints. There are different hypotheses for the origin of the law in primates, one invoking cortical computations, another viscoelastic muscle properties coupled with central pattern generators. Our findings are consistent with the latter view and demonstrate that the law is possible in animals with nervous systems orders of magnitude simpler than in primates. Scaling laws might exist because natural selection favours processes that remain behaviourally efficient across a wide range of neural and body architectures in distantly related species. © 2016 The Authors.

  10. Harmonic analysis of electric locomotive and traction power system based on wavelet singular entropy

    Science.gov (United States)

    Dun, Xiaohong

    2018-05-01

    With the rapid development of high-speed railway and heavy-haul transport, the locomotive and traction power system has become the main harmonic source of China's power grid. In response to this phenomenon, the system's power quality issues need timely monitoring, assessment and governance. Wavelet singular entropy is an organic combination of wavelet transform, singular value decomposition and information entropy theory, which combines the unique advantages of the three in signal processing: the time-frequency local characteristics of wavelet transform, singular value decomposition explores the basic modal characteristics of data, and information entropy quantifies the feature data. Based on the theory of singular value decomposition, the wavelet coefficient matrix after wavelet transform is decomposed into a series of singular values that can reflect the basic characteristics of the original coefficient matrix. Then the statistical properties of information entropy are used to analyze the uncertainty of the singular value set, so as to give a definite measurement of the complexity of the original signal. It can be said that wavelet entropy has a good application prospect in fault detection, classification and protection. The mat lab simulation shows that the use of wavelet singular entropy on the locomotive and traction power system harmonic analysis is effective.

  11. Development of Dual Power Multirotor System

    Directory of Open Access Journals (Sweden)

    Chin E. Lin

    2017-01-01

    Full Text Available Vertical take-off and landing (VTOL aircraft has good flight characteristics and system performance without runway. The multirotor system has been tried to expand into larger size for longer endurance or higher payload. But the motor power to endurance ratio has been limited. Due to the specific energy of gasoline being much higher than battery, introducing gasoline engine into multirotor system can be considered. This paper proposes a dual power multirotor system to combine a quadrotor using gasoline engines to provide major lift in shorter arm with another quadrotor using brushless DC motors to offer most controllable force with longer arm. System design, fabrication, and verification of the proposed dual power multirotor system development are presented. Preliminary flights have achieved 16 kg payload for long endurance flight. This is useful for various applications with advanced improvements.

  12. 49 CFR 1242.67 - Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power...

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 9 2010-10-01 2010-10-01 false Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power purchased/produced for motive power; operating switches... SERVICE FOR RAILROADS 1 Operating Expenses-Transportation § 1242.67 Switch crews; controlling operations...

  13. 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.

  14. 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.

  15. 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.

  16. The impact of the type of operation on the parameters of a shunting diesel locomotive with hybrid power plant

    Directory of Open Access Journals (Sweden)

    Falendysh Anatoliy

    2017-01-01

    Full Text Available In designing a traction vehicle it is necessary to take into account the type of field operation it is meant for. It was found out that during shunting operation a ChME3 diesel locomotive is in idling mode for almost half of its general running time. That is why, the introduction of a less powerful engine along with an energy storage device for shunting operations at a shunting diesel locomotive is appropriate. The calculations were made using a modernized shunting diesel locomotive ChME3 with hybrid transmission of power as an example. The dependences of the general running time of a diesel locomotive on the position of the engine driver controller under performing shunting, transportation and hump operation were given in percentages. For every operation mode there was calculated the optimum power of a diesel-generator plant and the optimum energy capacity of an energy storage system taking into account the above-mentioned dependences. It was found out that due to the introduction of a hybrid drive for the section discussed above and the corresponding mass of a train the aggregate fuel consumption will be reduced by 25% and the efficiency of travel will increase by one third.

  17. 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.)

  18. Operating a locomotive on liquid methane fuel

    International Nuclear Information System (INIS)

    Stolz, J.L.

    1992-01-01

    This paper reports that several years ago, Burlington Northern Railroad looked into the feasibility of operating a diesel railroad locomotive to also run on compressed natural gas in a dual-fuel mode. Recognizing the large volume of on-board storage required and other limitations of CNG in the application, a program was begun to fuel a locomotive with liquefied natural gas. Because natural gas composition can vary with source and processing, it was considered desirable to use essentially pure liquid methane as the engine fuel. Initial testing results show the locomotive system achieved full diesel-rated power when operating on liquid methane and with equivalent fuel efficiency. Extended testing, including an American Association of Railroad 500-hour durability test, was undertaken to obtain information on engine life, wear rate and lubrication oil life

  19. 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.

  20. 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.

  1. 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.

  2. 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...

  3. Locomotive monitoring system using wireless sensor networks

    CSIR Research Space (South Africa)

    Croucamp, PL

    2014-07-01

    Full Text Available Theft of cables used for powering a locomotive not only stops the train from functioning but also paralyzes the signalling and monitoring system. This means that information on certain locomotive's cannot be passed onto other locomotives which may...

  4. The dual hydro x nuclear power plants

    International Nuclear Information System (INIS)

    Borges, J.C.

    1984-01-01

    An our daily life in modern society becomes more and more dependent on electricity, supply of this kind of energy should not only be a part of a global energy policy, but also lay down rigorous criteria to garanty the market supply. Planning actions of the electrical sector are more sensitive to unforseen events, either to brief interruptions in energy supply or to non-equilibrium at any time of the excess of supply over demand. In this way, the cost factor although basic, does not lead to optimal solutions in decisions which involve options between different technologies and energy sources to generate electricity. In this paper, we analyse the above situation in the case of deciding between utilization of nuclear or hydro power plants to supply the Brazilian demande for electricity. Our final objective was the search for parameters which could lead us to better identify and understand the adroitness and mistakes of the Brazilian Nuclear Program. (Author) [pt

  5. Animal Locomotion in Different Mediums

    Indian Academy of Sciences (India)

    IAS Admin

    examine only self-powered animal locomotion. ... At different phases of their life cycle both animals and plants are highly mobile but their ... wind driven transport (Figure C). ..... fins which serve the function of rudimentary limbs, particularly.

  6. Quadruped locomotion system of prototype advanced robot for nuclear power plant facilities

    International Nuclear Information System (INIS)

    Sugiyama, Sakae

    1991-01-01

    The development of the robots for the works in nuclear power stations has been promoted. The demonstration machine developed comprises subsystems so that the design, manufacture, operation, maintenance and so on of the robots are simplified and made convenient, that is, the command for all actions, visual information processing subsystem, manipulation subsystem and movement subsystem. In this report, the elementary technology of movement and the movement subsystem are described. Quadruped walking, intelligent type motion control, and the target specification, movement subsystem and test of the demonstration machine are explained. (K.I.)

  7. 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

  8. 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.

  9. 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.

  10. 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

  11. 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...

  12. 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.

  13. 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.

  14. 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

  15. Analysis of fuel cell hybrid locomotives

    Energy Technology Data Exchange (ETDEWEB)

    Miller, Arnold R. [Vehicle Projects LLC, 621, 17th Street, Suite 2131, Denver, CO 80293 (United States); Peters, John; Smith, Brian E. [Transportation Technology Center Inc., 55500 DOT Road, Pueblo, CO 81007 (United States); Velev, Omourtag A. [AeroVironment Inc., 232 West Maple Avenue, Monrovia, CA 91016 (United States)

    2006-07-03

    Led by Vehicle Projects LLC, an international industry-government consortium is developing a 109t, 1.2MW road-switcher locomotive for commercial and military railway applications. As part of the feasibility and conceptual-design analysis, a study has been made of the potential benefits of a hybrid power plant in which fuel cells comprise the prime mover and a battery or flywheel provides auxiliary power. The potential benefits of a hybrid power plant are: (i) enhancement of transient power and hence tractive effort; (ii) regenerative braking; (iii) reduction of capital cost. Generally, the tractive effort of a locomotive at low speed is limited by wheel adhesion and not by available power. Enhanced transient power is therefore unlikely to benefit a switcher locomotive, but could assist applications that require high acceleration, e.g. subway trains with all axles powered. In most cases, the value of regeneration in locomotives is minimal. For low-speed applications such as switchers, the available kinetic energy and the effectiveness of traction motors as generators are both minimal. For high-speed heavy applications such as freight, the ability of the auxiliary power device to absorb a significant portion of the available kinetic energy is low. Moreover, the hybrid power plant suffers a double efficiency penalty, namely, losses occur in both absorbing and then releasing energy from the auxiliary device, which result in a net storage efficiency of no more than 50% for present battery technology. Capital cost in some applications may be reduced. Based on an observed locomotive duty cycle, a cost model shows that a hybrid power plant for a switcher may indeed reduce capital cost. Offsetting this potential benefit are the increased complexity, weight and volume of the power plant, as well as 20-40% increased fuel consumption that results from lower efficiency. Based on this analysis, the consortium has decided to develop a pure fuel cell road-switcher locomotive, that

  16. 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.

  17. Dual Mode Low Power Hall Thruster, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Sample and return missions desire and missions like Saturn Observer require a low power Hall thruster that can operate at high thrust to power as well as high...

  18. Dual Power Supplies for PEP-II Injection Kickers

    CERN Document Server

    Olszewski, Joseph; Iverson, Richard; Kulikov, Artem; Pappas, Chris

    2005-01-01

    Originally the PEP-II injection kickers where powered by one power supply. Since the kicker magnets where not perfectly matched, the stored beam got excited by about 7% of the maximum kicker amplitude. This led to luminosity losses which were especially obvious for trickle injection when the detector is on for data taking. Therefore two independant power supplies with thyratrons in the tunnel next to the kicker magnet were installed. This also reduces the necessary power by about a factor of five since there are no long cables that have to be charged. The kickers are now independantly adjustable to eliminate any non-closure of the kicker system and therefore excitation of the stored beam. Setup, commissioning and fine tuning of this system are discussed.

  19. Dual Power Supplies for PEP-II Injection Kickers

    Energy Technology Data Exchange (ETDEWEB)

    Olszewski, J; Decker, F.-J.; Iverson, R.H.; Kulikov, A.; Pappas, C.; /SLAC

    2005-05-25

    Originally the PEP-II injection kickers were powered by one power supply. Since the kicker magnets where not perfectly matched, the stored beam got excited by about 7% of the maximum kicker amplitude. This led to luminosity losses which were especially obvious for trickle injection when the detector is on for data taking. Therefore two independent power supplies with thyratrons in the tunnel next to the kicker magnet were installed. This also reduces the necessary power by about a factor of four since there are no long cables that have to be charged. The kickers are now independently adjustable to eliminate any non-closure of the kicker system and therefore excitation of the stored beam. Setup, commissioning and fine tuning of this system are discussed.

  20. Dual Power Supplies for PEP-II Injection Kickers

    International Nuclear Information System (INIS)

    Olszewski, J; Decker, F.-J.; Iverson, R.H.; Kulikov, A.; Pappas, C.; SLAC

    2005-01-01

    Originally the PEP-II injection kickers were powered by one power supply. Since the kicker magnets where not perfectly matched, the stored beam got excited by about 7% of the maximum kicker amplitude. This led to luminosity losses which were especially obvious for trickle injection when the detector is on for data taking. Therefore two independent power supplies with thyratrons in the tunnel next to the kicker magnet were installed. This also reduces the necessary power by about a factor of four since there are no long cables that have to be charged. The kickers are now independently adjustable to eliminate any non-closure of the kicker system and therefore excitation of the stored beam. Setup, commissioning and fine tuning of this system are discussed

  1. 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

  2. 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.

  3. 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)

  4. 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...

  5. 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...

  6. 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.

  7. 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....

  8. 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.

  9. 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

  10. 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.

  11. 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...

  12. 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.

  13. 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

  14. 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

  15. 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.

  16. 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.)

  17. 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.

  18. 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...

  19. 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.

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. 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...

  6. 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.

  7. 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.

  8. 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

  9. 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.

  10. 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%.

  11. 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.

  12. 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...

  13. 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.

  14. 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....

  15. 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.

  16. 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.

  17. 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.

  18. Exotendons for assistance of human locomotion

    Directory of Open Access Journals (Sweden)

    van den Bogert Antonie J

    2003-10-01

    Full Text Available Abstract Background Powered robotic exoskeletons for assistance of human locomotion are currently under development for military and medical applications. The energy requirements for such devices are excessive, and this has become a major obstacle for practical applications. Legged locomotion in many animals, however, is very energy efficient. We propose that poly-articular elastic mechanisms are a major contributor to the economy of locomotion in such specialized animals. Consequently, it should be possible to design unpowered assistive devices that make effective use of similar mechanisms. Methods A passive assistive technology is presented, based on long elastic cords attached to an exoskeleton and guided by pulleys placed at the joints. A general optimization procedure is described for finding the best geometrical arrangement of such "exotendons" for assisting a specific movement. Optimality is defined either as minimal residual joint moment or as minimal residual joint power. Four specific exotendon systems with increasing complexity are considered. Representative human gait data were used to optimize each of these four systems to achieve maximal assistance for normal walking. Results The most complex exotendon system, with twelve pulleys per limb, was able to reduce the joint moments required for normal walking by 71% and joint power by 74%. A simpler system, with only three pulleys per limb, could reduce joint moments by 46% and joint power by 47%. Conclusion It is concluded that unpowered passive elastic devices can substantially reduce the muscle forces and the metabolic energy needed for walking, without requiring a change in movement. When optimally designed, such devices may allow independent locomotion in patients with large deficits in muscle function.

  19. 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.

  20. 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.

  1. How animals move: comparative lessons on animal locomotion.

    Science.gov (United States)

    Schaeffer, Paul J; Lindstedt, Stan L

    2013-01-01

    Comparative physiology often provides unique insights in animal structure and function. It is specifically through this lens that we discuss the fundamental properties of skeletal muscle and animal locomotion, incorporating variation in body size and evolved difference among species. For example, muscle frequencies in vivo are highly constrained by body size, which apparently tunes muscle use to maximize recovery of elastic recoil potential energy. Secondary to this constraint, there is an expected linking of skeletal muscle structural and functional properties. Muscle is relatively simple structurally, but by changing proportions of the few muscle components, a diverse range of functional outputs is possible. Thus, there is a consistent and predictable relation between muscle function and myocyte composition that illuminates animal locomotion. When animals move, the mechanical properties of muscle diverge from the static textbook force-velocity relations described by A. V. Hill, as recovery of elastic potential energy together with force and power enhancement with activation during stretch combine to modulate performance. These relations are best understood through the tool of work loops. Also, when animals move, locomotion is often conveniently categorized energetically. Burst locomotion is typified by high-power outputs and short durations while sustained, cyclic, locomotion engages a smaller fraction of the muscle tissue, yielding lower force and power. However, closer examination reveals that rather than a dichotomy, energetics of locomotion is a continuum. There is a remarkably predictable relationship between duration of activity and peak sustainable performance.

  2. The aspect of vector control using the asynchronous traction motor in locomotives

    Directory of Open Access Journals (Sweden)

    L. Liudvinavičius

    2009-12-01

    Full Text Available The article examines curves controlling asynchronous traction motors increasingly used in locomotive electric drives the main task of which is to create a tractive effort-speed curve of an ideal locomotive Fk = f(v, including a hyperbolic area the curve of which will create conditions showing that energy created by the diesel engine of diesel locomotives (electric locomotives and in case of electric trains, electricity taken from the contact network over the entire range of locomotive speed is turned into efficient work. Mechanical power on wheel sets is constant Pk = Fkv = const, the power of the diesel engine is fully used over the entire range of locomotive speed. Tractive effort-speed curve Fk(v shows the dependency of locomotive traction power Fk on movement speed v. The article presents theoretical and practical aspects relevant to creating the structure of locomotive electric drive and selecting optimal control that is especially relevant to creating the structure of locomotive electric drive using ATM (asynchronous traction motor that gains special popularity in traction rolling stock replacing DC traction motors having low reliability. The frequency modes of asynchronous motor speed regulation are examined. To control ATM, the authors suggest the method of vector control presenting the structural schemes of a locomotive with ATM and control algorithm.

  3. 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.

  4. 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.

  5. 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.

  6. System design of a large fuel cell hybrid locomotive

    Science.gov (United States)

    Miller, A. R.; Hess, K. S.; Barnes, D. L.; Erickson, T. L.

    Fuel cell power for locomotives combines the environmental benefits of a catenary-electric locomotive with the higher overall energy efficiency and lower infrastructure costs of a diesel-electric. A North American consortium, a public-private partnership, is developing a prototype hydrogen-fueled fuel cell-battery hybrid switcher locomotive for urban and military-base rail applications. Switcher locomotives are used in rail yards for assembling and disassembling trains and moving trains from one point to another. At 127 tonnes (280,000 lb), continuous power of 250 kW from its (proton exchange membrane) PEM fuel cell prime mover, and transient power well in excess of 1 MW, the hybrid locomotive will be the heaviest and most powerful fuel cell land vehicle yet. This fast-paced project calls for completion of the vehicle itself near the end of 2007. Several technical challenges not found in the development of smaller vehicles arise when designing and developing such a large fuel cell vehicle. Weight, center of gravity, packaging, and safety were design factors leading to, among other features, the roof location of the lightweight 350 bar compressed hydrogen storage system. Harsh operating conditions, especially shock loads during coupling to railcars, require component mounting systems capable of absorbing high energy. Vehicle scale-up by increasing mass, density, or power presents new challenges primarily related to issues of system layout, hydrogen storage, heat transfer, and shock loads.

  7. 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.

  8. 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.

  9. 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...

  10. Characteristics and thermal behavior analysis of lithium-ion batteries for application in hybrid locomotives

    Science.gov (United States)

    Chatterjee, Krishnashis

    The locomotive industry accounts for 2.5 % of the total fuel consumption in the US. Thus the necessity for reducing fuel consumption and emissions led to the development of the concept of hybrid locomotive which is dual powered by the diesel engine and electric motors. But the energy dissipated in braking such a locomotive in a year is enough to power over 9100 average US households over the same period of time. Recovering this energy using regenerative braking system and storing it in a electric battery is of great interest among researchers for improving overall efficiency and reducing consumption of fuels. In the present study, LiFePO4 batteries, a type of the state-of-art lithium-ion batteries, have been tested under different environmental and load conditions. Environmental temperatures were varied to analyze their effects on the charging and discharging patterns of the battery by using the CADEX battery analyzer in order to find the temperature range for optimum battery performance. The fluctuations of temperature of the battery surface were monitored along the length of the tests, using Infra-Red imaging and thermocouple probes at different points on the battery surface. Both battery performance characteristics and the variation of the battery surface temperature were also recorded for different load cycles in order to get a comprehensive picture of the heat generation and its effect on the behavior of the battery under different load conditions. Lastly a practical Load Cycle analysis of the battery has been performed which gave a picture of the heat generated by the battery and also the performance characteristics as it is subjected to a practical Load Cycle.

  11. 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%

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

    Science.gov (United States)

    Martinez, Andrew S.; Brouwer, Jacob; Samuelsen, G. Scott

    2012-09-01

    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 reasonable dynamic response. The use of diesel fuel reformate in the SOFC presents a challenge to the electrochemistry, especially as it relates to control and optimization of the fuel utilization in the anode compartment. This is found to arise from the large amount of carbon monoxide in diesel reformate that is fed to the fuel cell, limiting the maximum fuel utilization possible. This presents an opportunity for further investigations into carbon monoxide electrochemical oxidation and/or system integration studies where the efficiency of the fuel reformer can be balanced against the needs of the SOFC.

  13. 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...

  14. 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.

  15. 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.

  16. Performance study of a dual power source residential CCHP system based on PEMFC and PTSC

    International Nuclear Information System (INIS)

    Chen, Xi; Gong, Guangcai; Wan, Zhongmin; Zhang, Caizhi; Tu, Zhengkai

    2016-01-01

    Highlights: • A novel dual power source residential CCHP system model is proposed. • Low temperature and high current density guarantee the high efficiency of PTSC. • High system efficiency can be obtained at a relatively low solar radiation. • Government subsidy is a crucial factor to improve system economic performance. • System environmental performance is discussed by parametric study. - Abstract: This paper presents an innovative, hybrid residential CCHP system based on fuel cell and solar technologies that can provide electric power, heating and cooling. The CCHP system consists of a proton exchange membrane fuel cell (PEMFC) stack, parabolic trough solar collector (PTSC), double-effect absorption chiller and their relevant accessories. The effects of key operating parameters for PEMFC and PTSC systems (e.g.: current density, operating temperature and solar radiation) on the system thermodynamic performance are analyzed and discussed. The results show that the PEMFC operation temperature has a significant influence on the PTSC output performance in a hybrid CCHP system and that the PTSC also plays an important role as a bridge between the PEMFC stack and absorption chiller. The maximum efficiency of a hybrid system can reach 80.5%, which is higher than conventional CCHP systems, due to the high efficiency of PEMFC, PTSC and double-effect absorption chiller. The economic and environmental analysis of CCHP system are also performed, the results indicate the project is practicable, meanwhile, high current density and solar radiation and low operating temperature can improve pollutant emissions reduction of the system.

  17. Ex vivo validation of a stoichiometric dual energy CT proton stopping power ratio calibration

    Science.gov (United States)

    Xie, Yunhe; Ainsley, Christopher; Yin, Lingshu; Zou, Wei; McDonough, James; Solberg, Timothy D.; Lin, Alexander; Teo, Boon-Keng Kevin

    2018-03-01

    A major source of uncertainty in proton therapy is the conversion of Hounsfield unit (HU) to proton stopping power ratio relative to water (SPR). In this study, we measured and quantified the accuracy of a stoichiometric dual energy CT (DECT) SPR calibration. We applied a stoichiometric DECT calibration method to derive the SPR using CT images acquired sequentially at 80 kVp and 140 kVp . The dual energy index was derived based on the HUs of the paired spectral images and used to calculate the effective atomic number (Z eff), relative electron density ({{ρ }e} ), and SPRs of phantom and biological materials. Two methods were used to verify the derived SPRs. The first method measured the sample’s water equivalent thicknesses to deduce the SPRs using a multi-layer ion chamber (MLIC) device. The second method utilized Gafchromic EBT3 film to directly compare relative ranges between sample and water after proton pencil beam irradiation. Ex vivo validation was performed using five different types of frozen animal tissues with the MLIC and three types of fresh animal tissues using film. In addition, the residual ranges recorded on the film were used to compare with those from the treatment planning system using both DECT and SECT derived SPRs. Bland-Altman analysis indicates that the differences between DECT and SPR measurement of tissue surrogates, frozen and fresh animal tissues has a mean of 0.07% and standard deviation of 0.58% compared to 0.55% and 1.94% respectively for single energy CT (SECT) and SPR measurement. Our ex vivo study indicates that the stoichiometric DECT SPR calibration method has the potential to be more accurate than SECT calibration under ideal conditions although beam hardening effects and other image artifacts may increase this uncertainty.

  18. Simplified derivation of stopping power ratio in the human body from dual-energy CT data.

    Science.gov (United States)

    Saito, Masatoshi; Sagara, Shota

    2017-08-01

    The main objective of this study is to propose an alternative parameterization for the empirical relation between mean excitation energies (I-value) and effective atomic numbers (Z eff ) of human tissues, and to present a simplified formulation (which we called DEEDZ-SPR) for deriving the stopping power ratio (SPR) from dual-energy (DE) CT data via electron density (ρ e ) and Z eff calibration. We performed a numerical analysis of this DEEDZ-SPR method for the human-body-equivalent tissues of ICRU Report 46, as objects of interest with unknown SPR and ρ e . The attenuation coefficients of these materials were calculated using the XCOM photon cross-sections database. We also applied the DEEDZ-SPR conversion to experimental DECT data available in the literature, which was measured for the tissue-characterization phantom using a dual-source CT scanner at 80 kV and 140 kV/Sn. It was found that the DEEDZ-SPR conversion enables the calculation of SPR simply by means of the weighted subtraction of an electron-density image and a low- or high-kV CT image. The simulated SPRs were in excellent agreement with the reference values over the SPR range from 0.258 (lung) to 3.638 (bone mineral-hydroxyapatite). The relative deviations from the reference SPR were within ±0.6% for all ICRU-46 human tissues, except for the thyroid that presented a -1.1% deviation. The overall root-mean-square error was 0.21%. Application to experimental DECT data confirmed this agreement within the experimental accuracy, which demonstrates the practical feasibility of the method. The DEEDZ-SPR conversion method could facilitate the construction of SPR images as accurately as a recent DECT-based calibration procedure of SPR parameterization based directly on the CT numbers in a DECT data set. © 2017 American Association of Physicists in Medicine.

  19. 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.

  20. 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...

  1. Supercritical CO2 Brayton power cycles for DEMO (demonstration power plant) fusion reactor based on dual coolant lithium lead blanket

    International Nuclear Information System (INIS)

    Linares, José Ignacio; Cantizano, Alexis; Moratilla, Beatriz Yolanda; Martín-Palacios, Víctor; Batet, Lluis

    2016-01-01

    This paper presents an exploratory analysis of the suitability of supercritical CO 2 Brayton power cycles as alternative energy conversion systems for a future fusion reactor based on a DCLL (dual coolant lithium-lead) blanket, as prescribed by EUROfusion. The main issue dealt is the optimization of the integration of the different thermal sources with the power cycle in order to achieve the highest electricity production. The analysis includes the assessment of the pumping consumption in the heating and cooling loops, taking into account additional considerations as control issues and integration of thermal energy storage systems. An exergy analysis has been performed in order to understand the behavior of each layout. Up to ten scenarios have been analyzed assessing different locations for thermal sources heat exchangers. Neglecting the worst four scenarios, it is observed less than 2% of variation among the other six ones. One of the best six scenarios clearly stands out over the others due to the location of the thermal sources in a unique island, being this scenario compatible with the control criteria. In this proposal 34.6% of electric efficiency (before the self-consumptions of the reactor but including pumping consumptions and generator efficiency) is achieved. - Highlights: • Supercritical CO 2 Brayton cycles have been proposed for BoP of DCLL fusion reactor. • Integration of different available thermal sources has been analyzed considering ten scenarios. • Neglecting the four worst scenarios the electricity production varies less than 2%. • Control and energy storage integration issues have been considered in the analysis. • Discarding the vacuum vessel and joining the other sources in an island is proposed.

  2. 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...

  3. 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.

  4. 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.

  5. Dual turbine power plant and a reheat steam bypass flow control system for use therein

    International Nuclear Information System (INIS)

    Braytenbah, A.S.; Jaegtnes, K.O.

    1977-01-01

    An electric power plant having dual turbine-generators connected to a steam source that includes a high temperature gas cooled nuclear reactor is described. Each turbine comprises a high pressure portion operated by superheat steam and an intermediate-low pressure portion operated by reheat steam; a bypass line is connected across each turbine portion to permit a desired minimum flow of steam from the source at times when the combined flow of steam through the turbine is less than the minimum. Coolant gas is propelled through the reactor by a circulator which is driven by an auxiliary turbine which uses steam exhausted from the high pressure portions and their bypass lines. The pressure of the reheat steam is controlled by a single proportional-plus-integral controller which governs the steam flow through the bypass lines associated with the intermediate-low pressure portions. At times when the controller is not in use its output signal is limited to a value that permits an unbiased response when pressure control is resumed, as in event of a turbine trip. 25 claims, 2 figures

  6. 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.

  7. 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.

  8. 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.

  9. 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

  10. 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.

  11. Single-Event Latchup Testing of the Micrel MIC4424 Dual Power MOSFET Driver

    Science.gov (United States)

    Pellish, J. A.; Boutte, A.; Kim, H.; Phan, A.; Topper, A.

    2016-01-01

    We conducted 47 exposures of four different MIC4424 devices and did not observe any SEL or high-current events. This included worst-case conditions with a LET of 81 MeV-sq cm/mg, applied voltage of 18.5 V, a case temperature greater than 120 C, and a final fluence of 1x10(exp 7)/sq cm. We also monitored both the outputs for the presence of SETs. While the period of the 1 MHz square wave was slightly altered in some cases, no pulses were added or deleted. 1. Purpose: The purpose of this testing is to characterize the BiCMOS/DMOS Micrel MIC4424 dual, non-inverting MOSFET driver for single-event latchup (SEL) susceptibility. These data will be used for flight lot evaluation purposes. 2. Devices Tested: The MIC4423/4424/4425 family are highly reliable BiCMOS/DMOS buffer/driver MOSFET drivers. They are higher output current versions of the MIC4426/4427/4428. They can survive up to 5V of noise spiking, of either polarity, on the ground pin. They can accept, without either damage or logic upset, up to half an amp of reverse current (either polarity) forced back into their outputs. Primarily intended for driving power MOSFETs, the MIC4423/4424/4425 drivers are suitable for driving other loads (capacitive, resistive, or inductive) which require low-impedance, high peak currents, and fast switching times. Heavily loaded clock lines, coaxial cables, or piezoelectric transducers are some examples. The only known limitation on loading is that total power dissipated in the driver must be kept within the maximum power dissipation limits of the package. Five (5) parts were provided for SEL testing. We prepared four parts for irradiation and reserved one piece as an un-irradiated control. More information about the devices can be found in Table 1. The parts were prepared for testing by removing the lid from the CDIP package to expose the target die. The parts were then soldered to small copper circuit adapter boards for easy handling. These parts are fabricated in a bulk Bi

  12. 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).

  13. 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.

  14. 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.

  15. 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.

  16. ANALYSIS OF THE OPERATIONAL CHARACTERISTICS OF DIESEL-ELECTRIC LOCOMOTIVES

    Directory of Open Access Journals (Sweden)

    L. V. Ursulyak

    2014-12-01

    Full Text Available Purpose. To compare the operational characteristics of freight diesel-electric locomotives ER20CF and 2М62м, which are operated with Lithuanian Railways. Important problems on traction calculations are considered in this article. In this article the critical tasks of traction calculations are solved. It is the main computational tool in the rational functioning, planning and development of railways: determination of the estimated weight of the rolling stock, the diagrams construction of specific resultant forces of a train, the permitted speed definition of the train on the slopes, curves of train traffic construction on the section. Methodology. Using the rules and methods of traction calculations the analysis of the basic operational characteristics of the modernized freight diesel-electric locomotive 2М62m and freight passenger dual locomotive 2ER20CF was held. The maximum weight of the train set, the track structure on a high-speed ascent through the use of kinetic energy (with traction and without traction, technical speed, acceleration force and the value of the smallest radius curve are selected as controlled parameters. During the calculations it was considered that the trains were formed of a fully loaded four-axle gondola cars, model 112-119 (feature-606 with axle load of 23.5 t; the motion was carried out on the continuous welded rail track; the front of the train set is a dual locomotive 2ER20CF or two locomotive 2М62м. Longitudinal profile of the road on the route Vilnus–KlF was analyzed for the choice of theoretical rise. Inspection concerning the possibility of overcoming the high-speed rise was performed with an analytical method, based on the use of the kinetic energy accumulated by the overcoming of «light» elements of the profile. Findings. In the calculations, the maximum weight of the train set taking into account theoretical rise was analyzed. The inspection of the theoretical weight of the train set on a reliable

  17. 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.

  18. 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

  19. 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.

  20. 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.

  1. SELECTION OF RATIONAL PARAMETERS OF THE NOMINAL MODE OF ELECTRIC LOCOMOTIVES

    Directory of Open Access Journals (Sweden)

    H. K. Hetman

    2017-02-01

    Full Text Available Purpose.The railways of Ukraine have been operated the locomotives, which are both morally and physically obsolete. Therefore, to ensure the competitiveness of rail transport it is necessary to update the locomotive fleet, and first of all the fleet of electric locomotives, because electrified railways provide the greater part of passenger and freight traffic. In this connection it is of special importance to determine the optimum parameters of the nominal mode of electric rolling stock. The purpose of the work is to examine the features of solution of these problems with respect to electric locomotives. Methodology. Assuming that the limit values of traction force are determined by the conditions of wheel-rail grip, then the power of the nominal mode can be represented as the product of rated speed, estimated friction coefficient, train weight and the coefficients that represent the ratio of the estimated (starting value of traction force to value of traction force the nominal mode and the ratio of the mass of the locomotive to the train weight. Since the mass of the train is not a constant value, there is always a surplus power of the locomotive fleet required for the mastering of a predetermined volume of transportations. Reduced overcapacity of the locomotive fleet can be achieved by introduction of the locomotives of different power, designed for driving trains of different weight that will result in increased completeness of the power use but also in difficulty in selecting of locomotives for trains in operation. The paper shows the method of calculating the optimum values of power, speed and traction force of the nominal mode. It presents the mathematical model of the relationship of traction rate, excessive capacity and power of the traction unit. Findings.It is proved that the power of the traction unit, the total fleet power requirement and the excess of power in absolute units are proportional to the speed of the nominal mode. To

  2. 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

  3. Measurement of black carbon emissions from in-use diesel-electric passenger locomotives in California

    Science.gov (United States)

    Tang, N. W.; Kirchstetter, T.; Martien, P. T.; Apte, J.

    2015-12-01

    Black carbon (BC) emission factors were measured for a California commuter rail line fleet of diesel-electric passenger locomotives (Caltrain). The emission factors are based on BC and carbon dioxide (CO2) concentrations in the exhaust plumes of passing locomotives, which were measured from pedestrian overpasses using portable analyzers. Each of the 29 locomotives in the fleet was sampled on 4-20 separate occasions at different locations to characterize different driving modes. The average emission factor expressed as g BC emitted per kg diesel consumed was 0.87 ± 0.66 g kg-1 (±1 standard deviation, n = 362 samples). BC emission factors tended to be higher for accelerating locomotives traveling at higher speeds with engines in higher notch settings. Higher fuel-based BC emission factors (g kg-1) were measured for locomotives equipped with separate "head-end" power generators (SEP-HEPs), which power the passenger cars, while higher time-based emission factors (g h-1) were measured for locomotives without SEP-HEPs, whose engines are continuously operated at high speeds to provide both head-end and propulsion power. PM10 emission factors, estimated assuming a BC/PM10 emission ratio of 0.6 and a typical power output-to-fuel consumption ratio, were generally in line with the Environmental Protection Agency's locomotive exhaust emission standards. Per passenger mile, diesel-electric locomotives in this study emit only 20% of the CO2 emitted by typical gasoline-powered light-duty vehicles (i.e., cars). However, the reduction in carbon footprint (expressed in terms of CO2 equivalents) due to CO2 emissions avoidance from a passenger commuting by train rather than car is appreciably offset by the locomotive's higher BC emissions.

  4. 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.

  5. 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.

  6. 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...

  7. Dynamically Stable Legged Locomotion.

    Science.gov (United States)

    1983-01-27

    digitai~y thro)ugh a ribbon cable. lhe dcsign effort required to mount power sources and computing u(m board would hive distracted us fiorn our main...angular momentum. "The model used in this paper, shown in Fig. 6-1, has 3 single springy leg that articular •s ,ith respect to a body about a simple hince

  8. Integrated or dual vocational training focused on the operations of a nuclear power plant

    International Nuclear Information System (INIS)

    Roca, F.

    2014-01-01

    Dual vocational training is understood to be all the mixed employment and training actions and initiatives, the purpose of which in the vocational qualification of workers in a system alternating a job in a company with the training activity received in the framework of the vocational training system for employment of the educational system. The dual vocational training that results from this mixed strategy is provided via the following modality: Shared training between the training center and the company, which consists of coparticipation to varying degrees in the teaching and learning processes in the company and the training center. (Author)

  9. 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

  10. 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.

  11. 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...

  12. 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)

  13. 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.

  14. 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).

  15. 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...

  16. 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)

  17. 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...

  18. 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...

  19. 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.

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. 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...

  5. 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.

  6. 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.

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

    KAUST Repository

    Alsharoa, Ahmad M.; Ghazzai, Hakim; Yaacoub, Elias; Alouini, Mohamed-Slim

    2015-01-01

    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

  8. Dual-Axis Solar Tracking System for Maximum Power Production in ...

    African Journals Online (AJOL)

    Akorede

    ABSTRACT: The power developed in a solar energy system depends fundamentally upon the ... for power generation. ... determined because they are functions of the solar angles that ..... able to withstand the weight and the blowing wind.

  9. 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.

  10. 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

  11. 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)

  12. 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...

  13. Auto- and cross-power spectral analysis of dual trap optical tweezer experiments using Bayesian inference.

    Science.gov (United States)

    von Hansen, Yann; Mehlich, Alexander; Pelz, Benjamin; Rief, Matthias; Netz, Roland R

    2012-09-01

    The thermal fluctuations of micron-sized beads in dual trap optical tweezer experiments contain complete dynamic information about the viscoelastic properties of the embedding medium and-if present-macromolecular constructs connecting the two beads. To quantitatively interpret the spectral properties of the measured signals, a detailed understanding of the instrumental characteristics is required. To this end, we present a theoretical description of the signal processing in a typical dual trap optical tweezer experiment accounting for polarization crosstalk and instrumental noise and discuss the effect of finite statistics. To infer the unknown parameters from experimental data, a maximum likelihood method based on the statistical properties of the stochastic signals is derived. In a first step, the method can be used for calibration purposes: We propose a scheme involving three consecutive measurements (both traps empty, first one occupied and second empty, and vice versa), by which all instrumental and physical parameters of the setup are determined. We test our approach for a simple model system, namely a pair of unconnected, but hydrodynamically interacting spheres. The comparison to theoretical predictions based on instantaneous as well as retarded hydrodynamics emphasizes the importance of hydrodynamic retardation effects due to vorticity diffusion in the fluid. For more complex experimental scenarios, where macromolecular constructs are tethered between the two beads, the same maximum likelihood method in conjunction with dynamic deconvolution theory will in a second step allow one to determine the viscoelastic properties of the tethered element connecting the two beads.

  14. Shifting and power sharing control of a novel dual input clutchless transmission for electric vehicles

    Science.gov (United States)

    Liang, Jiejunyi; Yang, Haitao; Wu, Jinglai; Zhang, Nong; Walker, Paul D.

    2018-05-01

    To improve the overall efficiency of electric vehicles and guarantee the driving comfort and vehicle drivability under the concept of simplifying mechanism complexity and minimizing manufacturing cost, this paper proposes a novel clutchless power-shifting transmission system with shifting control strategy and power sharing control strategy. The proposed shifting strategy takes advantage of the transmission architecture to achieve power-on shifting, which greatly improves the driving comfort compared with conventional automated manual transmission, with a bump function based shifting control method. To maximize the overall efficiency, a real-time power sharing control strategy is designed to solve the power distribution problem between the two motors. Detailed mathematical model is built to verify the effectiveness of the proposed methods. The results demonstrate the proposed strategies considerably improve the overall efficiency while achieve non-interrupted power-on shifting and maintain the vehicle jerk during shifting under an acceptable threshold.

  15. Minimizing Sum-MSE Implies Identical Downlink and Dual Uplink Power Allocations

    OpenAIRE

    Tenenbaum, Adam J.; Adve, Raviraj S.

    2009-01-01

    In the multiuser downlink, power allocation for linear precoders that minimize the sum of mean squared errors under a sum power constraint is a non-convex problem. Many existing algorithms solve an equivalent convex problem in the virtual uplink and apply a transformation based on uplink-downlink duality to find a downlink solution. In this letter, we analyze the optimality criteria for the power allocation subproblem in the virtual uplink, and demonstrate that the optimal solution leads to i...

  16. 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.

  17. 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.

  18. 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.

  19. 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.

  20. 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...

  1. 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)

  2. 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...

  3. 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...

  4. Effect of pole number and slot number on performance of dual rotor permanent magnet wind power generator using ferrite magnets

    Directory of Open Access Journals (Sweden)

    Peifeng Xu

    2017-05-01

    Full Text Available Dual rotor permanent magnet (DRPM wind power generator using ferrite magnets has the advantages of low cost, high efficiency, and high torque density. How to further improve the performance and reduce the cost of the machine by proper choice of pole number and slot number is an important problem to be solved when performing preliminarily design a DRPM wind generator. This paper presents a comprehensive performance comparison of a DRPM wind generator using ferrite magnets with different slot and pole number combinations. The main winding factors are calculated by means of the star of slots. Under the same machine volume and ferrite consumption, the flux linkage, back-electromotive force (EMF, cogging torque, output torque, torque pulsation, and losses are investigated and compared using finite element analysis (FEA. The results show that the slot and pole number combinations have an important impact on the generator properties.

  5. A dual fired downdraft gasifier system to produce cleaner gas for power generation: Design, development and performance analysis

    International Nuclear Information System (INIS)

    Raman, P.; Ram, N.K.; Gupta, Ruchi

    2013-01-01

    The existing biomass gasifier systems have several technical challenges, which need to be addressed. They are reduction of impurities in the gas, increasing the reliability of the system, easy in operation and maintenance. It is also essential to have a simple design of gasifier system for power generation, which can work even in remote locations. A dual fired downdraft gasifier system was designed to produce clean gas from biomass fuel, used for electricity generation. This system is proposed to overcome a number of technical challenges. The system is equipped with dry gas cleaning and indirect gas cooling equipment. The dry gas cleaning system completely eliminates wet scrubbers that require large quantities of water. It also helps to do away with the disposal issues with the polluted water. With the improved gasifier system, the tar level in the raw gas is less than 100 mg Nm −3 .Cold gas efficiency has improved to 89% by complete gasification of biomass and recycling of waste heat into the reactor. Several parameters, which are considered in the design and development of the reactors, are presented in detail with their performance indicators. - Highlights: • Hot air injection in dual fired reactor reduces the tar content to less than 100 mg Nm −3 . • In clean gas the tar content is 35 mg Nm −3 and the dust content is nil. • The specific gasification rate is 2.8 Nm 3 kg −1 of fuel wood and cold gas efficiency is 89.7%. • CV of the gas: 5.3 MJ Nm −3 , SFC: 1.1 kg kWh −1 and wood to power efficiency: 21%. • Cold gas efficiency is improved by optimizing the reactor's design and recycling the waste heat from hot gas

  6. A comparative analysis of meta-heuristic methods for power management of a dual energy storage system for electric vehicles

    International Nuclear Information System (INIS)

    Trovão, João P.; Antunes, Carlos Henggeler

    2015-01-01

    Highlights: • Two meta-heuristic approaches are evaluated for multi-ESS management in electric vehicles. • An online global energy management strategy with two different layers is studied. • Meta-heuristic techniques are used to define optimized energy sharing mechanisms. • A comparative analysis for ARTEMIS driving cycle is addressed. • The effectiveness of the double-layer management with meta-heuristic is presented. - Abstract: This work is focused on the performance evaluation of two meta-heuristic approaches, simulated annealing and particle swarm optimization, to deal with power management of a dual energy storage system for electric vehicles. The proposed strategy is based on a global energy management system with two layers: long-term (energy) and short-term (power) management. A rule-based system deals with the long-term (strategic) layer and for the short-term (action) layer meta-heuristic techniques are developed to define optimized online energy sharing mechanisms. Simulations have been made for several driving cycles to validate the proposed strategy. A comparative analysis for ARTEMIS driving cycle is presented evaluating three performance indicators (computation time, final value of battery state of charge, and minimum value of supercapacitors state of charge) as a function of input parameters. The results show the effectiveness of an implementation based on a double-layer management system using meta-heuristic methods for online power management supported by a rule set that restricts the search space

  7. Implementation of the dual-purpose principle in Iran, Bushehr desalination and nuclear power plants

    International Nuclear Information System (INIS)

    Edalat, M.; Mansoori, F.S.; Entessari, J.; Hamidi, H.

    1978-01-01

    The requirements for electrical power and fresh water and the past and present desalination projects in Iran are discussed. The different methods usually employed in coupling the desalination plants with power plants are outlined, and the interdependency of the two plants and the safety aspects due to radioactive contamination are considered. Finally, the method utilizing a pressurized hot water loop as a safety barrier for the two proposed desalination plants to be coupled with the Bushehr Nuclear Power Plants under construction in Iran is described. (author)

  8. A dual voltage control strategy for single-phase PWM converters with power decoupling function

    DEFF Research Database (Denmark)

    Tang, Yi; Qin, Zian; Blaabjerg, Frede

    2015-01-01

    converter topology based on a symmetrical half bridge circuit is proposed to decouple the ripple power so that balanced instantaneous power flow is assured between source and load, and the required dc-link capacitance can be dramatically reduced. For proper closed-loop regulation, the small signal modeling...... is therefore very sensitive to step load changes. Comprehensive simulation results and experimental results are presented to show the effectiveness of the proposed circuit and control algorithm....

  9. 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

  10. 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.

  11. Dual-cycle power plant with internal and external heating of a gas turbine circuit

    International Nuclear Information System (INIS)

    Strach, L.

    1976-01-01

    The present proposal, after a preceding invention by the same inventor, aims at making possible the increased use of gas turbines in nuclear and coal-fired power plants. This is to be achieved by bringing the temperature of the combustion easily from a maximum of 900 0 C, as may be supplied, e.g., by the cooling media of nuclear reactors, up to the 1,700 to 2,000 0 C required as inlet temperature for gas turbines, with the aid of a fossil-fired recuperator. In fossil and nuclear power plants, gas turbines will more and more substitute steam turbines which affect the environment because of their high waste-heat losses. In coal power plants, only that part of the coal will be gasified whose resulting gas causes internal combustion within the furnace, while the remaining part of the coal is used for external combustion in a tabular heater. In a nuclear power plant, undisturbed maximum generation of electric power is to be achieved, even at reactor outages and shutdown periods for refuelling and maintenance, by almost inertia-free increase of the fossil fuel supply to the furnace (provided an extension of the latter for the capacity of heating the combustion air from room temperature till 1,700 to 2,000 0 C). The hazard of ruptures in the primary heat exchanging system is very low, because it is operated with a relative pressure of nearly zero between reactor coolant and gas turbine circuit. (RW) [de

  12. Control Strategy for Power Distribution in Dual Motor Propulsion System for Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Pedro Daniel Urbina Coronado

    2015-01-01

    Full Text Available Electric Vehicles with more than one electric motor can offer advantages in saving energy from the batteries. In order to do that, the control strategy plays an important role in distributing the required torque between the electric motors. A dual motor propulsion system with a differential transmission is simulated in this work. A rule based control strategy for this propulsion system is proposed and analyzed. Two parameters related to the output speed of the transmission and the required torque are used to switch the two modes of operation in which the propulsion system can work under acceleration. The effect of these parameters is presented over the driving cycles of NEDC, UDDS, and NYCC, which are followed using a PID controller. The produced energy losses are calculated as well as an indicator of drivability, which is related to the difference between the desired speed and the actual speed obtained. The results show that less energy losses are present when the vehicle is maintained with one electric motor most of the time, switching only when the extended speed granted by the second motor is required. The propulsion system with the proposed control strategy represents a feasible alternative in the spectrum of sustainable transportation architectures with extending range capabilities.

  13. Performance Improvement of Shunt Active Power Filter With Dual Parallel Topology

    DEFF Research Database (Denmark)

    Asiminoaei, Lucian; Lascu, Cristian; Blaabjerg, Frede

    2007-01-01

    loop and the other is in a feedforward loop for harmonic compensation. Thus, both active power filters bring their own characteristic advantages, i.e., the feedback filter improves the steady-state performance of the harmonic mitigation and the feedforward filter improves the dynamic response. Another......This paper describes the control and parallel operation of two active power filters (APFs). Possible parallel operation situations of two APFs are investigated, and then the proposed topology is analyzed. The filters are coupled in a combined topology in which one filter is connected in a feedback...

  14. A dual voltage control strategy for single-phase PWM converters with power decoupling function

    DEFF Research Database (Denmark)

    Tang, Yi; Qin, Zian; Blaabjerg, Frede

    2014-01-01

    on a symmetrical half bridge circuit is proposed to decouple the ripple power so that balanced instantaneous power flow is assured between source and load, and the required dc-link capacitance can be dramatically reduced. For proper closed-loop regulation, the small signal modeling of the proposed system...... of voltage control loop because the variation of dc-link voltage should be kept within an acceptable range during load transients. This is particularly important for systems with reduced dc-link capacitance because they are of lower energy capacity and very sensitive to step load changes. Simulation results...

  15. Design-Parameters Setup for Power-Split Dual-Regime IVT

    Science.gov (United States)

    Preda, Ion; Ciolan, Gheorghe; Covaciu, Dinu

    2017-10-01

    To analyze the working possibilities of power-split infinitely variable transmissions (IVTs) it is necessary to follow a systematic approach. The method proposed in this paper consists of generating a block diagram of the transmission and then, based on this diagram, to derive the kinematics and dynamics equations of the transmission. For an actual numerical case, the derived equations are used to find characteristic values of the transmission components (gear and chain drives, planetary units) necessary to calculate the speed ratios, the speeds, torques and powers acting on the shafts and coupling (control) elements, and even to estimate the overall efficiency of the transmission.

  16. 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

  17. One-phase dual converter for two quadrant power control of superconducting magnets

    International Nuclear Information System (INIS)

    Ehsani, M.; Kustom, R.I.; Boom, R.W.

    1985-01-01

    This paper presents the results of theoretical and experimental development of a new dc-ac-dc converter for superconducting magnet power supplies. The basic operating principles of the circuit are described followed by a theoretical treatment of the dynamics and control of the system. The successful results of the first experimental operation and control of such a circuit are presented and discussed

  18. 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.

  19. 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.

  20. 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...

  1. 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...

  2. 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...

  3. Conversion of Aircraft Dual-flow Turbojet into Peak Power Plant

    Directory of Open Access Journals (Sweden)

    G. A. Shafikov

    2017-01-01

    Full Text Available The paper is aimed at considering the aircraft engine conversion into peak or short-used energy unit, which is relevant for the task of developing the northern regions of the Russian Federation. The three-shaft turbojet engine with a twelve-stage compressor and a four-stage turbine is adopted as an aircraft engine under consideration. The afterburner with a block of jet nozzles is removed from the gas generator module, and a heating chamber is set at the outlet of the by-pass duct to raise electric power of engine and not complicate the construction by the presence of a mixing chamber. In addition, the heating chamber serves to equalize the total pressure and flow temperature in the section before the free turbine and allows the use of a short adapter between the gas generator module and the free turbine, which reduces the loss of total pressure. Then a free turbine and a diffuser with an exhaust device are installed. The output shaft of the power turbine is connected by means of a coupling to an alternating current (a. c. generator or other special load.To find the parameters of the plant, a calculation was made in which the initial data were taken, namely a gas temperature in front of the turbine of 1530 K (the gas temperature in front of the turbine is reduced by 100 K in order to prolong the engine life; therefore, the gas temperature before the turbine was 1630 K; air flow of 364 kg/s; bypass ratio of 1.36 (the ratio of the air flow passing through the bypass duct to the air flow entering the core. As a result, it consumes 0.296 kg / (kWh (fuel-aviation kerosene and a power capacity of 78.5 MW. For the received value of capacity the ТЗФП-80-2У3 a. c. electric generator has been chosen as the load. As a result, the power plant, equipped with a converted engine and electric generator, has an electric power of 77.3 MW and an efficiency of 27.8%.To assess the effect of introduced preheating chamber on the parameters of the gas turbine

  4. Dual-purpose self-deliverable lunar surface PV electrical power system

    Science.gov (United States)

    Arnold, Jack H.; Harris, David W.; Cross, Eldon R.; Flood, Dennis J.

    1991-01-01

    A safe haven and work supported PV power systems on the lunar surface will likely be required by NASA in support of the manned outpost scheduled for the post-2000 lunar/Mars exploration and colonization initiative. Initial system modeling and computer analysis shows that the concept is workable and contains no major high risk technology issues which cannot be resolved in the circa 2000 to 2025 timeframe. A specific selection of the best suited type of electric thruster has not been done; the initial modeling was done using an ion thruster, but Rocketdyne must also evaluate arc and resisto-jets before a final design can be formulated. As a general observation, it appears that such a system can deliver itself to the Moon using many system elements that must be transported as dead payload mass in more conventional delivery modes. It further appears that a larger power system providing a much higher safe haven power level is feasible if this delivery system is implemented, perhaps even sufficient to permit resource prospecting and/or lab experimentation. The concept permits growth and can be expanded to include cargo transport such as habitat and working modules. In short, the combined payload could be manned soon after landing and checkout. NASA has expended substantial resources in the development of electric propulsion concepts and hardware that can be applied to a lunar transport system such as described herein. In short, the paper may represent a viable mission on which previous investments play an invaluable role. A more comprehensive technical paper which embodies second generation analysis and system size will be prepared for near-term presentation.

  5. Importance weighting and andness control in De Morgan dual power means and OWA operators

    DEFF Research Database (Denmark)

    Larsen, Henrik Legind

    2012-01-01

    (minimum) and the max (maximum), the so-called averaging operators. Two key issues in the choice of such an operator for a given application are the kind of importance weighting and the andness (“minness”) of the operator. Two main kinds of importance weighting for such operators, namely multiplicative...... and implicative, are proposed and discussed. The purpose of this paper is to facilitate the choice and application of such operators through providing a systematization of their classes according to their behavior and equipping some classical averaging operators, namely the Power Means and the OWA operators...

  6. 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.

  7. Site selection of a dual purpose nuclear power plant in Saudi Arabia

    International Nuclear Information System (INIS)

    Hussein, F.M.; Obeid, M.A.; El-Malahy, K.S.

    1987-01-01

    Selecting a nuclear power plant site for power production and water desalination is a very complex problem, especially in countries with moderate technology. Many interrelated factors affect the process, and professional judgments by various experts are involved. Four sites, all located on the West Coast of Saudi Arabia along the Red Sea, were chosen as potential sites for building such a plant. (All sites were in either the northern or southern section of the coast; the central part was excluded for pilgrims' safety.) The East Coast was completely eliminated in the initial screening process due to its strategic location, the existence of oil fields and refineries, and its proximity to other Arabian (Persian) Gulf countries (to minimize radioactive releases to these countries in case of an accident). A computer code based on Saaty's eigenvalue technique and developed in a previous study was used in this analysis. Twenty-one main criteria were considered, and the sites were ranked to determine which was most desirable. Site 4 was found to be most suitable, followed by site 3

  8. The PS locomotive runs again

    CERN Multimedia

    2001-01-01

    Over forty years ago, the PS train entered service to steer the magnets of the accelerator into place... ... a service that was resumed last Tuesday. Left to right: Raymond Brown (CERN), Claude Tholomier (D.B.S.), Marcel Genolin (CERN), Gérard Saumade (D.B.S.), Ingo Ruehl (CERN), Olivier Carlier (D.B.S.), Patrick Poisot (D.B.S.), Christian Recour (D.B.S.). It is more than ten years since people at CERN heard the rumbling of the old PS train's steel wheels. Last Tuesday, the locomotive came back into service to be tested. It is nothing like the monstrous steel engines still running on conventional railways -just a small electric battery-driven vehicle employed on installing the magnets for the PS accelerator more than 40 years ago. To do so, it used the tracks that run round the accelerator. In fact, it is the grandfather of the LEP monorail. After PS was commissioned in 1959, the little train was used more and more rarely. This is because magnets never break down, or hardly ever! In fact, the loc...

  9. Patterned control of human locomotion

    Science.gov (United States)

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

    2012-01-01

    There is much experimental evidence for the existence of biomechanical constraints which simplify the problem of control of multi-segment movements. In addition, it has been hypothesized that movements are controlled using a small set of basic temporal components or activation patterns, shared by several different muscles and reflecting global kinematic and kinetic goals. Here we review recent studies on human locomotion showing that muscle activity is accounted for by a combination of few basic patterns, each one timed at a different phase of the gait cycle. Similar patterns are involved in walking and running at different speeds, walking forwards or backwards, and walking under different loading conditions. The corresponding weights of distribution to different muscles may change as a function of the condition, allowing highly flexible control. Biomechanical correlates of each activation pattern have been described, leading to the hypothesis that the co-ordination of limb and body segments arises from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle activations need only intervene during limited time epochs to force intrinsic oscillations of the system when energy is lost. PMID:22411012

  10. Patterned control of human locomotion.

    Science.gov (United States)

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

    2012-05-15

    There is much experimental evidence for the existence of biomechanical constraints which simplify the problem of control of multi-segment movements. In addition, it has been hypothesized that movements are controlled using a small set of basic temporal components or activation patterns, shared by several different muscles and reflecting global kinematic and kinetic goals. Here we review recent studies on human locomotion showing that muscle activity is accounted for by a combination of few basic patterns, each one timed at a different phase of the gait cycle. Similar patterns are involved in walking and running at different speeds, walking forwards or backwards, and walking under different loading conditions. The corresponding weights of distribution to different muscles may change as a function of the condition, allowing highly flexible control. Biomechanical correlates of each activation pattern have been described, leading to the hypothesis that the co-ordination of limb and body segments arises from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle activations need only intervene during limited time epochs to force intrinsic oscillations of the system when energy is lost.

  11. 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.

  12. Dual Cage High Power Induction Motor with Direct Start-up. Design and FEM Analysis

    Directory of Open Access Journals (Sweden)

    LIVADARU, L.

    2013-05-01

    Full Text Available This paper presents an investigation on the design of high-power induction motor with special constraints. Direct online start-up and pull-up torque of rather high value represent two of the imposed requirements. Three different structures are analyzed, which involve deep bars, magnetic wedges and double cage respectively. The proposed solution advances a new rotor structure with two different rotor cages. The first cage acts mainly during start-up and is made of iron with both electric and magnetic properties. The second one is made of copper and represents the main rotor winding. It has a particular cross-section of the bars in order to carry into effect the required constraints both during start-up and steady-state. The proposed models are finally evaluated by means of finite element method analysis.

  13. 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.

  14. Main conditions and effectiveness of gas fuel use for powering of dual fuel IC self-ignition engine

    Directory of Open Access Journals (Sweden)

    Stefan POSTRZEDNIK

    2015-09-01

    Full Text Available Internal combustion engines are fuelled mostly with liquid fuels (gasoline, diesel. Nowadays the gaseous fuels are applied as driving fuel of combustion engines. In case of spark ignition engines the liquid fuel (petrol can be totally replaced by the gas fuels. This possibility in case of compression engines is essentially restricted through the higher self-ignition temperatures of the combustible gases in comparison to classical diesel oil. Solution if this problem can be achieved by using of the dual fuel system, where for ignition of the prepared fuel gas - air mixture a specified amount of the liquid fuel (diesel oil should be additionally injected into the combustion chamber. For assurance that the combustion process proceeds without mistakes and completely, some basic conditions should be satisfied. In the frame of this work, three main aspects of this problem are taken into account: a. filling efficiency of the engine, b. stoichiometry of the combustion, c. performance of mechanical parameters (torque, power. A complex analysis of these conditions has been done and some achieved important results are presented in the paper.

  15. Experimental verification of stopping-power prediction from single- and dual-energy computed tomography in biological tissues

    Science.gov (United States)

    Möhler, Christian; Russ, Tom; Wohlfahrt, Patrick; Elter, Alina; Runz, Armin; Richter, Christian; Greilich, Steffen

    2018-01-01

    An experimental setup for consecutive measurement of ion and x-ray absorption in tissue or other materials is introduced. With this setup using a 3D-printed sample container, the reference stopping-power ratio (SPR) of materials can be measured with an uncertainty of below 0.1%. A total of 65 porcine and bovine tissue samples were prepared for measurement, comprising five samples each of 13 tissue types representing about 80% of the total body mass (three different muscle and fatty tissues, liver, kidney, brain, heart, blood, lung and bone). Using a standard stoichiometric calibration for single-energy CT (SECT) as well as a state-of-the-art dual-energy CT (DECT) approach, SPR was predicted for all tissues and then compared to the measured reference. With the SECT approach, the SPRs of all tissues were predicted with a mean error of (-0.84  ±  0.12)% and a mean absolute error of (1.27  ±  0.12)%. In contrast, the DECT-based SPR predictions were overall consistent with the measured reference with a mean error of (-0.02  ±  0.15)% and a mean absolute error of (0.10  ±  0.15)%. Thus, in this study, the potential of DECT to decrease range uncertainty could be confirmed in biological tissue.

  16. Dual direction blower system powered by solar energy to reduce car cabin temperature in open parking condition

    Science.gov (United States)

    Hamdan, N. S.; Radzi, M. F. M.; Damanhuri, A. A. M.; Mokhtar, S. N.

    2017-10-01

    El-nino phenomenon that strikes Malaysia with temperature recorded more than 35°C can lead to extreme temperature rise in car cabin up to 80°C. Various problems will arise due to this extreme rising of temperature such as the occupant are vulnerable to heat stroke, emission of benzene gas that can cause cancer due to reaction of high temperature with interior compartments, and damage of compartments in the car. The current solution available to reduce car cabin temperature including tinted of window and portable heat rejection device that are available in the market. As an alternative to reduce car cabin temperature, this project modifies the car’s air conditioning blower motor into dual direction powered by solar energy and identifies its influence to temperature inside the car, parked under scorching sun. By reducing the car cabin temperature up to 10°C which equal to 14% of reduction in the car cabin temperature, this simple proposed system aims to provide comfort to users due to its capability in improving the quality of air and moisture in the car cabin.

  17. 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...

  18. 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...

  19. TU-FG-BRB-01: Dual Energy CT Proton Stopping Power Ratio Calibration and Validation with Animal Tissues

    Energy Technology Data Exchange (ETDEWEB)

    Xie, Y; Yin, L; Ainsley, C; McDonough, J; Solberg, T; Lin, A; Teo, B [University of Pennsylvania, Philadelphia, PA (United States)

    2016-06-15

    Purpose: The conversion of Hounsfield Unit (HU) to proton stopping power ratio (SPR) is a main source of uncertainty in proton therapy. In this study, the SPRs of animal tissues were measured and compared with prediction from dual energy CT (DECT) and single energy CT (SECT) calibrations. Methods: A stoichiometric calibration method for DECT was applied to predict the SPR using CT images acquired at 80 kVp and 140 kVp. The dual energy index was derived based on the HUs of the paired spectral images and used to calculate the SPRs of the materials. Tissue surrogates with known chemical compositions were used for calibration, and animal tissues (pig brain, liver, kidney; veal shank, muscle) were used for validation. The materials were irradiated with proton pencil beams, and SPRs were deduced from the residual proton range measured using a multi-layer ion chamber device. In addition, Gafchromic EBT3 films were used to measure the distal dose profiles after irradiation through the tissue samples and compared with those calculated by the treatment planning system using both DECT and SECT predicted SPRs. Results: The differences in SPR between DECT prediction and measurement were −0.31±0.36% for bone, 0.47±0.42% for brain, 0.67±0.15% for liver, 0.51±0.52% for kidney, and −0.96±0.15% for muscle. The corresponding results using SECT were 3.1±0.12%, 1.90±0.45%, −0.66±0.11%, 2.33±0.21%, and −1.70±0.17%. In the film measurements, average distances between film and calculated distal dose profiles were 0.35±0.12 mm for DECT calibration and −1.22±0.12 mm for SECT calibration for a beam with a range of 15.79 cm. Conclusion: Our study indicates that DECT is superior to SECT for proton SPR prediction and has the potential to reduce the range uncertainty to less than 2%. DECT may permit the use of tighter distal and proximal range uncertainty margins for treatment, thereby increasing the precision of proton therapy.

  20. Nonequilibrium atmospheric pressure plasma jet using a combination of 50 kHz/2 MHz dual-frequency power sources

    International Nuclear Information System (INIS)

    Zhou, Yong-Jie; Yuan, Qiang-Hua; Li, Fei; Wang, Xiao-Min; Yin, Gui-Qin; Dong, Chen-Zhong

    2013-01-01

    An atmospheric pressure plasma jet is generated by dual sinusoidal wave (50 kHz and 2 MHz). The dual-frequency plasma jet exhibits the advantages of both low frequency and radio frequency plasmas, namely, the long plasma plume and the high electron density. The radio frequency ignition voltage can be reduced significantly by using dual-frequency excitation compared to the conventional radio frequency without the aid of the low frequency excitation source. A larger operating range of α mode discharge can be obtained using dual-frequency excitation which is important to obtain homogeneous and low-temperature plasma. A larger controllable range of the gas temperature of atmospheric pressure plasma could also be obtained using dual-frequency excitation

  1. 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.

  2. 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.

  3. A MEMS and agile optics-based dual-mode variable optical power splitter with no moving parts

    Science.gov (United States)

    Khwaja, Tariq S.; Suleman, Hamid; Reza, Syed Azer

    2017-06-01

    In this paper, we present a novel design of an optical power splitter. Owing to the inherent variable power split ratios that the proposed design delivers, it is ideal for use in communications, sensing and signal processing applications where variable power splitting is often quintessential. The proposed power splitter module is dual mode as it combines the use of a Micro-Electro-Mechanical Systems (MEMS) based Digital Micro-mirror Device (DMD) and an Electronically Controlled Tunable Lens (ECTL) to split the power of an input optical signal between two output ports - the designated port and the surplus port. The use of a reflective Digital Spatial Light Modulator (DSLM) such as the DMD provides a motion-free digital control of the split ratio between the two output ports. Although the digital step between two possible successive split ratios can be fairly minimal with the use of a high resolution DMD but it is a challenge to correctly ascertain the exact image pattern on the DMD to obtain any desired specific split ratio. To counter this challenge, we propose the synchronized use of a circular pattern on the DMD, which serves as a circular clear aperture with a tunable radius, and an ECTL. The radius of the circular pattern on the DMD provides a digital control of the split ratio between the two ports whereas the ECTL, depending on its controller, can provide either an analog or a digital control by altering the beam radius which is incident at the DMD circular pattern. The radius of the circular pattern on the DMD can be minimally changed by one micro-pixel thickness. Setting the radius of the circular pattern on the DMD to an appropriate value provides the closest "ball-park" split ratio whereas further tuning the ECTL aids in slightly altering from this digitally set value to obtain the exact desired split ratio in-between any two digitally-set successive split ratios that correspond to any clear aperture radius of the DMD pattern and its incremental minimal

  4. 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.

  5. 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.

  6. 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.

  7. 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.

  8. 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.

  9. 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.

  10. 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)

  11. 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.

  12. 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

  13. 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.

  14. 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.

  15. 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.)

  16. 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...

  17. 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...

  18. 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.

  19. 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...

  20. 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

  1. 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...

  2. 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...

  3. SU-F-J-195: On the Performance of Four Dual Energy CT Formalisms for Extracting Proton Stopping Powers

    Energy Technology Data Exchange (ETDEWEB)

    Baer, E; Royle, G [University College London, London (United Kingdom); Lalonde, A; Bouchard, H [University of Montreal, Montreal, QC (Canada)

    2016-06-15

    Purpose: Dual energy CT can predict stopping power ratios (SPR) for ion therapy treatment planning. Several approaches have been proposed recently, however accuracy and practicability in a clinical workflow are unaddressed. The aim of this work is to provide a fair comparison of available approaches in a human-like phantom to find the optimal method for tissue characterization in a clinical situation. Methods: The SPR determination accuracy is investigated using simulated DECT images. A virtual human-like phantom is created containing 14 different standard human tissues. SECT (120 kV) and DECT images (100 kV and 140 kV Sn) are simulated using the software ImaSim. The single energy CT (SECT) stoichiometric calibration method and four recently published calibration-based DECT methods are implemented and used to predict the SPRs from simulated images. The difference between SPR predictions and theoretical SPR are compared pixelwize. Mean, standard deviation and skewness of the SPR difference distributions are used as measures for bias, dispersion and symmetry. Results: The average SPR differences and standard deviations are (0.22 ± 1.27)% for SECT, and A) (−0.26 ± 1.30)%, B) (0.08 ± 1.12)%, C) (0.06 ± 1.15)% and D) (−0.05 ± 1.05)% for the four DECT methods. While SPR prediction using SECT is showing a systematic error on SPR, the DECT methods B, C and D are unbiased. The skewness of the SECT distribution is 0.57%, and A) −0.19%, B) −0.56%, C) −0.29% and D) −0.07% for DECT methods respectively. Conclusion: The here presented DECT methods B, C and D outperform the commonly used SECT stoichiometric calibration. These methods predict SPR accurately without a bias and within ± 1.2% (68th percentile). This indicates that DECT potentially improves accuracy of range predictions in proton therapy. A validation of these findings using clinical CT images of real tissues is necessary.

  4. 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...

  5. 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...

  6. Experience with low-power x86 processors (Atom) for HEP usage. An initial analysis of the Intel® dual core Atom™ N330 processor

    CERN Document Server

    Balazs, G; Nowak, A; CERN. Geneva. IT Department

    2009-01-01

    In this paper we compare a system based on an Intel Atom N330 low-power processor to a modern Intel Xeon® dual-socket server using CERN IT’s standard criteria for comparing price-performance and performance per watt. The Xeon server corresponds to what is typically acquired as servers in the LHC Computing Grid. The comparisons used public pricing information from November 2008. After the introduction in section 1, section 2 describes the hardware and software setup. In section 3 we describe the power measurements we did and in section 4 we discuss the throughput performance results. In section 5 we summarize our initial conclusions. We then go on to describe our long term vision and possible future scenarios for using such low-power processors, and finally we list interesting development directions.

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. 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

  12. Optimized Carrier Based Multilevel Generated Modified Dual Three-Phase Open-Winding Inverter for Medium Power Applications

    DEFF Research Database (Denmark)

    Padmanaban, Sanjeevi Kumar; Blaabjerg, Frede; Wheeler, Patrick

    2016-01-01

    This paper presents a novel carrier based multilevel modulation for modified dual three-phase open-winding inverter applicable for low-voltage/high-current applications. A standard three-phase voltage source inverter (VSI) is connected across the open-winding of both ends of the motor. Each VSI i...

  13. 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.

  14. Activation analysis and waste management for dual-cooled lithium lead breeder (DLL) blanket of the fusion power reactor FDS-II

    International Nuclear Information System (INIS)

    Chen Mingliang; Huang Qunying; Li Jingjing; Zeng Qin; Wu Yican

    2005-01-01

    The calculation and analysis on the activation levels of the different regions of dual-cooled lithium-lead (DLL) breeder blanket of FDS-II, including afterheat, dose rate, activity and biological hazard potential after shutdown, were carried out with the neutronics code system VisualBUS and multi-group working library HENDL1.0/MG. The safety and environment assessment of fusion power (SEAFP) strategy for the management of activated material is here applied to the DLL blanket, to define the suitable recycling (reuse of activated material) procedure and the possibility of clearance (declassification of the material with low activity level to non-active waste). (authors)

  15. 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

  16. 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.

  17. [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

  18. 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

  19. 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.

  20. A dual-mode operation overmoded coaxial millimeter-wave generator with high power capacity and pure transverse electric and magnetic mode output

    Science.gov (United States)

    Bai, Zhen; Zhang, Jun; Zhong, Huihuang

    2016-04-01

    An overmoded coaxial millimeter-wave generator with high power capacity and pure transverse electric and magnetic (TEM) mode output is designed and presented, by using a kind of coaxial slow wave structure (SWS) with large transversal dimension and small distance between inner and outer conductors. The generator works in dual-mode operation mechanism. The electron beam synchronously interacts with 7π/8 mode of quasi-TEM, at the meanwhile exchanges energy with 3π/8 mode of TM01. The existence of TM01 mode, which is traveling wave, not only increases the beam-wave interaction efficiency but also improves the extraction efficiency. The large transversal dimension of coaxial SWS makes its power capacity higher than that of other reported millimeter-wave devices and the small distance between inner and outer conductors allows only two azimuthally symmetric modes to coexist. The converter after the SWS guarantees the mode purity of output power. Particle-in-cell simulation shows that when the diode voltage is 400 kV and beam current is 3.8 kA, the generation of microwave at 32.26 GHz with an output power of 611 MW and a conversion efficiency of 40% is obtained. The power percentage carried by TEM mode reaches 99.7% in the output power.

  1. A dual-mode operation overmoded coaxial millimeter-wave generator with high power capacity and pure transverse electric and magnetic mode output

    Energy Technology Data Exchange (ETDEWEB)

    Bai, Zhen; Zhang, Jun, E-mail: zhangjun@nudt.edu.cn; Zhong, Huihuang [College of Optoelectric Science and Engineering, National University of Defense Technology, Changsha 410073 (China)

    2016-04-15

    An overmoded coaxial millimeter-wave generator with high power capacity and pure transverse electric and magnetic (TEM) mode output is designed and presented, by using a kind of coaxial slow wave structure (SWS) with large transversal dimension and small distance between inner and outer conductors. The generator works in dual-mode operation mechanism. The electron beam synchronously interacts with 7π/8 mode of quasi-TEM, at the meanwhile exchanges energy with 3π/8 mode of TM{sub 01}. The existence of TM{sub 01} mode, which is traveling wave, not only increases the beam-wave interaction efficiency but also improves the extraction efficiency. The large transversal dimension of coaxial SWS makes its power capacity higher than that of other reported millimeter-wave devices and the small distance between inner and outer conductors allows only two azimuthally symmetric modes to coexist. The converter after the SWS guarantees the mode purity of output power. Particle-in-cell simulation shows that when the diode voltage is 400 kV and beam current is 3.8 kA, the generation of microwave at 32.26 GHz with an output power of 611 MW and a conversion efficiency of 40% is obtained. The power percentage carried by TEM mode reaches 99.7% in the output power.

  2. 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.

  3. 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.

  4. 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)

  5. 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.

  6. 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.

  7. 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.

  8. A tuneable, power efficient and narrow single longitudinal mode fibre ring laser using an inline dual-taper fibre Mach–Zehnder filter

    International Nuclear Information System (INIS)

    Ahmad, H; Dernaika, M; Alimadad, M; Ibrahim, M F; Lim, K S; Harun, S W; Kharraz, O M

    2014-01-01

    A tuneable single longitudinal mode fibre ring laser with dual-taper fibre filter is proposed and experimentally demonstrated in this paper. The single longitudinal mode operation, and power limitations for a Mach–Zehnder interferometer filter generated from a single mode fibre, are verified for the first time. Incorporating an in-line taper fibre Mach–Zehnder interferometer filter inside the laser ring cavity causes a spatial mode beating interference, resulting in a passive narrow band filter with the ability to generate stable single longitudinal modes. The single longitudinal mode achieves a side mode suppression ratio of more than 60 dB using low pump power. The tuneability of the fibre laser ranges from 1525 to 1562 nm using a passive band pass filter. A study of the stability and limitation of the single longitudinal mode in the Mach–Zehnder tapered fibre is also presented. (paper)

  9. 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.

  10. 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.

  11. 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.

  12. Optimizing CT angiography in patients with Fontan physiology: single-center experience of dual-site power injection

    International Nuclear Information System (INIS)

    Sandler, K.L.; Markham, L.W.; Mah, M.L.; Byrum, E.P.; Williams, J.R.

    2014-01-01

    Aim: To identify adult patients with single-ventricle congenital heart disease and Fontan procedure palliation who have been misdiagnosed with or incompletely evaluated for pulmonary embolism. Additionally, this study was designed to demonstrate that simultaneous, dual-injection of contrast medium into an upper and lower extremity vein is superior to single-injection protocols for CT angiography (CTA) of the chest in this population. Materials and methods: Patients included in the study were retrospectively selected from the Adult Congenital Heart Disease (ACHD) database. Search criteria included history of Fontan palliation and available chest CT examination. Patients were evaluated for (1) type of congenital heart disease and prior operations;(2) indication for initial CT evaluation;(3) route of contrast medium administration for the initial CT examination and resulting diagnosis;(4) whether or not anticoagulation therapy was initiated; and (5) final diagnosis and treatment plan. Results: The query of the ACHD database resulted in 28 individuals or patients with Fontan palliation (superior and inferior venae cavae anastomosed to the pulmonary arteries). Of these, 19 patients with Fontan physiology underwent CTA of the pulmonary circulation, and 17 had suboptimal imaging studies. Unfortunately, seven of these 17 patients (41%) were started on anticoagulation therapy due to a diagnosis of pulmonary embolism that was later excluded. Conclusion: Patients with single-ventricle/Fontan physiology are at risk of thromboembolic disease. Therefore, studies evaluating their complex anatomy must be performed with the optimal imaging protocol to ensure diagnostic accuracy, which is best achieved with dual-injection of an upper and lower extremity central vein. - Highlights: • The adult congenital heart disease population is growing. • Many of these patients have single ventricle/Fontan physiology. • Patients with Fontan physiology are at increased risk for

  13. 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...

  14. 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,...

  15. 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.)

  16. Properties of Co-deposited indium tin oxide and zinc oxide films using a bipolar pulse power supply and a dual magnetron sputter source

    International Nuclear Information System (INIS)

    Hwang, Man-Soo; Seob Jeong, Heui; Kim, Won Mok; Seo, Yong Woon

    2003-01-01

    Multilayer coatings consisting of metal layers sandwiched between transparent conducting oxide layers are widely used for flat panel display electrodes and electromagnetic shield coatings for plasma displays, due to their high electrical conductivity and light transmittance. The electrical and optical properties of these multilayer films depend largely on the surface characteristics of the transparent conducting oxide thin films. A smoother surface on the transparent conducting oxide thin films makes it easier for the metal layer to form a continuous film, thus resulting in a higher conductivity and visible light transmittance. Indium tin oxide (ITO) and zinc oxide (ZnO) films were co-deposited using a dual magnetron sputter and a bipolar pulse power supply to decrease the surface roughness of the transparent conducting oxide films. The symmetric pulse mode of the power supply was used to simultaneously sputter an In 2 O 3 (90 wt %) : SnO 2 (10 wt %) target and a ZnO target. We varied the duty of the pulses to control the ratio of ITO : ZnO in the thin films. The electrical and optical properties of the films were studied, and special attention was paid to the surface roughness and the crystallinity of the films. By co-depositing ITO and ZnO at a pulse duty ratio of ITO:ZnO=45:45 using a dual magnetron sputter and a bipolar pulse power supply, we were able to obtain amorphous transparent conducting oxide films with a very smooth surface which had a Zn-rich buffer layer under a In-rich surface layer. All of the films exhibited typical electrical and optical properties of transparent conducting oxide films deposited at room temperature

  17. 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

  18. 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...

  19. n⁺ GaAs/AuGeNi-Au Thermocouple-Type RF MEMS Power Sensors Based on Dual Thermal Flow Paths in GaAs MMIC.

    Science.gov (United States)

    Zhang, Zhiqiang; Liao, Xiaoping

    2017-06-17

    To achieve radio frequency (RF) power detection, gain control, and circuit protection, this paper presents n⁺ GaAs/AuGeNi-Au thermocouple-type RF microelectromechanical system (MEMS) power sensors based on dual thermal flow paths. The sensors utilize a conversion principle of RF power-heat-voltage, where a thermovoltage is obtained as the RF power changes. To improve the heat transfer efficiency and the sensitivity, structures of two heat conduction paths are designed: one in which a thermal slug of Au is placed between two load resistors and hot junctions of the thermocouples, and one in which a back cavity is fabricated by the MEMS technology to form a substrate membrane underneath the resistors and the hot junctions. The improved sensors were fabricated by a GaAs monolithic microwave integrated circuit (MMIC) process. Experiments show that these sensors have reflection losses of less than -17 dB up to 12 GHz. At 1, 5, and 10 GHz, measured sensitivities are about 63.45, 53.97, and 44.14 µ V/mW for the sensor with the thermal slug, and about 111.03, 94.79, and 79.04 µ V/mW for the sensor with the thermal slug and the back cavity, respectively.

  20. n+ GaAs/AuGeNi-Au Thermocouple-Type RF MEMS Power Sensors Based on Dual Thermal Flow Paths in GaAs MMIC

    Directory of Open Access Journals (Sweden)

    Zhiqiang Zhang

    2017-06-01

    Full Text Available To achieve radio frequency (RF power detection, gain control, and circuit protection, this paper presents n+ GaAs/AuGeNi-Au thermocouple-type RF microelectromechanical system (MEMS power sensors based on dual thermal flow paths. The sensors utilize a conversion principle of RF power-heat-voltage, where a thermovoltage is obtained as the RF power changes. To improve the heat transfer efficiency and the sensitivity, structures of two heat conduction paths are designed: one in which a thermal slug of Au is placed between two load resistors and hot junctions of the thermocouples, and one in which a back cavity is fabricated by the MEMS technology to form a substrate membrane underneath the resistors and the hot junctions. The improved sensors were fabricated by a GaAs monolithic microwave integrated circuit (MMIC process. Experiments show that these sensors have reflection losses of less than −17 dB up to 12 GHz. At 1, 5, and 10 GHz, measured sensitivities are about 63.45, 53.97, and 44.14 µV/mW for the sensor with the thermal slug, and about 111.03, 94.79, and 79.04 µV/mW for the sensor with the thermal slug and the back cavity, respectively.

  1. Extending the Constant Power Speed Range of the Brushless DC Motor through Dual Mode Inverter Control -- Part I: Theory and Simulation

    International Nuclear Information System (INIS)

    Lawler, J.S.

    2001-01-01

    An inverter topology and control scheme has been developed that can drive low-inductance, surface-mounted permanent magnet motors over the wide constant power speed range required in electric vehicle applications. This new controller is called the dual-mode inverter control (DMIC)[1]. The DMIC can drive either the Permanent Magnet Synchronous Machine (PMSM) with sinusoidal back emf, or the brushless dc machine (BDCM) with trapezoidal emf in the motoring and regenerative braking modes. In this paper we concentrate on the BDCM under high-speed motoring conditions. Simulation results show that if all motor and inverter loss mechanisms are neglected, the constant power speed range of the DMIC is infinite. The simulation results are supported by closed form expressions for peak and rms motor current and average power derived from analytical solution to the differential equations governing the DMIC/BDCM drive for the lossless case. The analytical solution shows that the range of motor inductance that can be accommodated by the DMIC is more than an order of magnitude such that the DMIC is compatible with both low- and high-inductance BDCMs. Finally, method is given for integrating the classical hysteresis band current control, used for motor control below base speed, with the phase advance of DMIC that is applied above base speed. The power versus speed performance of the DMIC is then simulated across the entire speed range

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

    OpenAIRE

    Xu, Shi-Zhou; He, Feng-You

    2016-01-01

    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 pe...

  3. 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.

  4. 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...

  5. 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...

  6. 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.

  7. 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)

  8. 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.

  9. Dual Solutions in a Boundary Layer Flow of a Power Law Fluid over a Moving Permeable Flat Plate with Thermal Radiation, Viscous Dissipation and Heat Generation/Absorption

    Directory of Open Access Journals (Sweden)

    Aftab Ahmed

    2018-01-01

    Full Text Available The aim of the present study is to investigate the combined effects of the thermal radiation, viscous dissipation, suction/injection and internal heat generation/absorption on the boundary layer flow of a non-Newtonian power law fluid over a semi infinite permeable flat plate moving in parallel or reversely to a free stream. The resulting system of partial differential equations (PDEs is first transformed into a system of coupled nonlinear ordinary differential equations (ODEs which are then solved numerically by using the shooting technique. It is found that the dual solutions exist when the flat plate and the free stream move in the opposite directions. Dimensionless boundary layer velocity and temperature distributions are plotted and discussed for various values of the emerging physical parameters. Finally, the tables of the relevant boundary derivatives are presented for some values of the governing physical parameters.

  10. 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

    2015-09-01

    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 cost and large-area fabrication, make MFSOTE materials possess promising applications in e-skin and health-monitoring elements.

  11. 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.

  12. A 200-Channel Area-Power-Efficient Chemical and Electrical Dual-Mode Acquisition IC for the Study of Neurodegenerative Diseases.

    Science.gov (United States)

    Guo, Jing; Ng, Waichiu; Yuan, Jie; Li, Suwen; Chan, Mansun

    2016-06-01

    Microelectrode array (MEA) can be used in the study of neurodegenerative diseases by monitoring the chemical neurotransmitter release and the electrical potential simultaneously at the cellular level. Currently, the MEA technology is migrating to more electrodes and higher electrode density, which raises power and area constraints on the design of acquisition IC. In this paper, we report the design of a 200-channel dual-mode acquisition IC with highly efficient usage of power and area. Under the constraints of target noise and fast settling, the current channel design saves power by including a novel current buffer biased in discrete time (DT) before the TIA (transimpedance amplifier). The 200 channels are sampled at 20 kS/s and quantized by column-wise SAR ADCs. The prototype IC was fabricated in a 0.18 μm CMOS process. Silicon measurements show the current channel has 21.6 pArms noise with cyclic voltammetry (CV) and 0.48 pArms noise with constant amperometry (CA) while consuming 12.1 μW . The voltage channel has 4.07 μVrms noise in the bandwidth of 100 kHz and 0.2% nonlinearity while consuming 9.1 μW. Each channel occupies 0.03 mm(2) area, which is among the smallest.

  13. 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.

  14. 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...

  15. 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...

  16. 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...

  17. 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.

  18. 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.

  19. 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

  20. 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

  1. 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...

  2. Design of a high-efficiency train headlamp with low power consumption using dual half-parabolic aluminized reflectors.

    Science.gov (United States)

    Liang, Wei-Lun; Su, Guo-Dung J

    2018-02-20

    We propose a train headlamp system using dual half-circular parabolic aluminized reflectors. Each half-circular reflector contains five high-efficiency and small-package light-emitting diode (LED) chips, and the halves are 180° rotationally symmetric. For traffic safety, the headlamp satisfies the Code of Federal Regulations. To predict the pattern of illumination, an analytical derivation is developed for the optical path of a ray that is perpendicular to and emitted from the center of an LED chip. This ray represents the main ray emitted from the LED chip and is located at the maximum illuminance of the spot projected by the LED source onto a screen. We then analyze the design systematically to determine the locations of the LED chips in the reflector that minimize electricity consumption while satisfying reliability constraints associated with traffic safety. Compared to a typical train headlamp system with an incandescent or halogen lamp needing several hundred watts, the proposed system only uses 20.18 W to achieve the luminous intensity requirements.

  3. Dual-Functional On-Chip AlGaAs/GaAs Schottky Diode for RF Power Detection and Low-Power Rectenna Applications

    Directory of Open Access Journals (Sweden)

    Abdul Manaf Hashim

    2011-08-01

    Full Text Available A Schottky diode has been designed and fabricated on an n-AlGaAs/GaAs high-electron-mobility-transistor (HEMT structure. Current-voltage (I-V measurements show good device rectification, with a Schottky barrier height of 0.4349 eV for Ni/Au metallization. The differences between the Schottky barrier height and the theoretical value (1.443 eV are due to the fabrication process and smaller contact area. The RF signals up to 1 GHz are rectified well by the fabricated Schottky diode and a stable DC output voltage is obtained. The increment ratio of output voltage vs input power is 0.2 V/dBm for all tested frequencies, which is considered good enough for RF power detection. Power conversion efficiency up to 50% is obtained at frequency of 1 GHz and input power of 20 dBm with series connection between diode and load, which also shows the device’s good potential as a rectenna device with further improvement. The fabricated n-AlGaAs/GaAs Schottky diode thus provides a conduit for breakthrough designs for RF power detectors, as well as ultra-low power on-chip rectenna device technology to be integrated in nanosystems.

  4. Dual-functional on-chip AlGaAs/GaAs Schottky diode for RF power detection and low-power rectenna applications.

    Science.gov (United States)

    Hashim, Abdul Manaf; Mustafa, Farahiyah; Rahman, Shaharin Fadzli Abd; Rahman, Abdul Rahim Abdul

    2011-01-01

    A Schottky diode has been designed and fabricated on an n-AlGaAs/GaAs high-electron-mobility-transistor (HEMT) structure. Current-voltage (I-V) measurements show good device rectification, with a Schottky barrier height of 0.4349 eV for Ni/Au metallization. The differences between the Schottky barrier height and the theoretical value (1.443 eV) are due to the fabrication process and smaller contact area. The RF signals up to 1 GHz are rectified well by the fabricated Schottky diode and a stable DC output voltage is obtained. The increment ratio of output voltage vs input power is 0.2 V/dBm for all tested frequencies, which is considered good enough for RF power detection. Power conversion efficiency up to 50% is obtained at frequency of 1 GHz and input power of 20 dBm with series connection between diode and load, which also shows the device's good potential as a rectenna device with further improvement. The fabricated n-AlGaAs/GaAs Schottky diode thus provides a conduit for breakthrough designs for RF power detectors, as well as ultra-low power on-chip rectenna device technology to be integrated in nanosystems.

  5. Decoupled Power Solution for Dual-input Isolated DC-DC Converters Using Four Quadrants Integrated Transformers (FQIT)

    DEFF Research Database (Denmark)

    Ouyang, Ziwei; Andersen, Michael A. E.; Thomsen, Ole Cornelius

    2012-01-01

    ) space orthogonal flux is proposed in this paper. And thus a new geometry core and relative winding arrangements are proposed in accordance with the rthogonal flux decoupling technology. Due to the four secondary windings are arranged in a quadratic pattern at the base core plate with the two...... perpendicular primary windings, a name of “four quadrants integrated transformers” (FQIT) is therefore given to the proposed construction. Since the two primary windings are uncoupled, the FQIT allows the two input power stages to transfer the energy into the output load simultaneously or at any...... timemultiplexing scheme, which can optimize the utilization of diversified power energy sources, simplify the system structure, improve the flexibility and reduce the overall cost, so they are attractive for the hybrid renewable power system. Section IV initiates a discussion for the advantages of the FQIT...

  6. 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)

  7. Cerebellar contribution to feedforward control of locomotion.

    Science.gov (United States)

    Pisotta, Iolanda; Molinari, Marco

    2014-01-01

    The cerebellum is an important contributor to feedforward control mechanisms of the central nervous system, and sequencing-the process that allows spatial and temporal relationships between events to be recognized-has been implicated as the fundamental cerebellar mode of operation. By adopting such a mode and because cerebellar activity patterns are sensitive to a variety of sensorimotor-related tasks, the cerebellum is believed to support motor and cognitive functions that are encoded in the frontal and parietal lobes of the cerebral cortex. In this model, the cerebellum is hypothesized to make predictions about the consequences of a motor or cognitive command that originates from the cortex to prepare the entire system to cope with ongoing changes. In this framework, cerebellar predictive mechanisms for locomotion are addressed, focusing on sensorial and motoric sequencing. The hypothesis that sequence recognition is the mechanism by which the cerebellum functions in gait control is presented and discussed.

  8. Slipping slender bodies and enhanced flagellar locomotion

    Science.gov (United States)

    Man, Yi; Lauga, Eric

    2017-11-01

    In the biological world, many cells exploit slender appendages to swim, include numerous species of bacteria, algae and spermatozoa. A classical method to describe the flow field around such appendages is slender-body theory (SBT), which is often used to study flagellar motility in Newtonian fluids. However, biology environments are often rheologically complex due to the presence of polymers. These polymers generically phase-separate near rigid boundaries where low-viscosity fluid layers lead to effective slip on the surface. In this talk, we present an analytical derivation of SBT in the case where the no-slip boundary condition on the appendage is replaced by a Navier slip boundary condition. Our results demonstrate in particular a systematic reduction of the resistance coefficient of the slender filaments in their tangential direction, which leads to enhanced flagellar locomotion.

  9. Dynamic legged locomotion in robots and animals

    Science.gov (United States)

    Raibert, Marc; Playter, Robert; Ringrose, Robert; Bailey, Dave; Leeser, Karl

    1995-01-01

    This report documents our study of active legged systems that balance actively and move dynamically. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of how animal locomotion works. In this report we provide an update on progress during the past year. Here are the topics covered in this report: (1) Is cockroach locomotion dynamic? To address this question we created three models of cockroaches, each abstracted at a different level. We provided each model with a control system and computer simulation. One set of results suggests that 'Groucho Running,' a type of dynamic walking, seems feasible at cockroach scale. (2) How do bipeds shift weight between the legs? We built a simple planar biped robot specifically to explore this question. It shifts its weight from one curved foot to the other, using a toe-off and toe-on strategy, in conjunction with dynamic tipping. (3) 3D biped gymnastics: The 3D biped robot has done front somersaults in the laboratory. The robot changes its leg length in flight to control rotation rate. This in turn provides a mechanism for controlling the landing attitude of the robot once airborne. (4) Passively stabilized layout somersault: We have found that the passive structure of a gymnast, the configuration of masses and compliances, can stabilize inherently unstable maneuvers. This means that body biomechanics could play a larger role in controlling behavior than is generally thought. We used a physical 'doll' model and computer simulation to illustrate the point. (5) Twisting: Some gymnastic maneuvers require twisting. We are studying how to couple the biomechanics of the system to its control to produce efficient, stable twisting maneuvers.

  10. TU-FG-BRB-03: Basis Vector Model Based Method for Proton Stopping Power Estimation From Experimental Dual Energy CT Data

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, S; Politte, D; O’Sullivan, J [Washington University in St. Louis, St. Louis, MO (United States); Han, D; Porras-Chaverri, M; Williamson, J [Virginia Commonwealth University, Richmond, VA (United States); Whiting, B [University of Pittsburgh, Pittsburgh, PA (United States)

    2016-06-15

    Purpose: This work aims at reducing the uncertainty in proton stopping power (SP) estimation by a novel combination of a linear, separable basis vector model (BVM) for stopping power calculation (Med Phys 43:600) and a statistical, model-based dual-energy CT (DECT) image reconstruction algorithm (TMI 35:685). The method was applied to experimental data. Methods: BVM assumes the photon attenuation coefficients, electron densities, and mean excitation energies (I-values) of unknown materials can be approximated by a combination of the corresponding quantities of two reference materials. The DECT projection data for a phantom with 5 different known materials was collected on a Philips Brilliance scanner using two scans at 90 kVp and 140 kVp. The line integral alternating minimization (LIAM) algorithm was used to recover the two BVM coefficient images using the measured source spectra. The proton stopping powers are then estimated from the Bethe-Bloch equation using electron densities and I-values derived from the BVM coefficients. The proton stopping powers and proton ranges for the phantom materials estimated via our BVM based DECT method are compared to ICRU reference values and a post-processing DECT analysis (Yang PMB 55:1343) applied to vendorreconstructed images using the Torikoshi parametric fit model (tPFM). Results: For the phantom materials, the average stopping power estimations for 175 MeV protons derived from our method are within 1% of the ICRU reference values (except for Teflon with a 1.48% error), with an average standard deviation of 0.46% over pixels. The resultant proton ranges agree with the reference values within 2 mm. Conclusion: Our principled DECT iterative reconstruction algorithm, incorporating optimal beam hardening and scatter corrections, in conjunction with a simple linear BVM model, achieves more accurate and robust proton stopping power maps than the post-processing, nonlinear tPFM based DECT analysis applied to conventional

  11. Dual-Polarized Antenna Arrays with CMOS Power Amplifiers for SiP Integration at W-Band

    Science.gov (United States)

    Giese, Malte; Vehring, Sönke; Böck, Georg; Jacob, Arne F.

    2017-09-01

    This paper presents requirements and front-end solutions for low-cost communication systems with data rates of 100 Gbit/s. Link budget analyses in different mass-market applications are conducted for that purpose. It proposes an implementation of the front-end as an active antenna array with support for beam steering and polarization multiplexing over the full W-band. The critical system components are investigated and presented. This applies to a transformer coupled power amplifier (PA) in 40 nm bulk CMOS. It shows saturated output power of more than 10 dBm and power-added-efficiency of more than 10 % over the full W-band. Furthermore, the performance of microstrip-to-waveguide transitions is shown exemplarily as an important part of the active antenna as it interfaces active circuitry and antenna in a polymer-and-metal process. The transition test design shows less than 0.9 dB insertion loss and more than 12 dB return loss for the differential transition over the full W-band.

  12. 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.

  13. 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)

  14. 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

  15. Improvement in the Physical and Psychological Well-Being of Persons with Spinal Cord Injuries by Means of Powered Wheelchairs Driven by Dual Power Wheels and Mobile Technologies

    Directory of Open Access Journals (Sweden)

    Yee-Pien Yang

    2017-10-01

    Full Text Available This study unites researchers from the fields of psychology, occupational therapy, and engineering to improve the holistic physical and psychological well-being of persons with spinal cord injury (SCI by using assistive devices (i.e., wheelchairs and mobile technology (i.e., cell phone and network. These technologies are used to bring persons with SCI through the difficult period of rehabilitation and to return them to their daily life in school or the working environment. First, a SpinoAid Application (APP is developed to motivate persons with SCI to participate in the community after their injury. Second, we integrate mobile technology with a mobility assistive device to design a smart wheelchair, which is innovated by transforming the pushrim of a manually driven wheelchair into a rim motor. After the rim motor is combined with a battery, a brake, and a controller to become a power wheel, two power wheels are installed on both sides of the wheelchair to become a powered wheelchair. Third, a SmartChair APP is developed with the main functions of reminding persons with SCI to perform exercises, recording the physical condition and the wheelchair using status, and building up a social network for information sharing to increase their exercise habit, prevent cumulative injuries or discomfort of the upper extremities, and enhance their health and quality of life.

  16. 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...

  17. 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...

  18. Investigation on a Power Coupling Steering System for Dual-Motor Drive Tracked Vehicles Based on Speed Control

    Directory of Open Access Journals (Sweden)

    Li Zhai

    2017-08-01

    Full Text Available Double-motor drive tracked vehicles (2MDTV are widely used in the tracked vehicle industry due to the development of electric vehicle drive systems. The aim of this paper is to solve the problem of insufficient propulsion motor torque in low-speed, small-radius steering and insufficient power in high-speed large-radius steering. In order to do this a new type of steering system with a coupling device is designed and a closed-loop control strategy based on speed is adopted to improve the lateral stability of the vehicle. The work done entails modeling and simulating the 2MDTV and the proposed control strategy in RecurDyn and Matlab/Simulink. The simulation results show that the 2MDTV with the coupling device outputs more torque and power in both steering cases compared to the 2MDTV without the coupling device, and the steering stability of the vehicle is improved by using the strategy based on speed.

  19. 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.

  20. 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

  1. 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.

  2. Characterization of Hop-and-Sink Locomotion of Water Fleas

    Science.gov (United States)

    Skipper, A. N.; Murphy, D. W.; Webster, D. R.

    2017-11-01

    The freshwater crustacean Daphnia magna is a widely studied zooplankton in relation to food webs, predator-prey interactions, and other biological/ecological considerations; however, their locomotion is poorly quantified and understood. These water fleas utilize a hop-and-sink mechanism that consists of making quick, impulsive jumps by beating their antennae to propel themselves forward (roughly 1 body length). The animals then sink for a period, during which they stretch out their antennae to increase drag and thereby reduce their sinking velocity. Time-resolved three-dimensional flow fields surrounding the animals were quantified with a unique infrared tomographic particle image velocimetry (tomo-PIV) system. Three-dimensional kinematics data were also extracted from the image sequences. In the current work, we compared body kinematics and flow disturbance among organisms of size in the range of 1.3 to 2.8 mm. The stroke cycle averaged 150 +/- 20 ms, with each stroke cycle split nearly evenly between power and recovery strokes. The kinematics data collapsed onto a self-similar curve when properly nondimensionalized, and a general trend was shown to exist between the nondimensionalized peak body speed and body length. The fluid flow induced by each antennae consisted of a viscous vortex ring that demonstrated a slow decay in the wake. The viscous dissipation showed no clear dependence on body size, whereas the volume of fluid exceeding 5 mm/s (the speed near the sinking speed of the animal) decayed more slowly with increasing body size.

  3. 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...

  4. 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...

  5. 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...

  6. 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...

  7. Extending the Constant Power Speed Range of the Brushless DC Motor through Dual Mode Inverter Control - Part II: Laboratory Proof-of-Principle

    International Nuclear Information System (INIS)

    Lawler, J.S.

    2001-01-01

    Previous theoretical work has shown that when all loss mechanisms are neglected the constant power speed range (CPSR) of a brushless dc motor (BDCM) is infinite when the motor is driven by the dual-mode inverter control (DMIC)[1,2]. In a physical drive, losses, particularly speed-sensitive losses, will limit the CPSR to a finite value. In this paper we report the results of laboratory testing of a low-inductance, 7.5-hp BDCM driven by the DMIC. The speed rating of the test motor rotor limited the upper speed of the testing, and the results show that the CPSR of the test machine is greater than 6:1 when driven by the DMIC. Current wave shape, peak, and rms values remained controlled and within rating over the entire speed range. The laboratory measurements allowed the speed-sensitive losses to be quantified and incorporated into computer simulation models, which then accurately reproduce the results of lab testing. The simulator shows that the limiting CPSR of the test motor is 8:1. These results confirm that the DMIC is capable of driving low-inductance BDCMs over the wide CPSR that would be required in electric vehicle applications

  8. Theoretical variance analysis of single- and dual-energy computed tomography methods for calculating proton stopping power ratios of biological tissues

    International Nuclear Information System (INIS)

    Yang, M; Zhu, X R; Mohan, R; Dong, L; Virshup, G; Clayton, J

    2010-01-01

    We discovered an empirical relationship between the logarithm of mean excitation energy (ln I m ) and the effective atomic number (EAN) of human tissues, which allows for computing patient-specific proton stopping power ratios (SPRs) using dual-energy CT (DECT) imaging. The accuracy of the DECT method was evaluated for 'standard' human tissues as well as their variance. The DECT method was compared to the existing standard clinical practice-a procedure introduced by Schneider et al at the Paul Scherrer Institute (the stoichiometric calibration method). In this simulation study, SPRs were derived from calculated CT numbers of known material compositions, rather than from measurement. For standard human tissues, both methods achieved good accuracy with the root-mean-square (RMS) error well below 1%. For human tissues with small perturbations from standard human tissue compositions, the DECT method was shown to be less sensitive than the stoichiometric calibration method. The RMS error remained below 1% for most cases using the DECT method, which implies that the DECT method might be more suitable for measuring patient-specific tissue compositions to improve the accuracy of treatment planning for charged particle therapy. In this study, the effects of CT imaging artifacts due to the beam hardening effect, scatter, noise, patient movement, etc were not analyzed. The true potential of the DECT method achieved in theoretical conditions may not be fully achievable in clinical settings. Further research and development may be needed to take advantage of the DECT method to characterize individual human tissues.

  9. 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...

  10. 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

  11. 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...

  12. 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)

  13. Sensory modulation of movement, posture and locomotion.

    Science.gov (United States)

    Saradjian, A H

    2015-11-01

    During voluntary movement, there exists a well known functional sensory attenuation of afferent inputs, which allows us to discriminate between information related to our own movements and those arising from the external environment. This attenuation or 'gating' prevents some signals from interfering with movement elaboration and production. However, there are situations in which certain task-relevant sensory inputs may not be gated. This review begins by identifying the prevalent findings in the literature with specific regard to the somatosensory modality, and reviews the many cases of classical sensory gating phenomenon accompanying voluntary movement and their neural basis. This review also focuses on the newer axes of research that demonstrate that task-specific sensory information may be disinhibited or even facilitated during engagement in voluntary actions. Finally, a particular emphasis will be placed on postural and/or locomotor tasks involving strong somatosensory demands, especially for the setting of the anticipatory postural adjustments observed prior the initiation of locomotion. Copyright © 2015 Elsevier Masson SAS. All rights reserved.

  14. Linking pedestrian flow characteristics with stepping locomotion

    Science.gov (United States)

    Wang, Jiayue; Boltes, Maik; Seyfried, Armin; Zhang, Jun; Ziemer, Verena; Weng, Wenguo

    2018-06-01

    While properties of human traffic flow are described by speed, density and flow, the locomotion of pedestrian is based on steps. To relate characteristics of human locomotor system with properties of human traffic flow, this paper aims to connect gait characteristics like step length, step frequency, swaying amplitude and synchronization with speed and density and thus to build a ground for advanced pedestrian models. For this aim, observational and experimental study on the single-file movement of pedestrians at different densities is conducted. Methods to measure step length, step frequency, swaying amplitude and step synchronization are proposed by means of trajectories of the head. Mathematical models for the relations of step length or frequency and speed are evaluated. The problem how step length and step duration are influenced by factors like body height and density is investigated. It is shown that the effect of body height on step length and step duration changes with density. Furthermore, two different types of step in-phase synchronization between two successive pedestrians are observed and the influence of step synchronization on step length is examined.

  15. Integrated or dual vocational training focused on the operations of a nuclear power plant; La formacion profesional integrada y/o dual enfocada a la operativa de una central nuclear

    Energy Technology Data Exchange (ETDEWEB)

    Roca, F.

    2014-10-01

    Dual vocational training is understood to be all the mixed employment and training actions and initiatives, the purpose of which in the vocational qualification of workers in a system alternating a job in a company with the training activity received in the framework of the vocational training system for employment of the educational system. The dual vocational training that results from this mixed strategy is provided via the following modality: Shared training between the training center and the company, which consists of coparticipation to varying degrees in the teaching and learning processes in the company and the training center. (Author)

  16. 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.

  17. 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

  18. 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

  19. 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

  20. 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.

  1. 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.

  2. 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.

  3. Material elemental decomposition in dual and multi-energy CT via a sparsity-dictionary approach for proton stopping power ratio calculation.

    Science.gov (United States)

    Shen, Chenyang; Li, Bin; Chen, Liyuan; Yang, Ming; Lou, Yifei; Jia, Xun

    2018-04-01

    Accurate calculation of proton stopping power ratio (SPR) relative to water is crucial to proton therapy treatment planning, since SPR affects prediction of beam range. Current standard practice derives SPR using a single CT scan. Recent studies showed that dual-energy CT (DECT) offers advantages to accurately determine SPR. One method to further improve accuracy is to incorporate prior knowledge on human tissue composition through a dictionary approach. In addition, it is also suggested that using CT images with multiple (more than two) energy channels, i.e., multi-energy CT (MECT), can further improve accuracy. In this paper, we proposed a sparse dictionary-based method to convert CT numbers of DECT or MECT to elemental composition (EC) and relative electron density (rED) for SPR computation. A dictionary was constructed to include materials generated based on human tissues of known compositions. For a voxel with CT numbers of different energy channels, its EC and rED are determined subject to a constraint that the resulting EC is a linear non-negative combination of only a few tissues in the dictionary. We formulated this as a non-convex optimization problem. A novel algorithm was designed to solve the problem. The proposed method has a unified structure to handle both DECT and MECT with different number of channels. We tested our method in both simulation and experimental studies. Average errors of SPR in experimental studies were 0.70% in DECT, 0.53% in MECT with three energy channels, and 0.45% in MECT with four channels. We also studied the impact of parameter values and established appropriate parameter values for our method. The proposed method can accurately calculate SPR using DECT and MECT. The results suggest that using more energy channels may improve the SPR estimation accuracy. © 2018 American Association of Physicists in Medicine.

  4. TU-FG-BRB-02: The Impact of Using Dual-Energy CT for Determining Proton Stopping Powers: Comparison Between Theory and Experiments

    Energy Technology Data Exchange (ETDEWEB)

    Baer, E; Jee, K [Massachusetts General Hospital and Harvard Medical School, Boston, Massachusetts (United States); Zhang, R; Yang, K; Sharp, G; Liu, B [Massachusetts General Hospital, Boston, MA (United States); Lalonde, A [University of Montreal, Montreal, QC (Canada); Royle, G [University College London, London, London (United Kingdom); Bouchard, H [Universite de Montreal, Montreal, QC (Canada); Lu, H [Massachusetts General Hospital and Harvard Medical School, Boston, MA (United States)

    2016-06-15

    Purpose: To evaluate the clinical performance of dual-energy CT (DECT) in determining proton stopping power ratios (SPR) and demonstrate advantages over conventional single-energy CT (SECT). Methods: SECT and DECT scans of tissue-equivalent plastics as well as animal meat samples are performed with a Siemens SOMATOM Definition Flash. The methods of Schneider et al. (1996) and Bourque et al. (2014) are used to determine proton SPR on SECT and DECT images, respectively. Waterequivalent path length (WEPL) measurements of plastics and tissue samples are performed with a 195 MeV proton beam. WEPL values are determined experimentally using the depth-dose shift and dose extinction methods. Results: Comparison between CT-based and experimental WEPL is performed for 12 tissue-equivalent plastic as well as 6 meat boxes containing animal liver, kidney, heart, stomach, muscle and bones. For plastic materials, results show a systematic improvement in determining SPR with DECT, with a mean absolute error of 0.4% compared to 1.7% for SECT. For the meat samples, preliminary results show the ability for DECT to determine WEPL with a mean absolute value of 1.1% over all meat boxes. Conclusion: This work demonstrates the potential in using DECT for determining proton SPR with plastic materials in a clinical context. Further work is required to show the benefits of DECT for tissue samples. While experimental uncertainties could be a limiting factor to show the benefits of DECT over SECT for the meat samples, further work is required to adapt the DECT formalism in the context of clinical use, where noise and artifacts play an important role.

  5. TU-FG-BRB-02: The Impact of Using Dual-Energy CT for Determining Proton Stopping Powers: Comparison Between Theory and Experiments

    International Nuclear Information System (INIS)

    Baer, E; Jee, K; Zhang, R; Yang, K; Sharp, G; Liu, B; Lalonde, A; Royle, G; Bouchard, H; Lu, H

    2016-01-01

    Purpose: To evaluate the clinical performance of dual-energy CT (DECT) in determining proton stopping power ratios (SPR) and demonstrate advantages over conventional single-energy CT (SECT). Methods: SECT and DECT scans of tissue-equivalent plastics as well as animal meat samples are performed with a Siemens SOMATOM Definition Flash. The methods of Schneider et al. (1996) and Bourque et al. (2014) are used to determine proton SPR on SECT and DECT images, respectively. Waterequivalent path length (WEPL) measurements of plastics and tissue samples are performed with a 195 MeV proton beam. WEPL values are determined experimentally using the depth-dose shift and dose extinction methods. Results: Comparison between CT-based and experimental WEPL is performed for 12 tissue-equivalent plastic as well as 6 meat boxes containing animal liver, kidney, heart, stomach, muscle and bones. For plastic materials, results show a systematic improvement in determining SPR with DECT, with a mean absolute error of 0.4% compared to 1.7% for SECT. For the meat samples, preliminary results show the ability for DECT to determine WEPL with a mean absolute value of 1.1% over all meat boxes. Conclusion: This work demonstrates the potential in using DECT for determining proton SPR with plastic materials in a clinical context. Further work is required to show the benefits of DECT for tissue samples. While experimental uncertainties could be a limiting factor to show the benefits of DECT over SECT for the meat samples, further work is required to adapt the DECT formalism in the context of clinical use, where noise and artifacts play an important role.

  6. 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.

  7. Modelling the power conversion unit of a generic nuclear fusion plant, with a dual coolant blanket and a supercritical CO2 power cycle, by means of RELAP5-3D

    Energy Technology Data Exchange (ETDEWEB)

    Batet, L.

    2015-07-01

    In the framework of the Spanish fusion program TECNO-FUS, a dual coolant blanket design was proposed for DEMO. A generic power conversion system (supercritical recompression CO2 cycle) based on this proposal has been simulated using RELAP5-3D, a multipurpose system thermal-hydraulic code developed by the Idaho National Laboratory (USA). The code allows the dynamic simulation of thermal-hydraulic systems, including the control features. A model has been set up by assembling the available RELAP5-3D components: pipe, branch, pump, compressor, turbine, etc. Thermal fluxes between fluids in heat exchangers are simulated by means of heat structures, which are used as well to simulate the heating from plasma. A number of control features have been designed for the simulated plant, and their parameters have been adjusted. The code is then able to simulate robustly the dynamics of the system with a few boundary conditions. This paper exemplifies the usefulness of the code and model to understand the behavior of the plant and to perform sensitivity analyses of the control parameters or other design features. (Author)

  8. QCD Dual

    DEFF Research Database (Denmark)

    Sannino, Francesco

    2009-01-01

    We uncover a novel solution of the 't Hooft anomaly matching conditions for QCD. Interestingly in the perturbative regime the new gauge theory, if interpreted as a possible QCD dual, predicts the critical number of flavors above which QCD in the nonperturbative regime, develops an infrared stable...

  9. 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.

  10. 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.

  11. Experimental evaluation of a diesel-biogas dual fuel engine operated on micro-trigeneration system for power, drying and cooling

    International Nuclear Information System (INIS)

    Cacua, Karen; Olmos-Villalba, Luis; Herrera, Bernardo; Gallego, Anderson

    2016-01-01

    Highlights: • A micro-trigeneration system based in a diesel-biogas dual fuel engine was obtained. • Heat from engine exhaust gases was used for drying and refrigeration applications. • Energy efficiency of the microtrigeneration system in dual mode was 40%. • Peppermint was dried in the microtrigeneration system. - Abstract: A micro-trigeneration system based on a diesel-biogas dual fuel engine was evaluated experimentally. In this system, waste heat from the engine exhaust was used for heating air using a heat pipe exchanger and for driving an absorption unit freezer. The air heated was used in a convective trays dryer designed to dry peppermint. The global energy efficiency of this system at the engine full load was 40% and 31% in diesel and dual mode, respectively, while the same efficiencies of the engine at the original single generation were 23% and 18%, respectively. On the other hand, a maximum diesel substitution level of 50% was achieved in dual mode.

  12. 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.

  13. 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.

  14. 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.

  15. 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...

  16. Simulation and thermoeconomic analysis of different configurations of gas turbine (GT)-based dual-purpose power and desalination plants (DPPDP) and hybrid plants (HP)

    International Nuclear Information System (INIS)

    Rensonnet, Thibaut; Uche, Javier; Serra, Luis

    2007-01-01

    This paper contains a simulation and a thermoeconomic analysis of several configurations of gas turbine (GT)-based dual-purpose power and desalination plants (DPPDP): Gas turbine with reverse osmosis (GT+RO), combined cycle with reverse osmosis (CC+RO), combined cycle with multi-effect distillation (CC+MED) and two different hybrid plant (HP) arrangements combining CC, MED and RO (CC+MED+RO, CC+MED+RO bis ). The last two configurations only differ from the feed solution to the MED units (raw seawater or brine coming from the RO discharge). A complete thermodynamic simulation at both design and at part load conditions has been made, as well as an exergy and an exergo-economic (thermoeconomic) analysis of each configuration, in order to compare the evolution of the water and electricity cost for different arrangements. The results show that even for a significantly reduced fuel cost (1.42 $/GJ), the CC is much more profitable than a GT operating in open cycle, with electricity cost values of 1.647 and 2.166 c$/kWh, respectively. As was expected, RO is more efficient and profitable than MED desalination processes, the difference in the obtained desalted water cost being significant. In the hybrid configuration with MED fed by the RO brine discharge, a decrease in the equivalent electrical consumption of nearly 2 kWh/m 3 was achieved, but even in this case RO was more efficient (14.15 vs. 4.048 kWh/m 3 ). The evolution of electricity cost in each configuration is more similar at part load operation than at full load, but in the case of water cost, RO is once again more profitable and less sensitive to load variations. Costs given in this paper correspond to investment and fuel costs. Further, profitability and operation strategies of HP, i.e., DPPDP combining distillation and membrane processes, are also analyzed. It is shown that HP can be more profitable than RO plants in the case of increasing the water production capacity of existing DPPDP, because the profit

  17. 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.

  18. 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

  19. [Dual pathology].

    Science.gov (United States)

    Rougier, A

    2008-05-01

    Dual pathology is defined as the association of two potentially epileptogenic lesions, hippocampal (sclerosis, neuronal loss) and extrahippocampal (temporal or extratemporal). Epileptic activity may be generated by either lesion and the relative importance of every lesion's epileptogenicity conditions the surgical strategy adopted. Most frequently associated with hippocampal sclerosis are cortical dysplasias. The common physiopathology of the two lesions is not clearly established. Extrahippocampal lesions may be undetectable on MRI (microdysgenesis, for example) and ictal discharge patterns may vary among dual pathology patients. The surgical strategy depends on the location of the extrahippocampal lesion and its relative role in seizure generation; however, reported surgical results suggest that simultaneous resection of mesial temporal structures along with the extrahippocampal lesion should be performed.

  20. 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

  1. 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...

  2. 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...

  3. 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...

  4. Assessment of the integration of a He-cooled divertor system in the power conversion system for the dual-coolant blanket concept (TW2-TRP-PPCS12D8)

    International Nuclear Information System (INIS)

    Norajitra, P.; Kruessmann, R.; Malang, S.; Reimann, G.

    2002-12-01

    Application of a helium-cooled divertor together with the dual-coolant blanket concept is considered favourable for achieving a high thermal efficiency of the power plant due to its relatively high coolant outlet temperature. A new FZK He-cooled modular divertor concept with integrated pin arrays (HEMP) is introduced. Its main features and function are described in detail. The result of the thermalhydraulic analysis shows that the HEMP divertor concept has the potential of resisting, a heat flow density of at least 10-15 MW/m 2 at a reachable heat transfer coefficient of approx. 60 kW/m 2 K and a reasonable pumping power. Integration of this divertor concept into the power conversion system using a closed Brayton gas turbine system with three-stage compression leads to a net efficiency of the blanket/divertor cycle of about 43%. (orig.)

  5. 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...

  6. 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

  7. 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.)

  8. 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...

  9. 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…

  10. 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…

  11. 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...

  12. 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.

  13. 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.

  14. 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

  15. 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%.

  16. Augmenting Locomotion in an Anthropomorphic System

    Directory of Open Access Journals (Sweden)

    Derek Wight

    2005-02-01

    Full Text Available A powered orthosis has applications ranging from assisting the elderly to augmenting astronauts. An assistive control scheme is developed that uses the force from a slave actuator to augment the force of a master actuator. This can be used to augment a closed-loop control scheme applied to the master actuator. Initially, actuator augmentation is explored both theoretically and experimentally using a simple mechanical system. The control scheme is then applied to a scale model of human lower limbs on a stationary bicycle to investigate the feasibility of a powered orthosis using pneumatic muscle actuators.

  17. 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.

  18. Power

    DEFF Research Database (Denmark)

    Elmholdt, Claus Westergård; Fogsgaard, Morten

    2016-01-01

    and creativity suggests that when managers give people the opportunity to gain power and explicate that there is reason to be more creative, people will show a boost in creative behaviour. Moreover, this process works best in unstable power hierarchies, which implies that power is treated as a negotiable....... It is thus a central point that power is not necessarily something that breaks down and represses. On the contrary, an explicit focus on the dynamics of power in relation to creativity can be productive for the organisation. Our main focus is to elaborate the implications of this for practice and theory...

  19. 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.

  20. 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.

  1. 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.

  2. Multi-objective optimization of MOSFETs channel widths and supply voltage in the proposed dual edge-triggered static D flip-flop with minimum average power and delay by using fuzzy non-dominated sorting genetic algorithm-II.

    Science.gov (United States)

    Keivanian, Farshid; Mehrshad, Nasser; Bijari, Abolfazl

    2016-01-01

    D Flip-Flop as a digital circuit can be used as a timing element in many sophisticated circuits. Therefore the optimum performance with the lowest power consumption and acceptable delay time will be critical issue in electronics circuits. The newly proposed Dual-Edge Triggered Static D Flip-Flop circuit layout is defined as a multi-objective optimization problem. For this, an optimum fuzzy inference system with fuzzy rules is proposed to enhance the performance and convergence of non-dominated sorting Genetic Algorithm-II by adaptive control of the exploration and exploitation parameters. By using proposed Fuzzy NSGA-II algorithm, the more optimum values for MOSFET channel widths and power supply are discovered in search space than ordinary NSGA types. What is more, the design parameters involving NMOS and PMOS channel widths and power supply voltage and the performance parameters including average power consumption and propagation delay time are linked. To do this, the required mathematical backgrounds are presented in this study. The optimum values for the design parameters of MOSFETs channel widths and power supply are discovered. Based on them the power delay product quantity (PDP) is 6.32 PJ at 125 MHz Clock Frequency, L = 0.18 µm, and T = 27 °C.

  3. Dosimetric comparison of stopping power calibration with dual-energy CT and single-energy CT in proton therapy treatment planning

    Energy Technology Data Exchange (ETDEWEB)

    Zhu, Jiahua [Department of Physics, University of Adelaide, Adelaide, SA 5005 (Australia); Penfold, Scott N., E-mail: scott.penfold@adelaide.edu.au [Department of Physics, University of Adelaide, Adelaide, SA 5005, Australia and Department of Medical Physics, Royal Adelaide Hospital, Adelaide, SA 5000 (Australia)

    2016-06-15

    Purpose: The accuracy of proton dose calculation is dependent on the ability to correctly characterize patient tissues with medical imaging. The most common method is to correlate computed tomography (CT) numbers obtained via single-energy CT (SECT) with proton stopping power ratio (SPR). CT numbers, however, cannot discriminate between a change in mass density and change in chemical composition of patient tissues. This limitation can have consequences on SPR calibration accuracy. Dual-energy CT (DECT) is receiving increasing interest as an alternative imaging modality for proton therapy treatment planning due to its ability to discriminate between changes in patient density and chemical composition. In the current work we use a phantom of known composition to demonstrate the dosimetric advantages of proton therapy treatment planning with DECT over SECT. Methods: A phantom of known composition was scanned with a clinical SECT radiotherapy CT-simulator. The phantom was rescanned at a lower X-ray tube potential to generate a complimentary DECT image set. A set of reference materials similar in composition to the phantom was used to perform a stoichiometric calibration of SECT CT number to proton SPRs. The same set of reference materials was used to perform a DECT stoichiometric calibration based on effective atomic number. The known composition of the phantom was used to assess the accuracy of SPR calibration with SECT and DECT. Intensity modulated proton therapy (IMPT) treatment plans were generated with the SECT and DECT image sets to assess the dosimetric effect of the imaging modality. Isodose difference maps and root mean square (RMS) error calculations were used to assess dose calculation accuracy. Results: SPR calculation accuracy was found to be superior, on average, with DECT relative to SECT. Maximum errors of 12.8% and 2.2% were found for SECT and DECT, respectively. Qualitative examination of dose difference maps clearly showed the dosimetric advantages

  4. 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.

  5. 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.

  6. 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

  7. Dual Diagnosis - Multiple Languages

    Science.gov (United States)

    ... National Library of Medicine Comorbidity or dual diagnosis - Opioid addiction, part 9 - English PDF Comorbidity or dual diagnosis - Opioid addiction, part 9 - español (Spanish) PDF Comorbidity or dual ...

  8. 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.

  9. 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.

  10. 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 .

  11. 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.

  12. Some properties of dual and approximate dual of fusion frames

    OpenAIRE

    Arefijamaal, Ali Akbar; Neyshaburi, Fahimeh Arabyani

    2016-01-01

    In this paper we extend the notion of approximate dual to fusion frames and present some approaches to obtain dual and approximate alternate dual fusion frames. Also, we study the stability of dual and approximate alternate dual fusion frames.

  13. 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.

  14. 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...

  15. 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.

  16. Locomotion dynamics of hunting in wild cheetahs.

    Science.gov (United States)

    Wilson, A M; Lowe, J C; Roskilly, K; Hudson, P E; Golabek, K A; McNutt, J W

    2013-06-13

    Although the cheetah is recognised as the fastest land animal, little is known about other aspects of its notable athleticism, particularly when hunting in the wild. Here we describe and use a new tracking collar of our own design, containing a combination of Global Positioning System (GPS) and inertial measurement units, to capture the locomotor dynamics and outcome of 367 predominantly hunting runs of five wild cheetahs in Botswana. A remarkable top speed of 25.9 m s(-1) (58 m.p.h. or 93 km h(-1)) was recorded, but most cheetah hunts involved only moderate speeds. We recorded some of the highest measured values for lateral and forward acceleration, deceleration and body-mass-specific power for any terrestrial mammal. To our knowledge, this is the first detailed locomotor information on the hunting dynamics of a large cursorial predator in its natural habitat.

  17. Nonlinear control methods for planar carangiform robot fish locomotion

    OpenAIRE

    Morgansen, Kristi A.; Duindam, Vincent; Mason, Richard J.; Burdick, Joel W.; Murray, Richard M.

    2001-01-01

    Considers the design of motion control algorithms for robot fish. We present modeling, control design, and experimental trajectory tracking results for an experimental planar robotic fish system that is propelled using carangiform-like locomotion. Our model for the fish's propulsion is based on quasi-steady fluid flow. Using this model, we propose gaits for forward and turning trajectories and analyze system response under such control strategies. Our models and predictions are verified by ex...

  18. 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.

  19. 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...

  20. 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...

  1. Improved Usability of Locomotion Devices Using Human-Centric Taxonomy

    Science.gov (United States)

    2009-03-01

    the classification of interaction devices by the limbs used in the interaction rather than by arbitrary classifications, such as “ wand ”, or “glove...ABILITY REQUIREMENTS ANALYSIS USING F-JAS In Tables 5 through 8, we took the results of a sample HAR analysis done by Cockayne and Darken [13] comparing...point less than natural locomotion in all categories except for explosive strength, in which it receives 2 less points. 2. Decelerate from Walk or Jog

  2. 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.

  3. The role of vortices in animal locomotion in fluids

    Directory of Open Access Journals (Sweden)

    Dvořák R.

    2014-12-01

    Full Text Available The aim of this paper is to show the significance of vortices in animal locomotion in fluids on two deliberately chosen examples. The first example concerns lift generation by bird and insect wings, the second example briefly mentiones swimming and walking on water. In all the examples, the vortices generated by the moving animal impart the necessary momentum to the surrounding fluid, the reaction to which is the force moving or lifting the animal.

  4. 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.

  5. 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...

  6. 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)

  7. Dual-Function Au@Y2O3:Eu3+ Smart Film for Enhanced Power Conversion Efficiency and Long-Term Stability of Perovskite Solar Cells.

    Science.gov (United States)

    Kim, Chang Woo; Eom, Tae Young; Yang, In Seok; Kim, Byung Su; Lee, Wan In; Kang, Yong Soo; Kang, Young Soo

    2017-07-28

    In the present study, a dual-functional smart film combining the effects of wavelength conversion and amplification of the converted wave by the localized surface plasmon resonance has been investigated for a perovskite solar cell. This dual-functional film, composed of Au nanoparticles coated on the surface of Y 2 O 3 :Eu 3+ phosphor (Au@Y 2 O 3 :Eu 3+ ) nanoparticle monolayer, enhances the solar energy conversion efficiency to electrical energy and long-term stability of photovoltaic cells. Coupling between the Y 2 O 3 :Eu 3+ phosphor monolayer and ultraviolet solar light induces the latter to be converted into visible light with a quantum yield above 80%. Concurrently, the Au nanoparticle monolayer on the phosphor nanoparticle monolayer amplifies the converted visible light by up to 170%. This synergy leads to an increased solar light energy conversion efficiency of perovskite solar cells. Simultaneously, the dual-function film suppresses the photodegradation of perovskite by UV light, resulting in long-term stability. Introducing the hybrid smart Au@Y 2 O 3 :Eu 3+ film in perovskite solar cells increases their overall solar-to-electrical energy conversion efficiency to 16.1% and enhances long-term stability, as compared to the value of 15.2% for standard perovskite solar cells. The synergism between the wavelength conversion effect of the phosphor nanoparticle monolayer and the wave amplification by the localized surface plasmon resonance of the Au nanoparticle monolayer in a perovskite solar cell is comparatively investigated, providing a viable strategy of broadening the solar spectrum utilization.

  8. The rf-power dependences of the deposition rate, the hardness and the corrosion-resistance of the chromium nitride film deposited by using a dual ion beam sputtering system

    International Nuclear Information System (INIS)

    Lim, Jongmin; Lee, Chongmu

    2006-01-01

    The hexavalent chromium used in chromium plating is so toxic that it is very hazardous to human body and possibly causes cancer in humans. Therefore, it is indispensable to develop an alternative deposition technique. Dependences of the deposition rate, the phases, the hardness, the surface roughness and the corrosion-resistance of CrN x deposited on the high speed steel substrate by using a dual ion beam sputtering system on the rf-power were investigated to see the feasibility of sputtering as an alternative technique for chromium plating. The dual ion beam sputtering system used in this study was designed in such a way as the primary argon ion beam and the secondary nitrogen ion beam are injected toward the target and the substrate, respectively so that the chromium atoms at the chromium target surface may not nearly react with nitrogen atoms. The hardness and the surface roughness were measured by a micro-Vicker's hardness tester and an atomic force microscope (AFM), respectively. X-ray diffraction analyses were performed to identify phases in the films. The deposition rate of CrN x depends more strongly upon the rf-power for argon ion beam than that for nitrogen ion beam. The hardness of the CrN x film is highest when the volume percent of the Cr 2 N phase in the film is highest. Amorphous films are obtained when the rf-power for nitrogen ion beam is much higher than that for argon ion beam. The CrN x film deposited by using the sputtering technique under the optimal condition provides corrosion-resistance comparable to that of the electroplated chromium

  9. 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

  10. 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

  11. Global power production scenarios to 2100 and the dual role of forests: accelerated climate damage or regulating and provisioning ecosystem services?

    DEFF Research Database (Denmark)

    Callesen, Ingeborg

    The worlds' electrical power production is depending on the current energy infrastructure, and future investments in new power supply facilities using renewable and non-renewable energy sources. Continued growth in power production in the 21st century will cause global environmental change (GEC......). GEC with climate change as an important driver will affect the environment and the economy in multiple ways that can be summarized as losses of biodiversity and changing ecosystem services (ES), but with very diverse temporal and spatial impacts. In a simple global growth model for power production......, including non-renewable and renewable energy sources, the potential role of forest biomass is investigated. The demands for forest ecosystem services imposed by the global power production are assessed in the present study. Three global power supply scenarios to 2050 with different emphasis...

  12. 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...

  13. 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.

  14. 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.

  15. 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

  16. 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.

  17. 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.

  18. A dual mode operated boost inverter and its control strategy for ripple current reduction in single-phase uninterruptible power supplies

    DEFF Research Database (Denmark)

    Tang, Y.; Yao, W.; Blaabjerg, Frede

    2015-01-01

    In single-phase uninterruptible power supply (UPS) applications, it is well known that the AC side instantaneous power is not constant by nature. The resulting input current from the DC source side will inevitably contain low frequency ripple components that may largely deteriorate the system...... as active power conversion, while its CM operation is controlled in such a way that the low frequency ripple current on the DC side can be maintained in a minimum level. The proposed ripple current reduction method may not only work with linear loads, but also nonlinear loads, where more sophisticated...

  19. 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

  20. Human-robot interaction strategies for walker-assisted locomotion

    CERN Document Server

    Cifuentes, Carlos A

    2016-01-01

    This book presents the development of a new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation. The aim is to achieve a closer interaction between the robotic device and the individual, empowering the rehabilitation potential of such devices in clinical applications. A new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation is presented. Trends and opportunities for future advances in the field of assistive locomotion via the development of hybrid solutions based on the combination of smart walkers and biomechatronic exoskeletons are also discussed. .

  1. Optimization of the Hood of Diesel Electric Locomotive

    Directory of Open Access Journals (Sweden)

    Petr TOMEK

    2013-06-01

    Full Text Available The new construction of hood of diesel electric locomotive is analyzed in this paper. The whole construction is loaded by inertia effects caused by prescribed acceleration. The parts of the hood are subject to the standards for railway applications CSN EN 12663-1 [1]. Numerical analyses are performed by FEM computer program COSMOSWorks [2]. The original construction of hood is analyzed in first part of this paper. Structural changes are proposed in the next part of this article. Carrying capacity of the new construction of hood is verified by a numerical analysis. The results of the new construction are compared with the original construction of hood.

  2. Improvement of fuel injection system of locomotive diesel engine.

    Science.gov (United States)

    Li, Minghai; Cui, Hongjiang; Wang, Juan; Guan, Ying

    2009-01-01

    The traditional locomotive diesels are usually designed for the performance of rated condition and much fuel will be consumed. A new plunger piston matching parts of fuel injection pump and injector nozzle matching parts were designed. The experimental results of fuel injection pump test and diesel engine show that the fuel consumption rate can be decreased a lot in the most of the working conditions. The forced lubrication is adopted for the new injector nozzle matching parts, which can reduce failure rate and increase service life. The design has been patented by Chinese State Patent Office.

  3. 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.

  4. 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)

  5. Dual THz comb spectroscopy

    Science.gov (United States)

    Yasui, Takeshi

    2017-08-01

    Optical frequency combs are innovative tools for broadband spectroscopy because a series of comb modes can serve as frequency markers that are traceable to a microwave frequency standard. However, a mode distribution that is too discrete limits the spectral sampling interval to the mode frequency spacing even though individual mode linewidth is sufficiently narrow. Here, using a combination of a spectral interleaving and dual-comb spectroscopy in the terahertz (THz) region, we achieved a spectral sampling interval equal to the mode linewidth rather than the mode spacing. The spectrally interleaved THz comb was realized by sweeping the laser repetition frequency and interleaving additional frequency marks. In low-pressure gas spectroscopy, we achieved an improved spectral sampling density of 2.5 MHz and enhanced spectral accuracy of 8.39 × 10-7 in the THz region. The proposed method is a powerful tool for simultaneously achieving high resolution, high accuracy, and broad spectral coverage in THz spectroscopy.

  6. Dual arm master controller concept

    International Nuclear Information System (INIS)

    Kuban, D.P.; Perkins, G.S.

    1984-01-01

    The Advanced Servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. 6 references, 3 figures

  7. Dual arm master controller development

    Science.gov (United States)

    Kuban, D. P.; Perkins, G. S.

    1985-01-01

    The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape driven manipulators. Studies were performed which addressed to human factor design and performance tradeoffs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented.

  8. 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.

  9. 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. ...

  10. 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.

  11. 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)

  12. 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.

  13. Differences in gaze anticipation for locomotion with and without vision

    Science.gov (United States)

    Authié, Colas N.; Hilt, Pauline M.; N'Guyen, Steve; Berthoz, Alain; Bennequin, Daniel

    2015-01-01

    Previous experimental studies have shown a spontaneous anticipation of locomotor trajectory by the head and gaze direction during human locomotion. This anticipatory behavior could serve several functions: an optimal selection of visual information, for instance through landmarks and optic flow, as well as trajectory planning and motor control. This would imply that anticipation remains in darkness but with different characteristics. We asked 10 participants to walk along two predefined complex trajectories (limaçon and figure eight) without any cue on the trajectory to follow. Two visual conditions were used: (i) in light and (ii) in complete darkness with eyes open. The whole body kinematics were recorded by motion capture, along with the participant's right eye movements. We showed that in darkness and in light, horizontal gaze anticipates the orientation of the head which itself anticipates the trajectory direction. However, the horizontal angular anticipation decreases by a half in darkness for both gaze and head. In both visual conditions we observed an eye nystagmus with similar properties (frequency and amplitude). The main difference comes from the fact that in light, there is a shift of the orientations of the eye nystagmus and the head in the direction of the trajectory. These results suggest that a fundamental function of gaze is to represent self motion, stabilize the perception of space during locomotion, and to simulate the future trajectory, regardless of the vision condition. PMID:26106313

  14. Locomotion and Grasping impairment in preschoolers with autism spectrum disorder

    Directory of Open Access Journals (Sweden)

    Francesca Fulceri

    2015-08-01

    Full Text Available Objective: To investigate expressiveness of motor impairment in autism spectrum disorder (ASD and its correlation with developmental and clinical features of ASD. Method: Thirty-five male preschoolers with ASD completed the Peabody Developmental Motor Scales-2 (PDMS-2; Folio and Fewell, 2000 and underwent a multidisciplinary assessment including medical examination, standardized assessment of cognitive abilities, administration of Autism_Diagnostic_Observation_Schedule (ADOS and a parent interview about adaptive skills. Results: Results revealed a substantial impairment in locomotion and grasping skills. Both fine and gross motor skills were significantly correlated with non verbal IQ and adaptive behaviours (p<0.01 but not with chronological age or ADOS scores. Children with weaker motor skills have greater cognitive and adaptive behaviours deficits. Conclusions: Motor development in ASD can be detected at preschool age and locomotion and grasping skills are substantially the most impaired area. These findings support the need to assess motor skills in preschoolers with ASD in addition to other developmental skill areas. Along with the increasingly acknowledged importance of motor skills for subsequent social, cognitive, and communicative development our findings support the need to consider motor intervention as a key area in therapeutic program to improve outcome in preschoolers with ASD.

  15. Effects of wearing lower leg compression sleeves on locomotion economy.

    Science.gov (United States)

    Kurz, Eduard; Anders, Christoph

    2018-09-01

    The purpose of this investigation was to assess the effect of compression sleeves on muscle activation cost during locomotion. Twenty-two recreationally active men (age: 25 ± 3 years) ran on a treadmill at four different speeds (ordered sequence of 2.8, 3.3, 2.2, and 3.9 m/s). The tests were performed without (control situation, CON) and while wearing specially designed lower leg compression sleeves (SL). Myoelectric activity of five lower leg muscles (tibialis anterior, fibularis longus, lateral and medial head of gastrocnemius, and soleus) was captured using Surface EMG. To assess muscle activation cost, the cumulative muscle activity per distance travelled (CMAPD) of the CON and SL situations was determined. Repeated measures analyses of variance were performed separately for each muscle. The analyses revealed a reduced lower leg muscle activation cost with respect to test situation for SL for all muscles (p  0.18). The respective significant reductions of CMAPD values during SL ranged between 4% and 16% and were largest at 2.8 m/s. The findings presented point towards an improved muscle activation cost while wearing lower leg compression sleeves during locomotion that have potential to postpone muscle fatigue.

  16. Fluid Flow Simulation and Energetic Analysis of Anomalocarididae Locomotion

    Science.gov (United States)

    Mikel-Stites, Maxwell; Staples, Anne

    2014-11-01

    While an abundance of animal locomotion simulations have been performed modeling the motions of living arthropods and aquatic animals, little quantitative simulation and reconstruction of gait parameters has been done to model the locomotion of extinct animals, many of which bear little physical resemblance to their modern descendants. To that end, this project seeks to analyze potential swimming patterns used by the anomalocaridid family, (specifically Anomalocaris canadensis, a Cambrian Era aquatic predator), and determine the most probable modes of movement. This will serve to either verify or cast into question the current assumed movement patterns and properties of these animals and create a bridge between similar flexible-bodied swimmers and their robotic counterparts. This will be accomplished by particle-based fluid flow simulations of the flow around the fins of the animal, as well as an energy analysis of a variety of sample gaits. The energy analysis will then be compared to the extant information regarding speed/energy use curves in an attempt to determine which modes of swimming were most energy efficient for a given range of speeds. These results will provide a better understanding of how these long-extinct animals moved, possibly allowing an improved understanding of their behavioral patterns, and may also lead to a novel potential platform for bio-inspired underwater autonomous vehicles (UAVs).

  17. 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

  18. 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...

  19. 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...

  20. 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...

  1. 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.)

  2. 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...

  3. 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

  4. 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

  5. 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...

  6. 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...

  7. Dual Youla parameterization

    DEFF Research Database (Denmark)

    Niemann, Hans Henrik

    2003-01-01

    A different aspect of using the parameterisation of all systems stabilised by a given controller, i.e. the dual Youla parameterisation, is considered. The relation between system change and the dual Youla parameter is derived in explicit form. A number of standard uncertain model descriptions...... are considered and the relation with the dual Youla parameter given. Some applications of the dual Youla parameterisation are considered in connection with the design of controllers and model/performance validation....

  8. Dual affine isoperimetric inequalities

    Directory of Open Access Journals (Sweden)

    Bin Xiong

    2006-01-01

    Full Text Available We establish some inequalities for the dual -centroid bodies which are the dual forms of the results by Lutwak, Yang, and Zhang. Further, we establish a Brunn-Minkowski-type inequality for the polar of dual -centroid bodies.

  9. [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).

  10. 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.

  11. 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.

  12. 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-...

  13. 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.

  14. 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

  15. Test Results From a Pair of 1-kWe Dual-Opposed Free-Piston Stirling Power Convertors Integrated With a Pumped NaK Loop

    Science.gov (United States)

    Geng, Steven M.; Briggs, Maxwell H.; Penswick, L. Barry; Pearson, J. Boise; Godfroy, Thomas J.

    2011-01-01

    As a step towards development of Stirling power conversion for potential use in Fission Surface Power (FSP) systems, a pair of commercially available 1-kW-class free-piston Stirling convertors were modified to operate with a NaK (sodium (Na) and potassium (K)) liquid metal pumped loop for thermal energy input. This was the first-ever attempt at powering a free-piston Stirling engine with a pumped liquid metal heat source and is a major FSP project milestone towards demonstrating technical feasibility. The convertors were successfully tested at the Marshall Space Flight Center (MSFC) from June 6 through July 14, 2009. The convertors were operated for a total test time of 66 hr and 16 min. The tests included (a) performance mapping the convertors over various hot- and cold-end temperatures, piston amplitudes, and NaK flow rates and (b) transient test conditions to simulate various startup (i.e., low-, medium-, and high-temperature startups) and fault scenarios (i.e., loss of heat source, loss of NaK pump, convertor stall, etc.). This report documents the results of this testing

  16. Pulsed hybrid dual wavelength Y-branch-DFB laser-tapered amplifier system suitable for water vapor detection at 965 nm with 16 W peak power

    Science.gov (United States)

    Vu, Thi N.; Klehr, Andreas; Sumpf, Bernd; Hoffmann, Thomas; Liero, Armin; Tränkle, Günther

    2016-03-01

    A master oscillator power amplifier system emitting alternatingly at two neighbored wavelengths around 965 nm is presented. As master oscillator (MO) a Y-branch DFB-laser is used. The two branches, which can be individually controlled, deliver the two wavelengths needed for a differential absorption measurement of water vapor. Adjusting the current through the DFB sections, the wavelength can be adjusted with respect to the targeted either "on" or "off" resonance, respectively wavelength λon or wavelength λoff. The emission of this laser is amplified in a tapered amplifier (TA). The ridge waveguide section of the TA acts as optical gate to generate short pulses with duration of 8 ns at a repetition rate of 25 kHz, the flared section is used for further amplification to reach peak powers up to 16 W suitable for micro-LIDAR (Light Detection and Ranging). The necessary pulse current supply user a GaN-transistor based driver electronics placed close to the power amplifier (PA). The spectral properties of the emission of the MO are preserved by the PA. A spectral line width smaller than 10 pm and a side mode suppression ratio (SMSR) of 37 dB are measured. These values meet the demands for water vapor absorption measurements under atmospheric conditions.

  17. Trajectory Correction and Locomotion Analysis of a Hexapod Walking Robot with Semi-Round Rigid Feet

    Science.gov (United States)

    Zhu, Yaguang; Jin, Bo; Wu, Yongsheng; Guo, Tong; Zhao, Xiangmo

    2016-01-01

    Aimed at solving the misplaced body trajectory problem caused by the rolling of semi-round rigid feet when a robot is walking, a legged kinematic trajectory correction methodology based on the Least Squares Support Vector Machine (LS-SVM) is proposed. The concept of ideal foothold is put forward for the three-dimensional kinematic model modification of a robot leg, and the deviation value between the ideal foothold and real foothold is analyzed. The forward/inverse kinematic solutions between the ideal foothold and joint angular vectors are formulated and the problem of direct/inverse kinematic nonlinear mapping is solved by using the LS-SVM. Compared with the previous approximation method, this correction methodology has better accuracy and faster calculation speed with regards to inverse kinematics solutions. Experiments on a leg platform and a hexapod walking robot are conducted with multi-sensors for the analysis of foot tip trajectory, base joint vibration, contact force impact, direction deviation, and power consumption, respectively. The comparative analysis shows that the trajectory correction methodology can effectively correct the joint trajectory, thus eliminating the contact force influence of semi-round rigid feet, significantly improving the locomotion of the walking robot and reducing the total power consumption of the system. PMID:27589766

  18. 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)

  19. 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

  20. 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

  1. 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

  2. System Design and Locomotion of Superball, an Untethered Tensegrity Robot

    Science.gov (United States)

    Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

    2015-01-01

    The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

  3. Dynamic control of biped locomotion robot using optimal regulator

    International Nuclear Information System (INIS)

    Sano, Akihito; Furusho, Junji

    1988-01-01

    For moving in indoor space, it is generally recognized that biped locomotion is suitable. This paper proposes a hierarchical control strategy for the lower level where the position control or the force control at each joint is implemented. In the upper level control, the robot motion is divided into a sagittal plane and a lateral plane. We applied the optimal control algorithm to the motion control in the lateral plane in order to improve the robustness of the control system. The effects of these control schemes are shown by the experiments using the new walking robot BLR-G 1 and the parallel calculation system. BLR-G 1 has 9 degrees of freedom and equips the foot-pressure-sensors and a rate gyroscope. Complete dynamic walking is realized, in which the cycle for each step is about 1.0 second. (author)

  4. Adaptive Gaze Strategies for Locomotion with Constricted Visual Field

    Directory of Open Access Journals (Sweden)

    Colas N. Authié

    2017-07-01

    Full Text Available In retinitis pigmentosa (RP, loss of peripheral visual field accounts for most difficulties encountered in visuo-motor coordination during locomotion. The purpose of this study was to accurately assess the impact of peripheral visual field loss on gaze strategies during locomotion, and identify compensatory mechanisms. Nine RP subjects presenting a central visual field limited to 10–25° in diameter, and nine healthy subjects were asked to walk in one of three directions—straight ahead to a visual target, leftward and rightward through a door frame, with or without obstacle on the way. Whole body kinematics were recorded by motion capture, and gaze direction in space was reconstructed using an eye-tracker. Changes in gaze strategies were identified in RP subjects, including extensive exploration prior to walking, frequent fixations of the ground (even knowing no obstacle was present, of door edges, essentially of the proximal one, of obstacle edge/corner, and alternating door edges fixations when approaching the door. This was associated with more frequent, sometimes larger rapid-eye-movements, larger movements, and forward tilting of the head. Despite the visual handicap, the trajectory geometry was identical between groups, with a small decrease in walking speed in RPs. These findings identify the adaptive changes in sensory-motor coordination, in order to ensure visual awareness of the surrounding, detect changes in spatial configuration, collect information for self-motion, update the postural reference frame, and update egocentric distances to environmental objects. They are of crucial importance for the design of optimized rehabilitation procedures.

  5. Fossils, feet and the evolution of human bipedal locomotion.

    Science.gov (United States)

    Harcourt-Smith, W E H; Aiello, L C

    2004-05-01

    We review the evolution of human bipedal locomotion with a particular emphasis on the evolution of the foot. We begin in the early twentieth century and focus particularly on hypotheses of an ape-like ancestor for humans and human bipedal locomotion put forward by a succession of Gregory, Keith, Morton and Schultz. We give consideration to Morton's (1935) synthesis of foot evolution, in which he argues that the foot of the common ancestor of modern humans and the African apes would be intermediate between the foot of Pan and Hylobates whereas the foot of a hypothetical early hominin would be intermediate between that of a gorilla and a modern human. From this base rooted in comparative anatomy of living primates we trace changing ideas about the evolution of human bipedalism as increasing amounts of postcranial fossil material were discovered. Attention is given to the work of John Napier and John Robinson who were pioneers in the interpretation of Plio-Pleistocene hominin skeletons in the 1960s. This is the period when the wealth of evidence from the southern African australopithecine sites was beginning to be appreciated and Olduvai Gorge was revealing its first evidence for Homo habilis. In more recent years, the discovery of the Laetoli footprint trail, the AL 288-1 (A. afarensis) skeleton, the wealth of postcranial material from Koobi Fora, the Nariokotome Homo ergaster skeleton, Little Foot (Stw 573) from Sterkfontein in South Africa, and more recently tantalizing material assigned to the new and very early taxa Orrorin tugenensis, Ardipithecus ramidus and Sahelanthropus tchadensis has fuelled debate and speculation. The varying interpretations based on this material, together with changing theoretical insights and analytical approaches, is discussed and assessed in the context of new three-dimensional morphometric analyses of australopithecine and Homo foot bones, suggesting that there may have been greater diversity in human bipedalism in the earlier phases

  6. Adaptive Gaze Strategies for Locomotion with Constricted Visual Field

    Science.gov (United States)

    Authié, Colas N.; Berthoz, Alain; Sahel, José-Alain; Safran, Avinoam B.

    2017-01-01

    In retinitis pigmentosa (RP), loss of peripheral visual field accounts for most difficulties encountered in visuo-motor coordination during locomotion. The purpose of this study was to accurately assess the impact of peripheral visual field loss on gaze strategies during locomotion, and identify compensatory mechanisms. Nine RP subjects presenting a central visual field limited to 10–25° in diameter, and nine healthy subjects were asked to walk in one of three directions—straight ahead to a visual target, leftward and rightward through a door frame, with or without obstacle on the way. Whole body kinematics were recorded by motion capture, and gaze direction in space was reconstructed using an eye-tracker. Changes in gaze strategies were identified in RP subjects, including extensive exploration prior to walking, frequent fixations of the ground (even knowing no obstacle was present), of door edges, essentially of the proximal one, of obstacle edge/corner, and alternating door edges fixations when approaching the door. This was associated with more frequent, sometimes larger rapid-eye-movements, larger movements, and forward tilting of the head. Despite the visual handicap, the trajectory geometry was identical between groups, with a small decrease in walking speed in RPs. These findings identify the adaptive changes in sensory-motor coordination, in order to ensure visual awareness of the surrounding, detect changes in spatial configuration, collect information for self-motion, update the postural reference frame, and update egocentric distances to environmental objects. They are of crucial importance for the design of optimized rehabilitation procedures. PMID:28798674

  7. Kinematics and ontogeny of locomotion in monkeys and human babies.

    Science.gov (United States)

    Niemitz, Carsten

    2002-03-01

    Early ontogenetic stages are often assumed to reflect or to be similar to past phylogenetic stages within the evolution of man. Therefore, as a first step, the quadrupedal crawling locomotion of human children was analysed and compared to the quadrupedal walk of Macaca fascicularis. The movements of the human child were not only more irregular, they differed from the walk of the monkey mainly through extraordinarily short swing phases, and also through strong scoliotic movements of the spine. There is a compulsory synchronisation in the hip and knee joint movements of the human crawling baby. We conclude that human crawling may be a behavioural recapitulation of a quadrupedal evolutionary stage. However, with reference to kinematics, man is not only characterised by his unique, habitually bipedal, upright gait but also by a second, equally unique locomotion, namely crawling, which he assumes for a short phase during his first year of life.--The walking movements of the limbs in toddling infants were mainly characterised by i) rather stiff, abducted arms, which were moved mostly by spine torsions (similar to those of bipedally walking Gorilla) and not as a suspensory pendulum. However, they rather work as levers for the elastic torsion pendulum of the spine. ii) They are also characterised by frequently lacking the minor knee flexion, which occurs at about the heel strike within each stride of the adult human. Besides many other details of the results, foot movements differed from adult ones mainly in that the whole plantar surface was placed flat on the ground within a few milliseconds.

  8. 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.)

  9. A 5.2GHz, 0.5mW RF powered wireless sensor with dual on-chip antennas for implantable intraocular pressure monitoring

    KAUST Repository

    Arsalan, Muhammad

    2013-06-01

    For the first time a single chip implantable wireless sensor system for Intraocular Pressure Monitoring (IOPM) is presented. This system-on-chip (SoC) is battery-free and harvests energy from incoming RF signals. The chip is self-contained and does not require external components or bond wires to function. This 1.4mm3 SoC has separate 2.4GHz-transmit and 5.2GHz-receive antennas, an energy harvesting module, a temperature sensor, a 7-bit TIQ Flash ADC, a 4-bit RFID, a power management and control unit, and a VCO transmitter. The chip is fabricated in a standard 6-metal 0.18μm CMOS process and is designed to work with a post-processed MEMS pressure sensor. It consumes 513μW of peak power and when implanted inside the eye, it is designed to communicate with an external reader using on-off keying (OOK). © 2013 IEEE.

  10. A 5.2GHz, 0.5mW RF powered wireless sensor with dual on-chip antennas for implantable intraocular pressure monitoring

    KAUST Repository

    Arsalan, Muhammad; Ouda, Mahmoud H.; Marnat, Loic; Ahmad, Talha Jamal; Shamim, Atif; Salama, Khaled N.

    2013-01-01

    For the first time a single chip implantable wireless sensor system for Intraocular Pressure Monitoring (IOPM) is presented. This system-on-chip (SoC) is battery-free and harvests energy from incoming RF signals. The chip is self-contained and does not require external components or bond wires to function. This 1.4mm3 SoC has separate 2.4GHz-transmit and 5.2GHz-receive antennas, an energy harvesting module, a temperature sensor, a 7-bit TIQ Flash ADC, a 4-bit RFID, a power management and control unit, and a VCO transmitter. The chip is fabricated in a standard 6-metal 0.18μm CMOS process and is designed to work with a post-processed MEMS pressure sensor. It consumes 513μW of peak power and when implanted inside the eye, it is designed to communicate with an external reader using on-off keying (OOK). © 2013 IEEE.

  11. 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.

  12. 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.

  13. 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.

  14. Dual-lifetime referencing (DLR: a powerful method for on-line measurement of internal pH in carrier-bound immobilized biocatalysts

    Directory of Open Access Journals (Sweden)

    Boniello Caterina

    2012-03-01

    Full Text Available Abstract Background Industrial-scale biocatalytic synthesis of fine chemicals occurs preferentially as continuous processes employing immobilized enzymes on insoluble porous carriers. Diffusional effects in these systems often create substrate and product concentration gradients between bulk liquid and the carrier. Moreover, some widely-used biotransformation processes induce changes in proton concentration. Unlike the bulk pH, which is usually controlled at a suitable value, the intraparticle pH of immobilized enzymes may deviate significantly from its activity and stability optima. The magnitude of the resulting pH gradient depends on the ratio of characteristic times for enzymatic reaction and on mass transfer (the latter is strongly influenced by geometrical features of the porous carrier. Design and selection of optimally performing enzyme immobilizates would therefore benefit largely from experimental studies of the intraparticle pH environment. Here, a simple and non-invasive method based on dual-lifetime referencing (DLR for pH determination in immobilized enzymes is introduced. The technique is applicable to other systems in which particles are kept in suspension by agitation. Results The DLR method employs fluorescein as pH-sensitive luminophore and Ru(II tris(4,7-diphenyl-1,10-phenantroline, abbreviated Ru(dpp, as the reference luminophore. Luminescence intensities of the two luminophores are converted into an overall phase shift suitable for pH determination in the range 5.0-8.0. Sepabeads EC-EP were labeled by physically incorporating lipophilic variants of the two luminophores into their polymeric matrix. These beads were employed as carriers for immobilization of cephalosporin C amidase (a model enzyme of industrial relevance. The luminophores did not interfere with the enzyme immobilization characteristics. Analytical intraparticle pH determination was optimized for sensitivity, reproducibility and signal stability under

  15. 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.

  16. 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.)

  17. 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.

  18. 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.

  19. 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.)

  20. Dual Income Taxes

    DEFF Research Database (Denmark)

    Sørensen, Peter Birch

    This paper discusses the principles and practices of dual income taxation in the Nordic countries. The first part of the paper explains the rationale and the historical background for the introduction of the dual income tax and describes the current Nordic tax practices. The second part...... of the paper focuses on the problems of taxing income from small businesses and the issue of corporate-personal tax integration under the dual income tax, considering alternative ways of dealing with these challenges. In the third and final part of the paper, I briefly discuss whether introducing a dual income...

  1. New advances in 2-μm high-power dual-frequency single-mode Q-switched Ho:YLF laser for dial and IPDA application

    Science.gov (United States)

    Gibert, F.; Edouart, D.; Cénac, C.; Le Mounier, F.; Dumas, A.

    2017-11-01

    In the absence of climate change policies, the fossil fuel emissions are projected to increase in the next decades. Depending on how the current carbon sinks change in the future, the atmospheric CO2 concentration is predicted to be between 700-1000 ppmv by 2100, and global mean surface temperature between 1.1-6.4°C, with related changes in sea-level, extreme events and ecosystem drifts. Keeping the atmospheric CO2 concentration at a level that prevents dangerous interference with the climate system poses an unprecedent but necessary challenge to humanity. Beyond this point, global climate change would be very difficult and costly to deal with. There are two main approaches that are currently analysed: (1) to reduce emissions; (2) to capture CO2 and store it, i.e. sequestration. For these two ways, some monitoring at different scales ultimately from space would be needed. Lidar remote sensing is a powerful technique that enables measurements at various space and time resolution.

  2. 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)

  3. Evaluación energética de un sistema de generación de 400 kWe en modo diesel‐gas licuado de petróleo//Energy analysis of a 400 kWe power system operated on dual fuel mode with diesel‐liquefied petroleum gas

    Directory of Open Access Journals (Sweden)

    Carlos‐A. Forero-Núñez

    2014-08-01

    Full Text Available El constante aumento en los precios de los combustibles impulsó el desarrollo de sistemas energéticos cada vez más eficientes y flexibles, los cuales permitan el uso de distintos tipos de combustibles, tales como el gas licuado de petróleo (GLP. El presente trabajo buscó analizar el comportamiento energético y ambiental que tiene una planta de generación de 400 kWe operada en modo diesel y dual diesel-GLP de pozo. La eficiencia energética total del sistema en el punto de máxima carga fue igual a 39,9 % en modo diesel y 35,1 % con una relación de sustitución del 28,5 % en modo dual. La adición de GLP resultó en una disminución del índice de emisiones de CO2 de 0,76 a 0,71 kgkWh-1. El adecuado comportamiento del sistema genera interesantes oportunidades para la disminución del impacto ambiental causado por los sistemas diesel, la diversificación de la canasta energética y la reducción de costos de generación eléctrica en pozos petroleros.Palabras claves: eficiencia energética, diesel, GLP, modo dual.________________________________________________________________________________AbstractThe continuous increase of the fuel costs promoted the development of more efficient and flexible power systems, which could use alternative fuels such as liquefied petroleum gas (LPG. This work aimed to analyze the performance and environmental effect of a 400kWe power system fed with diesel and diesel-LGP on a dual fuel mode. The total electric efficiency of this system at his maximum load was 39,9 % with diesel and 35,1 % at a 28,5 % substitution level on a dual fuel mode. The addition of LPG decreased the CO2 emission index from 0,76 to 0,71 kgkWh-1. The proper behavior of this system on a dual fuel mode mitigated the environmental impact of diesel internal combustion engines, diversified the energy market, and reduced the power generation costs onto petroleum extraction wells.Key words: energy efficiency, diesel, LPG, dual fuel mode.

  4. Brownian motion or Lévy walk? Stepping towards an extended statistical mechanics for animal locomotion.

    Science.gov (United States)

    Gautestad, Arild O

    2012-09-07

    Animals moving under the influence of spatio-temporal scaling and long-term memory generate a kind of space-use pattern that has proved difficult to model within a coherent theoretical framework. An extended kind of statistical mechanics is needed, accounting for both the effects of spatial memory and scale-free space use, and put into a context of ecological conditions. Simulations illustrating the distinction between scale-specific and scale-free locomotion are presented. The results show how observational scale (time lag between relocations of an individual) may critically influence the interpretation of the underlying process. In this respect, a novel protocol is proposed as a method to distinguish between some main movement classes. For example, the 'power law in disguise' paradox-from a composite Brownian motion consisting of a superposition of independent movement processes at different scales-may be resolved by shifting the focus from pattern analysis at one particular temporal resolution towards a more process-oriented approach involving several scales of observation. A more explicit consideration of system complexity within a statistical mechanical framework, supplementing the more traditional mechanistic modelling approach, is advocated.

  5. The cost of leg forces in bipedal locomotion: a simple optimization study.

    Directory of Open Access Journals (Sweden)

    John R Rebula

    Full Text Available Simple optimization models show that bipedal locomotion may largely be governed by the mechanical work performed by the legs, minimization of which can automatically discover walking and running gaits. Work minimization can reproduce broad aspects of human ground reaction forces, such as a double-peaked profile for walking and a single peak for running, but the predicted peaks are unrealistically high and impulsive compared to the much smoother forces produced by humans. The smoothness might be explained better by a cost for the force rather than work produced by the legs, but it is unclear what features of force might be most relevant. We therefore tested a generalized force cost that can penalize force amplitude or its n-th time derivative, raised to the p-th power (or p-norm, across a variety of combinations for n and p. A simple model shows that this generalized force cost only produces smoother, human-like forces if it penalizes the rate rather than amplitude of force production, and only in combination with a work cost. Such a combined objective reproduces the characteristic profiles of human walking (R² = 0.96 and running (R² = 0.92, more so than minimization of either work or force amplitude alone (R² = -0.79 and R² = 0.22, respectively, for walking. Humans might find it preferable to avoid rapid force production, which may be mechanically and physiologically costly.

  6. The pelvic fin and girdle of Panderichthys and the origin of tetrapod locomotion.

    Science.gov (United States)

    Boisvert, Catherine A

    2005-12-22

    One of the most marked transformations in the vertebrate transition to land was that of fins to limbs. This transformation involved not only the generation of morphological novelties (digits, sacrum) but also a shift in locomotory dominance from the pectoral to the pelvic appendage. Despite its importance, the transformation from pelvic fin to hindlimb is the least studied and least well-documented part of this transformation, which is bracketed by the osteolepiform Eusthenopteron and the early tetrapods Ichthyostega and Acanthostega, but is not directly illuminated by any intermediate form. Panderichthys is the closest tetrapod relative currently represented by complete fossils, but its pelvic fin skeleton has not been described. Here, I present the only known articulated pelvic fin endoskeleton and associated partial pelvis of Panderichthys. The pelvic girdle is even less tetrapod-like than that of the osteolepiform Eusthenopteron, but the pelvic fin endoskeleton shares derived characteristics with basal tetrapods despite being more primitive than the pectoral fin of Panderichthys. The evolution of tetrapod locomotion appears to have passed through a stage of body-flexion propulsion, in which the pelvic fins played a relatively minor anchoring part, before the emergence of hindlimb-powered propulsion in the interval between Panderichthys and Acanthostega.

  7. 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,...

  8. 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.

  9. The Effects of Natural Locomotion on Maneuvering Task Performance in Virtual and Real Environments

    National Research Council Canada - National Science Library

    Unguder, Eray

    2001-01-01

    ... treadmill. The motivation for the development of locomotion devices thus far has been driven by the assumption that a The "perfect" device will result in human performance levels comparable to the real world...

  10. 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...

  11. 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...

  12. 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

  13. 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

  14. 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.

  15. Dual arm master controller development

    International Nuclear Information System (INIS)

    Kuban, D.P.; Perkins, G.S.

    1985-01-01

    The advanced servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features resulted in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with the corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. This work was performed as part of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory. 5 refs., 7 figs., 1 tab

  16. 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....

  17. 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.

  18. 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...

  19. 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....

  20. 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

  1. 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.

  2. 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)

  3. 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)

  4. Dual Enrollment Academy Programs

    Science.gov (United States)

    Gonzalez, Nicolas; Chavez, Guadalupe

    2009-01-01

    Dual Enrollment Engineering (DEEA) and Medical Science (DEMSA) Academies are two-year dual enrollment programs for high school students. Students explore engineering and medical careers through college coursework. Students prepare for higher education in engineering and medical fields while completing associate degrees in biology or engineering…

  5. A Dual Egalitarian Solution

    NARCIS (Netherlands)

    Klijn, F.; Slikker, M.; Tijs, S.H.

    2000-01-01

    In this note we introduce an egalitarian solution, called the dual egalitarian solution, that is the natural counterpart of the egalitarian solution of Dutta and Ray (1989).We prove, among others, that for a convex game the egalitarian solution coincides with the dual egalitarian solution for its

  6. Dual Credit Report

    Science.gov (United States)

    Light, Noreen

    2016-01-01

    In 2015, legislation to improve access to dual-credit programs and to reduce disparities in access and completion--particularly for low income and underrepresented students--was enacted. The new law focused on expanding access to College in the High School but acknowledged issues in other dual-credit programs and reinforced the notion that cost…

  7. Modeling posture-dependent leg actuation in sagittal plane locomotion

    International Nuclear Information System (INIS)

    Schmitt, J; Clark, J

    2009-01-01

    The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height.

  8. Energetics and biomechanics of locomotion by red kangaroos (Macropus rufus).

    Science.gov (United States)

    Kram, R; Dawson, T J

    1998-05-01

    As red kangaroos hop faster over level ground, their rate of oxygen consumption (indicating metabolic energy consumption) remains nearly the same. This phenomenon has been attributed to exceptional elastic energy storage and recovery via long compliant tendons in the legs. Alternatively, red kangaroos may have exceptionally efficient muscles. To estimate efficiency, we measured the metabolic cost of uphill hopping, where muscle fibers must perform mechanical work against gravity. We found that uphill hopping was much more expensive than level hopping. The maximal rate of oxygen consumption measured (3 ml O2 kg-1 s-1) exceeds all but a few vertebrate species. However, efficiency values were normal, approximately 30%. At faster level hopping speeds the effective mechanical advantage of the extensor muscles of the ankle joint remained the same. Thus, kangaroos generate the same muscular force at all speeds but do so more rapidly at faster hopping speeds. This contradicts a recent hypothesis for what sets the cost of locomotion. The cost of transport (J kg-1 m-1) decreases at faster hopping speeds, yet red kangaroos prefer to use relatively slow speeds that avoid high levels of tendon stress.

  9. Markerless 3D motion capture for animal locomotion studies

    Directory of Open Access Journals (Sweden)

    William Irvin Sellers

    2014-06-01

    Full Text Available 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 nature of many locomotor performances. In this paper we demonstrate a fully three-dimensional approach based on 3D photogrammetric reconstruction using multiple, synchronised video cameras. This approach allows full calibration based on the separation of the individual cameras and will work fully automatically with completely unmarked and undisturbed animals. As such it has the potential to revolutionise work carried out on free-ranging animals in sanctuaries and zoological gardens where ad hoc approaches are essential and access within enclosures often severely restricted. The paper demonstrates the effectiveness of video-based 3D photogrammetry with examples from primates and birds, as well as discussing the current limitations of this technique and illustrating the accuracies that can be obtained. All the software required is open source so this can be a very cost effective approach and provides a methodology of obtaining data in situations where other approaches would be completely ineffective.

  10. Analyzing locomotion synthesis with feature-based motion graphs.

    Science.gov (United States)

    Mahmudi, Mentar; Kallmann, Marcelo

    2013-05-01

    We propose feature-based motion graphs for realistic locomotion synthesis among obstacles. Among several advantages, feature-based motion graphs achieve improved results in search queries, eliminate the need of postprocessing for foot skating removal, and reduce the computational requirements in comparison to traditional motion graphs. Our contributions are threefold. First, we show that choosing transitions based on relevant features significantly reduces graph construction time and leads to improved search performances. Second, we employ a fast channel search method that confines the motion graph search to a free channel with guaranteed clearance among obstacles, achieving faster and improved results that avoid expensive collision checking. Lastly, we present a motion deformation model based on Inverse Kinematics applied over the transitions of a solution branch. Each transition is assigned a continuous deformation range that does not exceed the original transition cost threshold specified by the user for the graph construction. The obtained deformation improves the reachability of the feature-based motion graph and in turn also reduces the time spent during search. The results obtained by the proposed methods are evaluated and quantified, and they demonstrate significant improvements in comparison to traditional motion graph techniques.

  11. Calculation of locomotive traction force in transient rolling contact

    Directory of Open Access Journals (Sweden)

    Voltr P.

    2017-06-01

    Full Text Available To represent thewheel-rail contact in numerical simulations of rail vehicles, simplified models (Fastsim, Pola´ch etc. are usually employed. These models are designed for steady rolling only, which is perfectly suitable in many cases. However, it is shown to be limiting for simulations at very low vehicle speeds, and therefore it does not actually allow simulation of vehicle running at arbitrarily variable speed. The simplified model of transient rolling, which involves calculation of the stress distribution in the discretised contact area, overcomes this disadvantage but might be unnecessarily complex for more simple simulations. In this paper, an approximative creep force computation method for transient rolling is presented. Its purpose is not to study the transient phenomena themselves but provide a simple and readily available way to prevent incorrect results of the numerical simulation when the vehicle speed approaches zero. The proper function of the proposed method is demonstrated by a simulation of start-up and interrupted sliding of a four-axle locomotive.

  12. Integrated diversification of locomotion and feeding in labrid fishes.

    Science.gov (United States)

    Collar, David C; Wainwright, Peter C; Alfaro, Michael E

    2008-02-23

    An organism's performance of any ecological task involves coordination of multiple functional systems. Feeding performance is influenced by locomotor abilities which are used during search and capture of prey, as well as cranial mechanics, which affect prey capture and processing. But, does this integration of functional systems manifest itself during evolution? We asked whether the locomotor and feeding systems evolved in association in one of the most prominent and diverse reef fish radiations, the Labridae. We examined features of the pectoral fins that affect swimming performance and aspects of the skull that describe force and motion of the jaws. We applied a recent phylogeny, calculated independent contrasts for 60 nodes and performed principal components analyses separately on contrasts for fin and skull traits. The major axes of fin and skull diversification are highly correlated; modifications of the skull to amplify the speed of jaw movements are correlated with changes in the pectoral fins that increase swimming speed, and increases in force capacity of the skull are associated with changes towards fins that produce high thrust at slow speeds. These results indicate that the labrid radiation involved a strong connection between locomotion and feeding abilities.

  13. Mathematical modeling and simulation of aquatic and aerial animal locomotion

    Science.gov (United States)

    Hou, T. Y.; Stredie, V. G.; Wu, T. Y.

    2007-08-01

    In this paper, we investigate the locomotion of fish and birds by applying a new unsteady, flexible wing theory that takes into account the strong nonlinear dynamics semi-analytically. We also make extensive comparative study between the new approach and the modified vortex blob method inspired from Chorin's and Krasny's work. We first implement the modified vortex blob method for two examples and then discuss the numerical implementation of the nonlinear analytical mathematical model of Wu. We will demonstrate that Wu's method can capture the nonlinear effects very well by applying it to some specific cases and by comparing with the experiments available. In particular, we apply Wu's method to analyze Wagner's result for a wing abruptly undergoing an increase in incidence angle. Moreover, we study the vorticity generated by a wing in heaving, pitching and bending motion. In both cases, we show that the new method can accurately represent the vortex structure behind a flying wing and its influence on the bound vortex sheet on the wing.

  14. 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.

  15. Thermal management and performance evaluation of a dual bi-directional, soft-switched IGBT-based inverter for the 1st autonomous microgrid power system in Taiwan under various operating conditions

    Science.gov (United States)

    Chang, Tien-Chan; Fuh, Yiin-Kuen; Lu, Hong-Yi; Tu, Sheng-Xun

    2016-06-01

    The thermal management of the inverter system is of great importance since very high voltage/current will be switched intermittently and/or continuously and high temperature is excruciably detrimental to the service life of electronics, especially for the switching devices such as insulated gate bipolar transistor (IGBT). In this study, a newly developed dual bi-directional IGBT-based inverter in conjunction with autonomous microgrid system is investigated with particular focus on the thermal management and performance evaluation under various operation conditions. Locally enhanced heat transfer approach such as oblique orientation and heat dissipating materials are experimentally investigated. The studied inverter system is initially packaged by a galvanized steel plate (size 62 × 48 × 18 cm) and the switching power is set in the range of 0.5-3 kW. The module is operated at the switching and pulse frequencies of 60 Hz and 20 kHz, respectively. The adoption of heat dissipating material in either paste or film form had experimentally shown to possess the flexibility tailoring heat transfer performance locally. Experimental studies of heat dissipating film with various hotspot scenarios showed that the temperature difference can be appreciably reduced as much as 13.1 and 15.4 °C, respectively with facilitation of one- and two-layers of heat dissipating film. From the measurement results, the measured peak temperature is highly dominated by the thickness of heat dissipating film, showing the dominance of thickness-dependent thermal resistance and resultant heat accumulation phenomena.

  16. Locomotion response of airborne, ambulatory and aquatic insects to thermal stimulation using piezoceramic microheaters

    Science.gov (United States)

    Visvanathan, Karthik; Gianchandani, Yogesh B.

    2011-12-01

    This paper reports the locomotion response of airborne, ambulatory and aquatic insects to thermal stimulation. A finite element model has been developed to predict the variation of insect-stimulator interface temperature with input power. Piezothermal stimulators have been fabricated from lead zirconate titanate (PZT) using a batch mode micro ultrasonic machining process. Typical sizes range from 200 µm to 3.2 mm. For PZT stimulators, the temperature and thermal efficiency reach the maximum value around the resonance frequency which is typically in the range of 650 kHz to 47 MHz. Experiments have been conducted on green June beetles (GJBs), Madagascar hissing roaches and green diving beetles (GDBs) in order to show the versatility of the proposed technique. The stimulators have been implanted near the antennae of the GJBs and on either side of the thorax of the Madagascar hissing roaches and GDBs, respectively. In all cases, the insects move away from the direction of the actuated stimulator. The left and right turns are statistically similar. Thermal stimulation achieves an overall success rate of 78.7%, 92.8% and 61.6% in GJBs, roaches and GDBs, respectively. On average, thermal stimulation results in an angle turn of about 13.7°-16.2° on GJBs, 30°-45° on the roaches and 30°-50° on GDBs. The corresponding average input power is 360, 330 and 100 mW for GJBs, roach and GDBs, respectively. Scaling limits of the PZT stimulators for operating these stimulators are also discussed.

  17. 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.

  18. 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, ...

  19. Dual Credit/Dual Enrollment and Data Driven Policy Implementation

    Science.gov (United States)

    Lichtenberger, Eric; Witt, M. Allison; Blankenberger, Bob; Franklin, Doug

    2014-01-01

    The use of dual credit has been expanding rapidly. Dual credit is a college course taken by a high school student for which both college and high school credit is given. Previous studies provided limited quantitative evidence that dual credit/dual enrollment is directly connected to positive student outcomes. In this study, predictive statistics…

  20. 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.