Hand-Eye Calibration and Inverse Kinematics of Robot Arm using Neural Network

DEFF Research Database (Denmark)

Wu, Haiyan; Tizzano, Walter; Andersen, Thomas Timm

2013-01-01

Traditional technologies for solving hand-eye calibration and inverse kinematics are cumbersome and time consuming due to the high nonlinearity in the models. An alternative to the traditional approaches is the articial neural network inspired by the remarkable abilities of the animals in dierent...

Collage-based approaches for elliptic partial differential equations inverse problems

Science.gov (United States)

Yodzis, Michael; Kunze, Herb

2017-01-01

The collage method for inverse problems has become well-established in the literature in recent years. Initial work developed a collage theorem, based upon Banach's fixed point theorem, for treating inverse problems for ordinary differential equations (ODEs). Amongst the subsequent work was a generalized collage theorem, based upon the Lax-Milgram representation theorem, useful for treating inverse problems for elliptic partial differential equations (PDEs). Each of these two different approaches can be applied to elliptic PDEs in one space dimension. In this paper, we explore and compare how the two different approaches perform for the estimation of the diffusivity for a steady-state heat equation.

Inverse Reliability Task: Artificial Neural Networks and Reliability-Based Optimization Approaches

OpenAIRE

Lehký , David; Slowik , Ondřej; Novák , Drahomír

2014-01-01

Part 7: Genetic Algorithms; International audience; The paper presents two alternative approaches to solve inverse reliability task – to determine the design parameters to achieve desired target reliabilities. The first approach is based on utilization of artificial neural networks and small-sample simulation Latin hypercube sampling. The second approach considers inverse reliability task as reliability-based optimization task using double-loop method and also small-sample simulation. Efficie...

A Unified Approach for Reporting ARM Measurement Uncertainties Technical Report

Energy Technology Data Exchange (ETDEWEB)

Campos, E [Argonne National Lab. (ANL), Argonne, IL (United States); Sisterson, Douglas [Argonne National Lab. (ANL), Argonne, IL (United States)

2016-12-01

: 1) identifying how the uncertainty of individual ARM measurements is currently expressed, 2) identifying a consistent approach to measurement uncertainty, and then 3) reclassifying ARM instrument measurement uncertainties in a common framework.

A novel anisotropic inversion approach for magnetotelluric data from subsurfaces with orthogonal geoelectric strike directions

Science.gov (United States)

Schmoldt, Jan-Philipp; Jones, Alan G.

2013-12-01

The key result of this study is the development of a novel inversion approach for cases of orthogonal, or close to orthogonal, geoelectric strike directions at different depth ranges, for example, crustal and mantle depths. Oblique geoelectric strike directions are a well-known issue in commonly employed isotropic 2-D inversion of MT data. Whereas recovery of upper (crustal) structures can, in most cases, be achieved in a straightforward manner, deriving lower (mantle) structures is more challenging with isotropic 2-D inversion in the case of an overlying region (crust) with different geoelectric strike direction. Thus, investigators may resort to computationally expensive and more limited 3-D inversion in order to derive the electric resistivity distribution at mantle depths. In the novel approaches presented in this paper, electric anisotropy is used to image 2-D structures in one depth range, whereas the other region is modelled with an isotropic 1-D or 2-D approach, as a result significantly reducing computational costs of the inversion in comparison with 3-D inversion. The 1- and 2-D versions of the novel approach were tested using a synthetic 3-D subsurface model with orthogonal strike directions at crust and mantle depths and their performance was compared to results of isotropic 2-D inversion. Structures at crustal depths were reasonably well recovered by all inversion approaches, whereas recovery of mantle structures varied significantly between the different approaches. Isotropic 2-D inversion models, despite decomposition of the electric impedance tensor and using a wide range of inversion parameters, exhibited severe artefacts thereby confirming the requirement of either an enhanced or a higher dimensionality inversion approach. With the anisotropic 1-D inversion approach, mantle structures of the synthetic model were recovered reasonably well with anisotropy values parallel to the mantle strike direction (in this study anisotropy was assigned to the

Inverse statistical approach in heartbeat time series

International Nuclear Information System (INIS)

Ebadi, H; Shirazi, A H; Mani, Ali R; Jafari, G R

2011-01-01

We present an investigation on heart cycle time series, using inverse statistical analysis, a concept borrowed from studying turbulence. Using this approach, we studied the distribution of the exit times needed to achieve a predefined level of heart rate alteration. Such analysis uncovers the most likely waiting time needed to reach a certain change in the rate of heart beat. This analysis showed a significant difference between the raw data and shuffled data, when the heart rate accelerates or decelerates to a rare event. We also report that inverse statistical analysis can distinguish between the electrocardiograms taken from healthy volunteers and patients with heart failure

Riemann–Hilbert problem approach for two-dimensional flow inverse scattering

Energy Technology Data Exchange (ETDEWEB)

Agaltsov, A. D., E-mail: agalets@gmail.com [Faculty of Computational Mathematics and Cybernetics, Lomonosov Moscow State University, 119991 Moscow (Russian Federation); Novikov, R. G., E-mail: novikov@cmap.polytechnique.fr [CNRS (UMR 7641), Centre de Mathématiques Appliquées, Ecole Polytechnique, 91128 Palaiseau (France); IEPT RAS, 117997 Moscow (Russian Federation); Moscow Institute of Physics and Technology, Dolgoprudny (Russian Federation)

2014-10-15

We consider inverse scattering for the time-harmonic wave equation with first-order perturbation in two dimensions. This problem arises in particular in the acoustic tomography of moving fluid. We consider linearized and nonlinearized reconstruction algorithms for this problem of inverse scattering. Our nonlinearized reconstruction algorithm is based on the non-local Riemann–Hilbert problem approach. Comparisons with preceding results are given.

Riemann–Hilbert problem approach for two-dimensional flow inverse scattering

International Nuclear Information System (INIS)

Agaltsov, A. D.; Novikov, R. G.

2014-01-01

We consider inverse scattering for the time-harmonic wave equation with first-order perturbation in two dimensions. This problem arises in particular in the acoustic tomography of moving fluid. We consider linearized and nonlinearized reconstruction algorithms for this problem of inverse scattering. Our nonlinearized reconstruction algorithm is based on the non-local Riemann–Hilbert problem approach. Comparisons with preceding results are given

Recursive inverse kinematics for robot arms via Kalman filtering and Bryson-Frazier smoothing

Science.gov (United States)

Rodriguez, G.; Scheid, R. E., Jr.

1987-01-01

This paper applies linear filtering and smoothing theory to solve recursively the inverse kinematics problem for serial multilink manipulators. This problem is to find a set of joint angles that achieve a prescribed tip position and/or orientation. A widely applicable numerical search solution is presented. The approach finds the minimum of a generalized distance between the desired and the actual manipulator tip position and/or orientation. Both a first-order steepest-descent gradient search and a second-order Newton-Raphson search are developed. The optimal relaxation factor required for the steepest descent method is computed recursively using an outward/inward procedure similar to those used typically for recursive inverse dynamics calculations. The second-order search requires evaluation of a gradient and an approximate Hessian. A Gauss-Markov approach is used to approximate the Hessian matrix in terms of products of first-order derivatives. This matrix is inverted recursively using a two-stage process of inward Kalman filtering followed by outward smoothing. This two-stage process is analogous to that recently developed by the author to solve by means of spatial filtering and smoothing the forward dynamics problem for serial manipulators.

Not para-, not peri-, but centric inversion of chromosome 12

DEFF Research Database (Denmark)

Silahtaroglu, A N; Hacihanefioglu, S; Güven, G S

1998-01-01

a break in the alphoid repeats followed by an inversion within the short arm, resulting in a pseudodicentric chromosome. Further FISH analyses using telomeric and subtelomeric probes showed that the other breakpoint was in the subtelomeric region of the short arm. The karyotype is designated 47,XXY,inv(12......)(p10p13.3). To our knowledge this is the first report of a case of "centric inversion"....

A comprehensive inversion approach for feedforward compensation of piezoactuator system at high frequency

Science.gov (United States)

Tian, Lizhi; Xiong, Zhenhua; Wu, Jianhua; Ding, Han

2016-09-01

Motion control of the piezoactuator system over broadband frequencies is limited due to its inherent hysteresis and system dynamics. One of the suggested ways is to use feedforward controller to linearize the input-output relationship of the piezoactuator system. Although there have been many feedforward approaches, it is still a challenge to develop feedforward controller for the piezoactuator system at high frequency. Hence, this paper presents a comprehensive inversion approach in consideration of the coupling of hysteresis and dynamics. In this work, the influence of dynamics compensation on the input-output relationship of the piezoactuator system is investigated first. With system dynamics compensation, the input-output relationship of the piezoactuator system will be further represented as rate-dependent nonlinearity due to the inevitable dynamics compensation error, especially at high frequency. Base on this result, the feedforward controller composed by a cascade of linear dynamics inversion and rate-dependent nonlinearity inversion is developed. Then, the system identification of the comprehensive inversion approach is proposed. Finally, experimental results show that the proposed approach can improve the performance on tracking of both periodic and non-periodic trajectories at medium and high frequency compared with the conventional feedforward approaches.

Approaching the Island of Inversion: 34P

Energy Technology Data Exchange (ETDEWEB)

Bender, P.C.; Hoffman, C.R.; Wiedeking, M.; Allmond, J.M.; Bernstein, L.A.; Burke, J.T.; Bleuel, D.L.; Clark, R.M.; Fallon, P.; Goldblum, B.L.; Hinners, T.A.; Jeppesen, H.B.; Lee, Sangjin; Lee, I.Y.; Lesher, S.R.; Machiavelli, A.O.; McMahan, M.A.; Morris, D.; Perry, M.; Phair, L.; Scielzo, N.D.; Tabor, S.L.; Tripathi, Vandana; Volya, A.

2011-06-14

Yrast states in 34P were investigated using the 18O(18O,pn) reaction at energies of 20, 24, 25, 30, and 44 MeV at Florida State University and at Lawrence Berkeley National Laboratory. The level scheme was expanded, ray angular distributions were measured, and lifetimes were inferred with the Doppler-shift attenuation method by detecting decay protons in coincidence with one or more rays. The results provide a clearer picture of the evolution of structure approaching the 'Island of Inversion', particularly how the 1 and 2 particle-hole (ph) states fall in energy with increasing neutro number approaching inversion. However, the agreement of the lowest few states with pure sd shell model predictions shows that the level scheme of 34P is not itself inverted. Rather, the accumulated evidence indicates that the 1-ph states start at 2.3 MeV. A good candidate for the lowest 2-ph state lies at 6236 keV, just below the neutron separation energy of 6291 keV. Shell model calculations made using a small modification of the WBP interaction reproduce the negative-parity, 1-ph states rather well.

An Inverse Kinematic Approach Using Groebner Basis Theory Applied to Gait Cycle Analysis

Science.gov (United States)

2013-03-01

AN INVERSE KINEMATIC APPROACH USING GROEBNER BASIS THEORY APPLIED TO GAIT CYCLE ANALYSIS THESIS Anum Barki AFIT-ENP-13-M-02 DEPARTMENT OF THE AIR...copyright protection in the United States. AFIT-ENP-13-M-02 AN INVERSE KINEMATIC APPROACH USING GROEBNER BASIS THEORY APPLIED TO GAIT CYCLE ANALYSIS THESIS...APPROACH USING GROEBNER BASIS THEORY APPLIED TO GAIT CYCLE ANALYSIS Anum Barki, BS Approved: Dr. Ronald F. Tuttle (Chairman) Date Dr. Kimberly Kendricks

A nonlinear approach of elastic reflection waveform inversion

KAUST Repository

Guo, Qiang

2016-09-06

Elastic full waveform inversion (EFWI) embodies the original intention of waveform inversion at its inception as it is a better representation of the mostly solid Earth. However, compared with the acoustic P-wave assumption, EFWI for P- and S-wave velocities using multi-component data admitted mixed results. Full waveform inversion (FWI) is a highly nonlinear problem and this nonlinearity only increases under the elastic assumption. Reflection waveform inversion (RWI) can mitigate the nonlinearity by relying on transmissions from reflections focused on inverting low wavenumber components of the model. In our elastic endeavor, we split the P- and S-wave velocities into low wavenumber and perturbation components and propose a nonlinear approach to invert for both of them. The new optimization problem is built on an objective function that depends on both background and perturbation models. We utilize an equivalent stress source based on the model perturbation to generate reflection instead of demigrating from an image, which is applied in conventional RWI. Application on a slice of an ocean-bottom data shows that our method can efficiently update the low wavenumber parts of the model, but more so, obtain perturbations that can be added to the low wavenumbers for a high resolution output.

A nonlinear approach of elastic reflection waveform inversion

KAUST Repository

Guo, Qiang; Alkhalifah, Tariq Ali

2016-01-01

Elastic full waveform inversion (EFWI) embodies the original intention of waveform inversion at its inception as it is a better representation of the mostly solid Earth. However, compared with the acoustic P-wave assumption, EFWI for P- and S-wave velocities using multi-component data admitted mixed results. Full waveform inversion (FWI) is a highly nonlinear problem and this nonlinearity only increases under the elastic assumption. Reflection waveform inversion (RWI) can mitigate the nonlinearity by relying on transmissions from reflections focused on inverting low wavenumber components of the model. In our elastic endeavor, we split the P- and S-wave velocities into low wavenumber and perturbation components and propose a nonlinear approach to invert for both of them. The new optimization problem is built on an objective function that depends on both background and perturbation models. We utilize an equivalent stress source based on the model perturbation to generate reflection instead of demigrating from an image, which is applied in conventional RWI. Application on a slice of an ocean-bottom data shows that our method can efficiently update the low wavenumber parts of the model, but more so, obtain perturbations that can be added to the low wavenumbers for a high resolution output.

A Unified Approach for Reporting ARM Measurement Uncertainties Technical Report: Updated in 2016

Energy Technology Data Exchange (ETDEWEB)

Sisterson, Douglas [Argonne National Lab. (ANL), Argonne, IL (United States)

2017-01-15

The U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Climate Research Facility is observationally based, and quantifying the uncertainty of its measurements is critically important. With over 300 widely differing instruments providing over 2,500 datastreams, concise expression of measurement uncertainty is quite challenging. ARM currently provides data and supporting metadata (information about the data or data quality) to its users through several sources. Because the continued success of the ARM Facility depends on the known quality of its measurements, ARM relies on Instrument Mentors and the ARM Data Quality Office to ensure, assess, and report measurement quality. Therefore, an easily accessible, well-articulated estimate of ARM measurement uncertainty is needed. This report is a continuation of the work presented by Campos and Sisterson (2015) and provides additional uncertainty information from instruments not available in their report. As before, a total measurement uncertainty has been calculated as a function of the instrument uncertainty (calibration factors), the field uncertainty (environmental factors), and the retrieval uncertainty (algorithm factors). This study will not expand on methods for computing these uncertainties. As before, it will focus on the practical identification, characterization, and inventory of the measurement uncertainties already available to the ARM community through the ARM Instrument Mentors and their ARM instrument handbooks. This study continues the first steps towards reporting ARM measurement uncertainty as: (1) identifying how the uncertainty of individual ARM measurements is currently expressed, (2) identifying a consistent approach to measurement uncertainty, and then (3) reclassifying ARM instrument measurement uncertainties in a common framework.

MO-DE-207A-06: ECG-Gated CT Reconstruction for a C-Arm Inverse Geometry X-Ray System

Energy Technology Data Exchange (ETDEWEB)

Slagowski, JM; Dunkerley, DAP [MA Speidel, University of Wisconsin - Madison, Madison, WI (United States)

2016-06-15

Purpose: To obtain ECG-gated CT images from truncated projection data acquired with a C-arm based inverse geometry fluoroscopy system, for the purpose of cardiac chamber mapping in interventional procedures. Methods: Scanning-beam digital x-ray (SBDX) is an inverse geometry fluoroscopy system with a scanned multisource x-ray tube and a photon-counting detector mounted to a C-arm. In the proposed method, SBDX short-scan rotational acquisition is performed followed by inverse geometry CT (IGCT) reconstruction and segmentation of contrast-enhanced objects. The prior image constrained compressed sensing (PICCS) framework was adapted for IGCT reconstruction to mitigate artifacts arising from data truncation and angular undersampling due to cardiac gating. The performance of the reconstruction algorithm was evaluated in numerical simulations of truncated and non-truncated thorax phantoms containing a dynamic ellipsoid to represent a moving cardiac chamber. The eccentricity of the ellipsoid was varied at frequencies from 1–1.5 Hz. Projection data were retrospectively sorted into 13 cardiac phases. Each phase was reconstructed using IGCT-PICCS, with a nongated gridded FBP (gFBP) prior image. Surface accuracy was determined using Dice similarity coefficient and a histogram of the point distances between the segmented surface and ground truth surface. Results: The gated IGCT-PICCS algorithm improved surface accuracy and reduced streaking and truncation artifacts when compared to nongated gFBP. For the non-truncated thorax with 1.25 Hz motion, 99% of segmented surface points were within 0.3 mm of the 15 mm diameter ground truth ellipse, versus 1.0 mm for gFBP. For the truncated thorax phantom with a 40 mm diameter ellipse, IGCT-PICCS surface accuracy measured 0.3 mm versus 7.8 mm for gFBP. Dice similarity coefficient was 0.99–1.00 (IGCT-PICCS) versus 0.63–0.75 (gFBP) for intensity-based segmentation thresholds ranging from 25–75% maximum contrast. Conclusions: The

Solving Inverse Kinematics – A New Approach to the Extended Jacobian Technique

Directory of Open Access Journals (Sweden)

M. Šoch

2005-01-01

Full Text Available This paper presents a brief summary of current numerical algorithms for solving the Inverse Kinematics problem. Then a new approach based on the Extended Jacobian technique is compared with the current Jacobian Inversion method. The presented method is intended for use in the field of computer graphics for animation of articulated structures. 

Inverse approach for determination of the coils location during magnetic stimulation

International Nuclear Information System (INIS)

Marinova, Iliana; Kovachev, Ludmil

2002-01-01

An inverse approach using neural networks is extended and applied for determination of coils location during magnetic stimulation. The major constructions of magnetic stimulation coils have been investigated. The electric and magnetic fields are modelled using finite element method and integral equation method. The effects of changing the construction of coils and the frequency to the effect of magnetic stimulation are analysed. The results show that the coils for magnetic stimulation characterize with different focality and magnetic field concentration. The proposed inverse approach using neural networks is very useful for determination the spatial position of the stimulation coils especially when the location of the coil system is required to be changed dynamically. (Author)

Bayesian approach to inverse statistical mechanics

Science.gov (United States)

Habeck, Michael

2014-05-01

Inverse statistical mechanics aims to determine particle interactions from ensemble properties. This article looks at this inverse problem from a Bayesian perspective and discusses several statistical estimators to solve it. In addition, a sequential Monte Carlo algorithm is proposed that draws the interaction parameters from their posterior probability distribution. The posterior probability involves an intractable partition function that is estimated along with the interactions. The method is illustrated for inverse problems of varying complexity, including the estimation of a temperature, the inverse Ising problem, maximum entropy fitting, and the reconstruction of molecular interaction potentials.

Picking Robot Arm Trajectory Planning Method

Directory of Open Access Journals (Sweden)

Zhang Zhiyong

2014-01-01

Full Text Available The picking robot arm is scheduled to complete picking tasks in the working space, to overcome the shaking vibration to improve the picking stability, its movement should follow specific consistence trajectory points. Usually we should give definite multiple feature picking points, map their inverse kinematics to the joint space, establish motion equation for the corresponding point in the joint space, then follow these equations motion for the interpolation on the joint so that we can meet the movement requirements. Trajectory planning is decisive significance for accuracy and stability of controlling robot arm. The key issue that picking arm complete picking task will be come true by trajectory planning, namely, robot arm track the desired trajectory. which based on kinematics and statics picking analysis in a joint space according to the requirements of picking tasks, and obtain the position and orientation for picking robot arm, study and calculate the theory of trajectory parameters timely.

Decomposing Large Inverse Problems with an Augmented Lagrangian Approach: Application to Joint Inversion of Body-Wave Travel Times and Surface-Wave Dispersion Measurements

Science.gov (United States)

Reiter, D. T.; Rodi, W. L.

2015-12-01

Constructing 3D Earth models through the joint inversion of large geophysical data sets presents numerous theoretical and practical challenges, especially when diverse types of data and model parameters are involved. Among the challenges are the computational complexity associated with large data and model vectors and the need to unify differing model parameterizations, forward modeling methods and regularization schemes within a common inversion framework. The challenges can be addressed in part by decomposing the inverse problem into smaller, simpler inverse problems that can be solved separately, providing one knows how to merge the separate inversion results into an optimal solution of the full problem. We have formulated an approach to the decomposition of large inverse problems based on the augmented Lagrangian technique from optimization theory. As commonly done, we define a solution to the full inverse problem as the Earth model minimizing an objective function motivated, for example, by a Bayesian inference formulation. Our decomposition approach recasts the minimization problem equivalently as the minimization of component objective functions, corresponding to specified data subsets, subject to the constraints that the minimizing models be equal. A standard optimization algorithm solves the resulting constrained minimization problems by alternating between the separate solution of the component problems and the updating of Lagrange multipliers that serve to steer the individual solution models toward a common model solving the full problem. We are applying our inversion method to the reconstruction of the·crust and upper-mantle seismic velocity structure across Eurasia.· Data for the inversion comprise a large set of P and S body-wave travel times·and fundamental and first-higher mode Rayleigh-wave group velocities.

Approaches in highly parameterized inversion: bgaPEST, a Bayesian geostatistical approach implementation with PEST: documentation and instructions

Science.gov (United States)

Fienen, Michael N.; D'Oria, Marco; Doherty, John E.; Hunt, Randall J.

2013-01-01

The application bgaPEST is a highly parameterized inversion software package implementing the Bayesian Geostatistical Approach in a framework compatible with the parameter estimation suite PEST. Highly parameterized inversion refers to cases in which parameters are distributed in space or time and are correlated with one another. The Bayesian aspect of bgaPEST is related to Bayesian probability theory in which prior information about parameters is formally revised on the basis of the calibration dataset used for the inversion. Conceptually, this approach formalizes the conditionality of estimated parameters on the specific data and model available. The geostatistical component of the method refers to the way in which prior information about the parameters is used. A geostatistical autocorrelation function is used to enforce structure on the parameters to avoid overfitting and unrealistic results. Bayesian Geostatistical Approach is designed to provide the smoothest solution that is consistent with the data. Optionally, users can specify a level of fit or estimate a balance between fit and model complexity informed by the data. Groundwater and surface-water applications are used as examples in this text, but the possible uses of bgaPEST extend to any distributed parameter applications.

Dependence of paracentric inversion rate on tract length

DEFF Research Database (Denmark)

York, Thomas L; Durrett, Rick; Nielsen, Rasmus

2007-01-01

BACKGROUND: We develop a Bayesian method based on MCMC for estimating the relative rates of pericentric and paracentric inversions from marker data from two species. The method also allows estimation of the distribution of inversion tract lengths. RESULTS: We apply the method to data from...... Drosophila melanogaster and D. yakuba. We find that pericentric inversions occur at a much lower rate compared to paracentric inversions. The average paracentric inversion tract length is approx. 4.8 Mb with small inversions being more frequent than large inversions.If the two breakpoints defining...... a paracentric inversion tract are uniformly and independently distributed over chromosome arms there will be more short tract-length inversions than long; we find an even greater preponderance of short tract lengths than this would predict. Thus there appears to be a correlation between the positions...

Numerical modeling of axi-symmetrical cold forging process by ``Pseudo Inverse Approach''

Science.gov (United States)

Halouani, A.; Li, Y. M.; Abbes, B.; Guo, Y. Q.

2011-05-01

The incremental approach is widely used for the forging process modeling, it gives good strain and stress estimation, but it is time consuming. A fast Inverse Approach (IA) has been developed for the axi-symmetric cold forging modeling [1-2]. This approach exploits maximum the knowledge of the final part's shape and the assumptions of proportional loading and simplified tool actions make the IA simulation very fast. The IA is proved very useful for the tool design and optimization because of its rapidity and good strain estimation. However, the assumptions mentioned above cannot provide good stress estimation because of neglecting the loading history. A new approach called "Pseudo Inverse Approach" (PIA) was proposed by Batoz, Guo et al.. [3] for the sheet forming modeling, which keeps the IA's advantages but gives good stress estimation by taking into consideration the loading history. Our aim is to adapt the PIA for the cold forging modeling in this paper. The main developments in PIA are resumed as follows: A few intermediate configurations are generated for the given tools' positions to consider the deformation history; the strain increment is calculated by the inverse method between the previous and actual configurations. An incremental algorithm of the plastic integration is used in PIA instead of the total constitutive law used in the IA. An example is used to show the effectiveness and limitations of the PIA for the cold forging process modeling.

Refining mortality estimates in shark demographic analyses: a Bayesian inverse matrix approach.

Science.gov (United States)

Smart, Jonathan J; Punt, André E; White, William T; Simpfendorfer, Colin A

2018-01-18

Leslie matrix models are an important analysis tool in conservation biology that are applied to a diversity of taxa. The standard approach estimates the finite rate of population growth (λ) from a set of vital rates. In some instances, an estimate of λ is available, but the vital rates are poorly understood and can be solved for using an inverse matrix approach. However, these approaches are rarely attempted due to prerequisites of information on the structure of age or stage classes. This study addressed this issue by using a combination of Monte Carlo simulations and the sample-importance-resampling (SIR) algorithm to solve the inverse matrix problem without data on population structure. This approach was applied to the grey reef shark (Carcharhinus amblyrhynchos) from the Great Barrier Reef (GBR) in Australia to determine the demography of this population. Additionally, these outputs were applied to another heavily fished population from Papua New Guinea (PNG) that requires estimates of λ for fisheries management. The SIR analysis determined that natural mortality (M) and total mortality (Z) based on indirect methods have previously been overestimated for C. amblyrhynchos, leading to an underestimated λ. The updated Z distributions determined using SIR provided λ estimates that matched an empirical λ for the GBR population and corrected obvious error in the demographic parameters for the PNG population. This approach provides opportunity for the inverse matrix approach to be applied more broadly to situations where information on population structure is lacking. © 2018 by the Ecological Society of America.

Collage-type approach to inverse problems for elliptic PDEs on perforated domains

Directory of Open Access Journals (Sweden)

Herb E. Kunze

2015-02-01

Full Text Available We present a collage-based method for solving inverse problems for elliptic partial differential equations on a perforated domain. The main results of this paper establish a link between the solution of an inverse problem on a perforated domain and the solution of the same model on a domain with no holes. The numerical examples at the end of the paper show the goodness of this approach.

Variational approach to direct and inverse problems of atmospheric pollution studies

Science.gov (United States)

Penenko, Vladimir; Tsvetova, Elena; Penenko, Alexey

2016-04-01

We present the development of a variational approach for solving interrelated problems of atmospheric hydrodynamics and chemistry concerning air pollution transport and transformations. The proposed approach allows us to carry out complex studies of different-scale physical and chemical processes using the methods of direct and inverse modeling [1-3]. We formulate the problems of risk/vulnerability and uncertainty assessment, sensitivity studies, variational data assimilation procedures [4], etc. A computational technology of constructing consistent mathematical models and methods of their numerical implementation is based on the variational principle in the weak constraint formulation specifically designed to account for uncertainties in models and observations. Algorithms for direct and inverse modeling are designed with the use of global and local adjoint problems. Implementing the idea of adjoint integrating factors provides unconditionally monotone and stable discrete-analytic approximations for convection-diffusion-reaction problems [5,6]. The general framework is applied to the direct and inverse problems for the models of transport and transformation of pollutants in Siberian and Arctic regions. The work has been partially supported by the RFBR grant 14-01-00125 and RAS Presidium Program I.33P. References: 1. V. Penenko, A.Baklanov, E. Tsvetova and A. Mahura . Direct and inverse problems in a variational concept of environmental modeling //Pure and Applied Geoph.(2012) v.169: 447-465. 2. V. V. Penenko, E. A. Tsvetova, and A. V. Penenko Development of variational approach for direct and inverse problems of atmospheric hydrodynamics and chemistry, Izvestiya, Atmospheric and Oceanic Physics, 2015, Vol. 51, No. 3, p. 311-319, DOI: 10.1134/S0001433815030093. 3. V.V. Penenko, E.A. Tsvetova, A.V. Penenko. Methods based on the joint use of models and observational data in the framework of variational approach to forecasting weather and atmospheric composition

Digital holography of particles: benefits of the 'inverse problem' approach

International Nuclear Information System (INIS)

Gire, J; Denis, L; Fournier, C; Soulez, F; Ducottet, C; Thiébaut, E

2008-01-01

The potential of in-line digital holography to locate and measure the size of particles distributed throughout a volume (in one shot) has been established. These measurements are fundamental for the study of particle trajectories in fluid flow. The most important issues in digital holography today are poor depth positioning accuracy, transverse field-of-view limitations, border artifacts and computational burdens. We recently suggested an 'inverse problem' approach to address some of these issues for the processing of particle digital holograms. The described algorithm improves axial positioning accuracy, gives particle diameters with sub-micrometer accuracy, eliminates border effects and increases the size of the studied volume. This approach for processing particle holograms pushes back some classical constraints. For example, the Nyquist criterion is no longer a restriction for the recording step and the studied volume is no longer confined to the field of view delimited by the sensor borders. In this paper we present a review of the limitations commonly found in digital holography. We then discuss the benefits of the 'inverse problem' approach and the influence of some experimental parameters in this framework

A statistical kinematic source inversion approach based on the QUESO library for uncertainty quantification and prediction

Science.gov (United States)

Zielke, Olaf; McDougall, Damon; Mai, Martin; Babuska, Ivo

2014-05-01

Seismic, often augmented with geodetic data, are frequently used to invert for the spatio-temporal evolution of slip along a rupture plane. The resulting images of the slip evolution for a single event, inferred by different research teams, often vary distinctly, depending on the adopted inversion approach and rupture model parameterization. This observation raises the question, which of the provided kinematic source inversion solutions is most reliable and most robust, and — more generally — how accurate are fault parameterization and solution predictions? These issues are not included in "standard" source inversion approaches. Here, we present a statistical inversion approach to constrain kinematic rupture parameters from teleseismic body waves. The approach is based a) on a forward-modeling scheme that computes synthetic (body-)waves for a given kinematic rupture model, and b) on the QUESO (Quantification of Uncertainty for Estimation, Simulation, and Optimization) library that uses MCMC algorithms and Bayes theorem for sample selection. We present Bayesian inversions for rupture parameters in synthetic earthquakes (i.e. for which the exact rupture history is known) in an attempt to identify the cross-over at which further model discretization (spatial and temporal resolution of the parameter space) is no longer attributed to a decreasing misfit. Identification of this cross-over is of importance as it reveals the resolution power of the studied data set (i.e. teleseismic body waves), enabling one to constrain kinematic earthquake rupture histories of real earthquakes at a resolution that is supported by data. In addition, the Bayesian approach allows for mapping complete posterior probability density functions of the desired kinematic source parameters, thus enabling us to rigorously assess the uncertainties in earthquake source inversions.

The θ-term, CPN-1 model and the inversion approach in the imaginary θ method

International Nuclear Information System (INIS)

Imachi, Masahiro; Kambayashi, Hitoshi; Shinno, Yasuhiko; Yoneyama, Hiroshi

2006-01-01

The weak coupling region of CP N-1 lattice field theory with the θ-term is investigated. Both the usual real theta method can the imaginary theta method are studied. The latter was first proposed by Bhanot and David. Azcoiti et al. proposed an inversion approach based on the imaginary theta method. The role of the inversion approach is investigated in this paper. A wide range of values of h=-Imθ is studied, where θ denotes the magnitude of the topological term. Step-like behavior in the x-h relation (where x=Q/V, Q is the topological charge, and V is the two-dimensional volume) is found in the weak coupling region. The physical meaning of the position of the step-like behavior is discussed. The inversion approach is applied to weak coupling regions. (author)

An inverse-scattering approach to the physics of transition metals ...

African Journals Online (AJOL)

A method is developed for the deduction of a transition metal ion potential from a knowledge of the phase-shift. The method used is based the distorted plane – wave scattering approximation for the deduction of non singular potentials from scattering phase shifts in an inverse scattering approach. The resulting electron ...

SIPRI's new conceptual approach to arms control and disarmament

International Nuclear Information System (INIS)

Rotfeld, Adam Daniel

2000-01-01

The end of the cold war deprioritized arms control and disarmament, and progress in the field was no longer a measure of relations among the major powers. In that context, the future of arms control and disarmament was discussed at the Nobel Symposium in October 1999. Stockholm International Peace Research Institute (SIPRI) views arms control as an instrument for shaping a new inclusive and cooperative security order. The author questions whether arms control challenges today can and should be resolved in the institutions established and the procedures elaborated in the bipolar framework. (author)

Approaches to highly parameterized inversion-A guide to using PEST for groundwater-model calibration

Science.gov (United States)

Doherty, John E.; Hunt, Randall J.

2010-01-01

Highly parameterized groundwater models can create calibration difficulties. Regularized inversion-the combined use of large numbers of parameters with mathematical approaches for stable parameter estimation-is becoming a common approach to address these difficulties and enhance the transfer of information contained in field measurements to parameters used to model that system. Though commonly used in other industries, regularized inversion is somewhat imperfectly understood in the groundwater field. There is concern that this unfamiliarity can lead to underuse, and misuse, of the methodology. This document is constructed to facilitate the appropriate use of regularized inversion for calibrating highly parameterized groundwater models. The presentation is directed at an intermediate- to advanced-level modeler, and it focuses on the PEST software suite-a frequently used tool for highly parameterized model calibration and one that is widely supported by commercial graphical user interfaces. A brief overview of the regularized inversion approach is provided, and techniques for mathematical regularization offered by PEST are outlined, including Tikhonov, subspace, and hybrid schemes. Guidelines for applying regularized inversion techniques are presented after a logical progression of steps for building suitable PEST input. The discussion starts with use of pilot points as a parameterization device and processing/grouping observations to form multicomponent objective functions. A description of potential parameter solution methodologies and resources available through the PEST software and its supporting utility programs follows. Directing the parameter-estimation process through PEST control variables is then discussed, including guidance for monitoring and optimizing the performance of PEST. Comprehensive listings of PEST control variables, and of the roles performed by PEST utility support programs, are presented in the appendixes.

A stochastic approach for model reduction and memory function design in hydrogeophysical inversion

Science.gov (United States)

Hou, Z.; Kellogg, A.; Terry, N.

2009-12-01

Geophysical (e.g., seismic, electromagnetic, radar) techniques and statistical methods are essential for research related to subsurface characterization, including monitoring subsurface flow and transport processes, oil/gas reservoir identification, etc. For deep subsurface characterization such as reservoir petroleum exploration, seismic methods have been widely used. Recently, electromagnetic (EM) methods have drawn great attention in the area of reservoir characterization. However, considering the enormous computational demand corresponding to seismic and EM forward modeling, it is usually a big problem to have too many unknown parameters in the modeling domain. For shallow subsurface applications, the characterization can be very complicated considering the complexity and nonlinearity of flow and transport processes in the unsaturated zone. It is warranted to reduce the dimension of parameter space to a reasonable level. Another common concern is how to make the best use of time-lapse data with spatial-temporal correlations. This is even more critical when we try to monitor subsurface processes using geophysical data collected at different times. The normal practice is to get the inverse images individually. These images are not necessarily continuous or even reasonably related, because of the non-uniqueness of hydrogeophysical inversion. We propose to use a stochastic framework by integrating minimum-relative-entropy concept, quasi Monto Carlo sampling techniques, and statistical tests. The approach allows efficient and sufficient exploration of all possibilities of model parameters and evaluation of their significances to geophysical responses. The analyses enable us to reduce the parameter space significantly. The approach can be combined with Bayesian updating, allowing us to treat the updated ‘posterior’ pdf as a memory function, which stores all the information up to date about the distributions of soil/field attributes/properties, then consider the

Calculation of the inverse data space via sparse inversion

KAUST Repository

Saragiotis, Christos

2011-01-01

The inverse data space provides a natural separation of primaries and surface-related multiples, as the surface multiples map onto the area around the origin while the primaries map elsewhere. However, the calculation of the inverse data is far from trivial as theory requires infinite time and offset recording. Furthermore regularization issues arise during inversion. We perform the inversion by minimizing the least-squares norm of the misfit function by constraining the $ell_1$ norm of the solution, being the inverse data space. In this way a sparse inversion approach is obtained. We show results on field data with an application to surface multiple removal.

Distributed Cooperative Optimal Control for Multiagent Systems on Directed Graphs: An Inverse Optimal Approach.

Science.gov (United States)

Zhang, Huaguang; Feng, Tao; Yang, Guang-Hong; Liang, Hongjing

2015-07-01

In this paper, the inverse optimal approach is employed to design distributed consensus protocols that guarantee consensus and global optimality with respect to some quadratic performance indexes for identical linear systems on a directed graph. The inverse optimal theory is developed by introducing the notion of partial stability. As a result, the necessary and sufficient conditions for inverse optimality are proposed. By means of the developed inverse optimal theory, the necessary and sufficient conditions are established for globally optimal cooperative control problems on directed graphs. Basic optimal cooperative design procedures are given based on asymptotic properties of the resulting optimal distributed consensus protocols, and the multiagent systems can reach desired consensus performance (convergence rate and damping rate) asymptotically. Finally, two examples are given to illustrate the effectiveness of the proposed methods.

From inverse problems to learning: a Statistical Mechanics approach

Science.gov (United States)

Baldassi, Carlo; Gerace, Federica; Saglietti, Luca; Zecchina, Riccardo

2018-01-01

We present a brief introduction to the statistical mechanics approaches for the study of inverse problems in data science. We then provide concrete new results on inferring couplings from sampled configurations in systems characterized by an extensive number of stable attractors in the low temperature regime. We also show how these result are connected to the problem of learning with realistic weak signals in computational neuroscience. Our techniques and algorithms rely on advanced mean-field methods developed in the context of disordered systems.

Time-reversal and Bayesian inversion

Science.gov (United States)

Debski, Wojciech

2017-04-01

Probabilistic inversion technique is superior to the classical optimization-based approach in all but one aspects. It requires quite exhaustive computations which prohibit its use in huge size inverse problems like global seismic tomography or waveform inversion to name a few. The advantages of the approach are, however, so appealing that there is an ongoing continuous afford to make the large inverse task as mentioned above manageable with the probabilistic inverse approach. One of the perspective possibility to achieve this goal relays on exploring the internal symmetry of the seismological modeling problems in hand - a time reversal and reciprocity invariance. This two basic properties of the elastic wave equation when incorporating into the probabilistic inversion schemata open a new horizons for Bayesian inversion. In this presentation we discuss the time reversal symmetry property, its mathematical aspects and propose how to combine it with the probabilistic inverse theory into a compact, fast inversion algorithm. We illustrate the proposed idea with the newly developed location algorithm TRMLOC and discuss its efficiency when applied to mining induced seismic data.

Trajectory control of an articulated robot with a parallel drive arm based on splines under tension

Science.gov (United States)

Yi, Seung-Jong

Today's industrial robots controlled by mini/micro computers are basically simple positioning devices. The positioning accuracy depends on the mathematical description of the robot configuration to place the end-effector at the desired position and orientation within the workspace and on following the specified path which requires the trajectory planner. In addition, the consideration of joint velocity, acceleration, and jerk trajectories are essential for trajectory planning of industrial robots to obtain smooth operation. The newly designed 6 DOF articulated robot with a parallel drive arm mechanism which permits the joint actuators to be placed in the same horizontal line to reduce the arm inertia and to increase load capacity and stiffness is selected. First, the forward kinematic and inverse kinematic problems are examined. The forward kinematic equations are successfully derived based on Denavit-Hartenberg notation with independent joint angle constraints. The inverse kinematic problems are solved using the arm-wrist partitioned approach with independent joint angle constraints. Three types of curve fitting methods used in trajectory planning, i.e., certain degree polynomial functions, cubic spline functions, and cubic spline functions under tension, are compared to select the best possible method to satisfy both smooth joint trajectories and positioning accuracy for a robot trajectory planner. Cubic spline functions under tension is the method selected for the new trajectory planner. This method is implemented for a 6 DOF articulated robot with a parallel drive arm mechanism to improve the smoothness of the joint trajectories and the positioning accuracy of the manipulator. Also, this approach is compared with existing trajectory planners, 4-3-4 polynomials and cubic spline functions, via circular arc motion simulations. The new trajectory planner using cubic spline functions under tension is implemented into the microprocessor based robot controller and

A Unified Approach for Reporting ARM Measurement Uncertainties Technical Report

Energy Technology Data Exchange (ETDEWEB)

Campos, E [Argonne National Laboratory; Sisterson, DL [Argonne National Laboratory

2015-10-01

The Atmospheric Radiation Measurement (ARM) Climate Research Facility is observationally based, and quantifying the uncertainty of its measurements is critically important. With over 300 widely differing instruments providing over 2,500 datastreams, concise expression of measurement uncertainty is quite challenging. The ARM Facility currently provides data and supporting metadata (information about the data or data quality) to its users through a number of sources. Because the continued success of the ARM Facility depends on the known quality of its measurements, the Facility relies on instrument mentors and the ARM Data Quality Office (DQO) to ensure, assess, and report measurement quality. Therefore, an easily-accessible, well-articulated estimate of ARM measurement uncertainty is needed.

The Disarmament Process: Where to Begin.

Science.gov (United States)

Johansen, Robert C.

The purpose of the essay is to stimulate action toward disarmament, defined as arms reductions to the lowest level possible without making internal law enforcement impossible. Intended as a guide for peace activists, the booklet identifies 13 issues that hold promise for leading toward a disarmed world: banning nuclear tests, tests of new…

A flexible, extendable, modular and computationally efficient approach to scattering-integral-based seismic full waveform inversion

Science.gov (United States)

Schumacher, F.; Friederich, W.; Lamara, S.

2016-02-01

We present a new conceptual approach to scattering-integral-based seismic full waveform inversion (FWI) that allows a flexible, extendable, modular and both computationally and storage-efficient numerical implementation. To achieve maximum modularity and extendability, interactions between the three fundamental steps carried out sequentially in each iteration of the inversion procedure, namely, solving the forward problem, computing waveform sensitivity kernels and deriving a model update, are kept at an absolute minimum and are implemented by dedicated interfaces. To realize storage efficiency and maximum flexibility, the spatial discretization of the inverted earth model is allowed to be completely independent of the spatial discretization employed by the forward solver. For computational efficiency reasons, the inversion is done in the frequency domain. The benefits of our approach are as follows: (1) Each of the three stages of an iteration is realized by a stand-alone software program. In this way, we avoid the monolithic, unflexible and hard-to-modify codes that have often been written for solving inverse problems. (2) The solution of the forward problem, required for kernel computation, can be obtained by any wave propagation modelling code giving users maximum flexibility in choosing the forward modelling method. Both time-domain and frequency-domain approaches can be used. (3) Forward solvers typically demand spatial discretizations that are significantly denser than actually desired for the inverted model. Exploiting this fact by pre-integrating the kernels allows a dramatic reduction of disk space and makes kernel storage feasible. No assumptions are made on the spatial discretization scheme employed by the forward solver. (4) In addition, working in the frequency domain effectively reduces the amount of data, the number of kernels to be computed and the number of equations to be solved. (5) Updating the model by solving a large equation system can be

Time-lapse three-dimensional inversion of complex conductivity data using an active time constrained (ATC) approach

Science.gov (United States)

Karaoulis, M.; Revil, A.; Werkema, D.D.; Minsley, B.J.; Woodruff, W.F.; Kemna, A.

2011-01-01

Induced polarization (more precisely the magnitude and phase of impedance of the subsurface) is measured using a network of electrodes located at the ground surface or in boreholes. This method yields important information related to the distribution of permeability and contaminants in the shallow subsurface. We propose a new time-lapse 3-D modelling and inversion algorithm to image the evolution of complex conductivity over time. We discretize the subsurface using hexahedron cells. Each cell is assigned a complex resistivity or conductivity value. Using the finite-element approach, we model the in-phase and out-of-phase (quadrature) electrical potentials on the 3-D grid, which are then transformed into apparent complex resistivity. Inhomogeneous Dirichlet boundary conditions are used at the boundary of the domain. The calculation of the Jacobian matrix is based on the principles of reciprocity. The goal of time-lapse inversion is to determine the change in the complex resistivity of each cell of the spatial grid as a function of time. Each model along the time axis is called a 'reference space model'. This approach can be simplified into an inverse problem looking for the optimum of several reference space models using the approximation that the material properties vary linearly in time between two subsequent reference models. Regularizations in both space domain and time domain reduce inversion artefacts and improve the stability of the inversion problem. In addition, the use of the time-lapse equations allows the simultaneous inversion of data obtained at different times in just one inversion step (4-D inversion). The advantages of this new inversion algorithm are demonstrated on synthetic time-lapse data resulting from the simulation of a salt tracer test in a heterogeneous random material described by an anisotropic semi-variogram. ?? 2011 The Authors Geophysical Journal International ?? 2011 RAS.

14 CFR 25.735 - Brakes and braking systems.

Science.gov (United States)

2010-01-01

... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Brakes and braking systems. 25.735 Section... braking systems. (a) Approval. Each assembly consisting of a wheel(s) and brake(s) must be approved. (b... an automatic braking system is installed, means are provided to: (i) Arm and disarm the system, and...

Simple Arm Muscle Model for Oil Palm Harvesting Process

Directory of Open Access Journals (Sweden)

Rahman Aliff

2017-01-01

Full Text Available Arm are essential in order to perform manual material handling work that normally involves lifting, handling, placing, push and pull, carrying and moving heavy loads. When these work elements are performed over prolonged periods repeatedly, it will expose workers arm to awkward posture and possible ergonomic risk factor. For example, work element that requires repetitions frequently may lead the arm to face physical stress and mental fatigue. The situation can be extremely risky if the worker task requires higher focus or time consumable. These issues are unavoidable in palm oil harvesting process since the workers are still using manual handling when harvesting the fresh fruit bunch (FFB. The worker using a chisel to harvest the young palms and a sickle mounted on a bamboo or aluminum pole to harvest taller palms. When perform this work element combining with heavy physical workload, it may lead to work-related muscle disorders (WSMDs. This study was conducted to identify the force reaction and inverse dynamic analysis during oil palm harvesting process using ergonomics software called Anybody Technology. Inverse dynamic analysis is a technique for figuring strengths and/or moments of power (torques taking into account the kinematics (movement of a body and the body’s inertial properties.

Classifying the Sizes of Explosive Eruptions using Tephra Deposits: The Advantages of a Numerical Inversion Approach

Science.gov (United States)

Connor, C.; Connor, L.; White, J.

2015-12-01

Explosive volcanic eruptions are often classified by deposit mass and eruption column height. How well are these eruption parameters determined in older deposits, and how well can we reduce uncertainty using robust numerical and statistical methods? We describe an efficient and effective inversion and uncertainty quantification approach for estimating eruption parameters given a dataset of tephra deposit thickness and granulometry. The inversion and uncertainty quantification is implemented using the open-source PEST++ code. Inversion with PEST++ can be used with a variety of forward models and here is applied using Tephra2, a code that simulates advective and dispersive tephra transport and deposition. The Levenburg-Marquardt algorithm is combined with formal Tikhonov and subspace regularization to invert eruption parameters; a linear equation for conditional uncertainty propagation is used to estimate posterior parameter uncertainty. Both the inversion and uncertainty analysis support simultaneous analysis of the full eruption and wind-field parameterization. The combined inversion/uncertainty-quantification approach is applied to the 1992 eruption of Cerro Negro (Nicaragua), the 2011 Kirishima-Shinmoedake (Japan), and the 1913 Colima (Mexico) eruptions. These examples show that although eruption mass uncertainty is reduced by inversion against tephra isomass data, considerable uncertainty remains for many eruption and wind-field parameters, such as eruption column height. Supplementing the inversion dataset with tephra granulometry data is shown to further reduce the uncertainty of most eruption and wind-field parameters. We think the use of such robust models provides a better understanding of uncertainty in eruption parameters, and hence eruption classification, than is possible with more qualitative methods that are widely used.

Use of the Inverse Approach for the Manufacture and Decoration of Food Cans

International Nuclear Information System (INIS)

Duffett, G.A.; Forgas, A.; Neamtu, L.; Naceur, H.; Batoz, J.L.; Guo, Y.Q.

2005-01-01

Innovation is a key objective in the metal packaging industry in order to produce new concepts, designs, shapes and printing. Simulation technology now allows both the can design as well as the manufacturing process to be carefully analysed before any physical prototypes or dies have been manufactured. These simulations are traditionally carried out using incremental simulation methodologies. However, much information may also be attained by using the inverse approach: the initial blank format for the can body as well as its lid may be optimised much faster, the actual decoration of the can may be evaluated and even calculated when deformation printing techniques are utilised. This paper presents some of the technical details relating to the inverse approach employed in Stampack to carry out simulations important for the manufacture of food cans that are shown via industrial

Goal driven kinematic simulation of flexible arm robot for space station missions

Science.gov (United States)

Janssen, P.; Choudry, A.

1987-01-01

Flexible arms offer a great degree of flexibility in maneuvering in the space environment. The problem of transporting an astronaut for extra-vehicular activity using a space station based flexible arm robot was studied. Inverse kinematic solutions of the multilink structure were developed. The technique is goal driven and can support decision making for configuration selection as required for stability and obstacle avoidance. Details of this technique and results are given.

An iterative particle filter approach for coupled hydro-geophysical inversion of a controlled infiltration experiment

International Nuclear Information System (INIS)

Manoli, Gabriele; Rossi, Matteo; Pasetto, Damiano; Deiana, Rita; Ferraris, Stefano; Cassiani, Giorgio; Putti, Mario

2015-01-01

The modeling of unsaturated groundwater flow is affected by a high degree of uncertainty related to both measurement and model errors. Geophysical methods such as Electrical Resistivity Tomography (ERT) can provide useful indirect information on the hydrological processes occurring in the vadose zone. In this paper, we propose and test an iterated particle filter method to solve the coupled hydrogeophysical inverse problem. We focus on an infiltration test monitored by time-lapse ERT and modeled using Richards equation. The goal is to identify hydrological model parameters from ERT electrical potential measurements. Traditional uncoupled inversion relies on the solution of two sequential inverse problems, the first one applied to the ERT measurements, the second one to Richards equation. This approach does not ensure an accurate quantitative description of the physical state, typically violating mass balance. To avoid one of these two inversions and incorporate in the process more physical simulation constraints, we cast the problem within the framework of a SIR (Sequential Importance Resampling) data assimilation approach that uses a Richards equation solver to model the hydrological dynamics and a forward ERT simulator combined with Archie's law to serve as measurement model. ERT observations are then used to update the state of the system as well as to estimate the model parameters and their posterior distribution. The limitations of the traditional sequential Bayesian approach are investigated and an innovative iterative approach is proposed to estimate the model parameters with high accuracy. The numerical properties of the developed algorithm are verified on both homogeneous and heterogeneous synthetic test cases based on a real-world field experiment

An iterative particle filter approach for coupled hydro-geophysical inversion of a controlled infiltration experiment

Energy Technology Data Exchange (ETDEWEB)

Manoli, Gabriele, E-mail: manoli@dmsa.unipd.it [Department of Mathematics, University of Padova, Via Trieste 63, 35121 Padova (Italy); Nicholas School of the Environment, Duke University, Durham, NC 27708 (United States); Rossi, Matteo [Department of Geosciences, University of Padova, Via Gradenigo 6, 35131 Padova (Italy); Pasetto, Damiano [Department of Mathematics, University of Padova, Via Trieste 63, 35121 Padova (Italy); Deiana, Rita [Dipartimento dei Beni Culturali, University of Padova, Piazza Capitaniato 7, 35139 Padova (Italy); Ferraris, Stefano [Interuniversity Department of Regional and Urban Studies and Planning, Politecnico and University of Torino, Viale Mattioli 39, 10125 Torino (Italy); Cassiani, Giorgio [Department of Geosciences, University of Padova, Via Gradenigo 6, 35131 Padova (Italy); Putti, Mario [Department of Mathematics, University of Padova, Via Trieste 63, 35121 Padova (Italy)

2015-02-15

The modeling of unsaturated groundwater flow is affected by a high degree of uncertainty related to both measurement and model errors. Geophysical methods such as Electrical Resistivity Tomography (ERT) can provide useful indirect information on the hydrological processes occurring in the vadose zone. In this paper, we propose and test an iterated particle filter method to solve the coupled hydrogeophysical inverse problem. We focus on an infiltration test monitored by time-lapse ERT and modeled using Richards equation. The goal is to identify hydrological model parameters from ERT electrical potential measurements. Traditional uncoupled inversion relies on the solution of two sequential inverse problems, the first one applied to the ERT measurements, the second one to Richards equation. This approach does not ensure an accurate quantitative description of the physical state, typically violating mass balance. To avoid one of these two inversions and incorporate in the process more physical simulation constraints, we cast the problem within the framework of a SIR (Sequential Importance Resampling) data assimilation approach that uses a Richards equation solver to model the hydrological dynamics and a forward ERT simulator combined with Archie's law to serve as measurement model. ERT observations are then used to update the state of the system as well as to estimate the model parameters and their posterior distribution. The limitations of the traditional sequential Bayesian approach are investigated and an innovative iterative approach is proposed to estimate the model parameters with high accuracy. The numerical properties of the developed algorithm are verified on both homogeneous and heterogeneous synthetic test cases based on a real-world field experiment.

Inverse problems of geophysics

International Nuclear Information System (INIS)

Yanovskaya, T.B.

2003-07-01

This report gives an overview and the mathematical formulation of geophysical inverse problems. General principles of statistical estimation are explained. The maximum likelihood and least square fit methods, the Backus-Gilbert method and general approaches for solving inverse problems are discussed. General formulations of linearized inverse problems, singular value decomposition and properties of pseudo-inverse solutions are given

Dynamic parameter identification of robot arms with servo-controlled electrical motors

Science.gov (United States)

Jiang, Zhao-Hui; Senda, Hiroshi

2005-12-01

This paper addresses the issue of dynamic parameter identification of the robot manipulator with servo-controlled electrical motors. An assumption is made that all kinematical parameters, such as link lengths, are known, and only dynamic parameters containing mass, moment of inertia, and their functions need to be identified. First, we derive dynamics of the robot arm with a linear form of the unknown dynamic parameters by taking dynamic characteristics of the motor and servo unit into consideration. Then, we implement the parameter identification approach to identify the unknown parameters with respect to individual link separately. A pseudo-inverse matrix is used for formulation of the parameter identification. The optimal solution is guaranteed in a sense of least-squares of the mean errors. A Direct Drive (DD) SCARA type industrial robot arm AdeptOne is used as an application example of the parameter identification. Simulations and experiments for both open loop and close loop controls are carried out. Comparison of the results confirms the correctness and usefulness of the parameter identification and the derived dynamic model.

Inverse Transformation: Unleashing Spatially Heterogeneous Dynamics with an Alternative Approach to XPCS Data Analysis.

Science.gov (United States)

Andrews, Ross N; Narayanan, Suresh; Zhang, Fan; Kuzmenko, Ivan; Ilavsky, Jan

2018-02-01

X-ray photon correlation spectroscopy (XPCS), an extension of dynamic light scattering (DLS) in the X-ray regime, detects temporal intensity fluctuations of coherent speckles and provides scattering vector-dependent sample dynamics at length scales smaller than DLS. The penetrating power of X-rays enables probing dynamics in a broad array of materials with XPCS, including polymers, glasses and metal alloys, where attempts to describe the dynamics with a simple exponential fit usually fails. In these cases, the prevailing XPCS data analysis approach employs stretched or compressed exponential decay functions (Kohlrausch functions), which implicitly assume homogeneous dynamics. In this paper, we propose an alternative analysis scheme based upon inverse Laplace or Gaussian transformation for elucidating heterogeneous distributions of dynamic time scales in XPCS, an approach analogous to the CONTIN algorithm widely accepted in the analysis of DLS from polydisperse and multimodal systems. Using XPCS data measured from colloidal gels, we demonstrate the inverse transform approach reveals hidden multimodal dynamics in materials, unleashing the full potential of XPCS.

Nature of galaxy spiral arms

International Nuclear Information System (INIS)

Efremov, Yu.N.

1984-01-01

The nature of galaxy spiral arms is discussed in a popular form. Two approaches in the theory of spiral arms are considered; they are related to the problem of differential galaxy rotation and the spiral structure wave theory. The example of Galaxy M31 is considered to compare the structural peculiarity of its spiral arms with the wave theory predictions. The situation in the central and south-eastern part of arm S4 in Galaxy M31 noted to be completely explained by the wave theory and modern concepts on the origin of massive stars

Radiation induced reciprocal translocations and inversions in anopheles albimanus

International Nuclear Information System (INIS)

Kaiser, P.E.; Seawright, J.A.; Benedict, M.Q.; Narang, S.

1982-01-01

Reciprocal translocations and inversions were induced in Anopheles albimanus Wiedemann by irradiation of males with X rays. A total of 1669 sperm were assayed, and 175 new aberrations were identified as follows: 102 reciprocal translocations (67 autosomal and 35 sex-linked), 45 pericentric inversions, and 28 paracentric inversions. Eleven of the translocations were nearly whole-arm interchanges, and these were selected for the construction of 'capture systems' for compound chromosomes. Two double-heterozygous translocation strains and four homozygous translocation strains were established. Anopheles albimanus females were irradiated, and a pseudolinkage scheme involving mutant markers was employed to identify reciprocal translocations. The irradiation of females was very inefficient; only one translocation was recovered from 1080 ova tested

A systematic approach to robust preconditioning for gradient-based inverse scattering algorithms

International Nuclear Information System (INIS)

Nordebo, Sven; Fhager, Andreas; Persson, Mikael; Gustafsson, Mats

2008-01-01

This paper presents a systematic approach to robust preconditioning for gradient-based nonlinear inverse scattering algorithms. In particular, one- and two-dimensional inverse problems are considered where the permittivity and conductivity profiles are unknown and the input data consist of the scattered field over a certain bandwidth. A time-domain least-squares formulation is employed and the inversion algorithm is based on a conjugate gradient or quasi-Newton algorithm together with an FDTD-electromagnetic solver. A Fisher information analysis is used to estimate the Hessian of the error functional. A robust preconditioner is then obtained by incorporating a parameter scaling such that the scaled Fisher information has a unit diagonal. By improving the conditioning of the Hessian, the convergence rate of the conjugate gradient or quasi-Newton methods are improved. The preconditioner is robust in the sense that the scaling, i.e. the diagonal Fisher information, is virtually invariant to the numerical resolution and the discretization model that is employed. Numerical examples of image reconstruction are included to illustrate the efficiency of the proposed technique

Efficient inverse position transformation for TR 4000S robot manipulator

Directory of Open Access Journals (Sweden)

Kesheng Wang

1989-04-01

Full Text Available An efficient method is developed for computing the inverse kinematic position solution with a closed form for the TR 4000S spray painting robot manipulator with five degrees of freedom and non-spherical wrist construction. The inverse kinematic problem is defined as the transformation from Cartesian space to the joint space. The solution is based on the geometrical separation of the arm and wrist of a robot manipulator and shows that it is very systematic, efficient and easily derived.

Seismic inverse scattering in the downward continuation approach

NARCIS (Netherlands)

Stolk, C.C.; de Hoop, M.V.

Seismic data are commonly modeled by a linearization around a smooth background medium in combination with a high frequency approximation. The perturbation of the medium coefficient is assumed to contain the discontinuities. This leads to two inverse problems, first the linearized inverse problem

Megabase-Scale Inversion Polymorphism in the Wild Ancestor of Maize

Science.gov (United States)

Fang, Zhou; Pyhäjärvi, Tanja; Weber, Allison L.; Dawe, R. Kelly; Glaubitz, Jeffrey C.; González, José de Jesus Sánchez; Ross-Ibarra, Claudia; Doebley, John; Morrell, Peter L.; Ross-Ibarra, Jeffrey

2012-01-01

Chromosomal inversions are thought to play a special role in local adaptation, through dramatic suppression of recombination, which favors the maintenance of locally adapted alleles. However, relatively few inversions have been characterized in population genomic data. On the basis of single-nucleotide polymorphism (SNP) genotyping across a large panel of Zea mays, we have identified an ∼50-Mb region on the short arm of chromosome 1 where patterns of polymorphism are highly consistent with a polymorphic paracentric inversion that captures >700 genes. Comparison to other taxa in Zea and Tripsacum suggests that the derived, inverted state is present only in the wild Z. mays subspecies parviglumis and mexicana and is completely absent in domesticated maize. Patterns of polymorphism suggest that the inversion is ancient and geographically widespread in parviglumis. Cytological screens find little evidence for inversion loops, suggesting that inversion heterozygotes may suffer few crossover-induced fitness consequences. The inversion polymorphism shows evidence of adaptive evolution, including a strong altitudinal cline, a statistical association with environmental variables and phenotypic traits, and a skewed haplotype frequency spectrum for inverted alleles. PMID:22542971

ARM Mentor Selection Process

Energy Technology Data Exchange (ETDEWEB)

Sisterson, D. L. [Argonne National Lab. (ANL), Argonne, IL (United States)

2015-10-01

The Atmospheric Radiation Measurement (ARM) Program was created in 1989 with funding from the U.S. Department of Energy (DOE) to develop several highly instrumented ground stations to study cloud formation processes and their influence on radiative transfer. In 2003, the ARM Program became a national scientific user facility, known as the ARM Climate Research Facility. This scientific infrastructure provides for fixed sites, mobile facilities, an aerial facility, and a data archive available for use by scientists worldwide through the ARM Climate Research Facility—a scientific user facility. The ARM Climate Research Facility currently operates more than 300 instrument systems that provide ground-based observations of the atmospheric column. To keep ARM at the forefront of climate observations, the ARM infrastructure depends heavily on instrument scientists and engineers, also known as lead mentors. Lead mentors must have an excellent understanding of in situ and remote-sensing instrumentation theory and operation and have comprehensive knowledge of critical scale-dependent atmospheric processes. They must also possess the technical and analytical skills to develop new data retrievals that provide innovative approaches for creating research-quality data sets. The ARM Climate Research Facility is seeking the best overall qualified candidate who can fulfill lead mentor requirements in a timely manner.

An approach to quantum-computational hydrologic inverse analysis.

Science.gov (United States)

O'Malley, Daniel

2018-05-02

Making predictions about flow and transport in an aquifer requires knowledge of the heterogeneous properties of the aquifer such as permeability. Computational methods for inverse analysis are commonly used to infer these properties from quantities that are more readily observable such as hydraulic head. We present a method for computational inverse analysis that utilizes a type of quantum computer called a quantum annealer. While quantum computing is in an early stage compared to classical computing, we demonstrate that it is sufficiently developed that it can be used to solve certain subsurface flow problems. We utilize a D-Wave 2X quantum annealer to solve 1D and 2D hydrologic inverse problems that, while small by modern standards, are similar in size and sometimes larger than hydrologic inverse problems that were solved with early classical computers. Our results and the rapid progress being made with quantum computing hardware indicate that the era of quantum-computational hydrology may not be too far in the future.

An artificial flexible robot arm based on pneumatic muscle actuators

Directory of Open Access Journals (Sweden)

Renn Jyh-Chyang

2017-01-01

Full Text Available The purpose of this paper is to develop a novel human-friendly artificial flexible robot arm using four parallel-connected pneumatic muscle actuators (PMAs. The PMA is a flexible silicone rubber actuator which has some behaviors nearest to the real biological muscle including translational and rotational motions. An inverse kinematic model for the motion control is also developed. Finally, from experiment results, it is proved that not only the axial contraction control of a single PMA but also the attitude control of the whole pneumatic flexible robot arm using PID controller are satisfactory.

An Innovative Approach to Balancing Chemical-Reaction Equations: A Simplified Matrix-Inversion Technique for Determining The Matrix Null Space

OpenAIRE

Thorne, Lawrence R.

2011-01-01

I propose a novel approach to balancing equations that is applicable to all chemical-reaction equations; it is readily accessible to students via scientific calculators and basic computer spreadsheets that have a matrix-inversion application. The new approach utilizes the familiar matrix-inversion operation in an unfamiliar and innovative way; its purpose is not to identify undetermined coefficients as usual, but, instead, to compute a matrix null space (or matrix kernel). The null space then...

The inter-arm diastolic blood pressure difference induced by one arm ischemia: a new approach to assess vascular endothelia function.

Science.gov (United States)

Hu, Weitong; Li, Juxiang; Su, Hai; Wang, Jiwei; Xu, Jinsong; Liu, Yanna; Huang, Ming; Cheng, Xiaoshu

2014-01-01

To evaluate whether inter-arm diastolic blood pressure difference (DBPl-r) induced by one arm ischemia correlates with flow-mediated dilatation (FMD). Bilateral arm BPs were simultaneously measured with two automatic devices and right brachial artery diameter (D) was measured by ultrasound technique in 108 subjects (56 hypertensives and 52 normotensives). Following baseline diameter (D0) and BP measurement, right brachial artery was occluded for 5 minutes. The diameter was measured at 1, 1.5 and 2 min, and bilateral BPs measured at 3, 4 and 5 min after occlusion release. Their averages were recorded as post-D and post-BP, respectively. The difference between post-D and D0 (ΔD) was calculated as the percentage increase of artery diameter (ΔD/D0). The BP difference between left and right arms was calculated as BPl-r, and the difference of post- BPl-r and baseline BPl-r was recorded as the net change of BPl-r (ΔBPl-r). At baseline, bilateral SBPs and DBPs were similar. Right arm ischemia induced significant DBP decline only in the right arm (68.8±12.7 vs 72.6±12.0 mmHg, Parm DBP difference induced by one arm ischemia may be a potential index for clinical evaluation of vascular endothelial function.

Improvements on a non-invasive, parameter-free approach to inverse form finding

Science.gov (United States)

Landkammer, P.; Caspari, M.; Steinmann, P.

2018-04-01

Our objective is to determine the optimal undeformed workpiece geometry (material configuration) within forming processes when the prescribed deformed geometry (spatial configuration) is given. For solving the resulting shape optimization problem—also denoted as inverse form finding—we use a novel parameter-free approach, which relocates in each iteration the material nodal positions as design variables. The spatial nodal positions computed by an elasto-plastic finite element (FE) forming simulation are compared with their prescribed values. The objective function expresses a least-squares summation of the differences between the computed and the prescribed nodal positions. Here, a recently developed shape optimization approach (Landkammer and Steinmann in Comput Mech 57(2):169-191, 2016) is investigated with a view to enhance its stability and efficiency. Motivated by nonlinear optimization theory a detailed justification of the algorithm is given. Furthermore, a classification according to shape changing design, fixed and controlled nodal coordinates is introduced. Two examples with large elasto-plastic strains demonstrate that using a superconvergent patch recovery technique instead of a least-squares (L2)-smoothing improves the efficiency. Updating the interior discretization nodes by solving a fictitious elastic problem also reduces the number of required FE iterations and avoids severe mesh distortions. Furthermore, the impact of the inclusion of the second deformation gradient in the Hessian of the Quasi-Newton approach is analyzed. Inverse form finding is a crucial issue in metal forming applications. As a special feature, the approach is designed to be coupled in a non-invasive fashion to arbitrary FE software.

Arms control and disarmament: A new conceptual approach

International Nuclear Information System (INIS)

2000-01-01

In the frame of the Millennium Assembly of the UN, the Secretary-General urged the global community to seize a sense of the occasion that comes from the turning of the century, to step back from today's headlines and take a broader, longer-term view of the state of the world and the challenges it poses. In partnership with the Stockholm International Peace Research Institute (SIPRI), the Department for Disarmament Affairs (DDA) is taking up precisely that challenge. This panel discussion is part of a series of events sponsored by the Department to deepen the discussion on topical disarmament and security related issues. It is also part of the constant search for a new approach, a new concept, a new paradigm or vision for disarmament and arms control since the end of the cold war, the end of the post-cold war period and the beginning of the new century. It is axiomatic that progress in disarmament is closely linked to the evolution of the security environment. Disarmament cannot be separated from the new geo-political and security configurations in Europe, new demonstrations of nuclear capability in Asia, the emergence of new conflicts that are being driven mainly by internal and ethnic strife and that are outrageous in their brutality in Europe, Asia and Africa. Today's agenda is still full and diverse in the traditional areas of disarmament, nuclear, chemical and biological disarmament as well as ballistic missile defense and proliferation and conventional disarmament including landmines. Like many organizations, research institutes, researchers and individuals in the field of security, DDA has set store on the reliability and credibility of the research and publications produced by SIPRI. As an independent international institute for research on problems for peace and conflict, disarmament and arms control founded in 1966, SIPRI's primary research has been consistently objective, timely, comprehensive and clearly presented. SIPRI's Yearbook has been a reference

Liposuction for Advanced Lymphedema: A Multidisciplinary Approach for Complete Reduction of Arm and Leg Swelling.

Science.gov (United States)

Boyages, John; Kastanias, Katrina; Koelmeyer, Louise A; Winch, Caleb J; Lam, Thomas C; Sherman, Kerry A; Munnoch, David Alex; Brorson, Håkan; Ngo, Quan D; Heydon-White, Asha; Magnussen, John S; Mackie, Helen

2015-12-01

This research describes and evaluates a liposuction surgery and multidisciplinary rehabilitation approach for advanced lymphedema of the upper and lower extremities. A prospective clinical study was conducted at an Advanced Lymphedema Assessment Clinic (ALAC) comprised of specialists in plastic surgery, rehabilitation, imaging, oncology, and allied health, at Macquarie University, Australia. Between May 2012 and 31 May 2014, a total of 104 patients attended the ALAC. Eligibility criteria for liposuction included (i) unilateral, non-pitting, International Society of Lymphology stage II/III lymphedema; (ii) limb volume difference greater than 25 %; and (iii) previously ineffective conservative therapies. Of 55 eligible patients, 21 underwent liposuction (15 arm, 6 leg) and had at least 3 months postsurgical follow-up (85.7 % cancer-related lymphedema). Liposuction was performed under general anesthesia using a published technique, and compression garments were applied intraoperatively and advised to be worn continuously thereafter. Limb volume differences, bioimpedance spectroscopy (L-Dex), and symptom and functional measurements (using the Patient-Specific Functional Scale) were taken presurgery and 4 weeks postsurgery, and then at 3, 6, 9, and 12 months postsurgery. Mean presurgical limb volume difference was 45.1 % (arm 44.2 %; leg 47.3 %). This difference reduced to 3.8 % (arm 3.6 %; leg 4.3 %) by 6 months postsurgery, a mean percentage volume reduction of 89.6 % (arm 90.2 %; leg 88.2 %) [p multidisciplinary team is essential.

Accounting for model error in Bayesian solutions to hydrogeophysical inverse problems using a local basis approach

Science.gov (United States)

Irving, J.; Koepke, C.; Elsheikh, A. H.

2017-12-01

Bayesian solutions to geophysical and hydrological inverse problems are dependent upon a forward process model linking subsurface parameters to measured data, which is typically assumed to be known perfectly in the inversion procedure. However, in order to make the stochastic solution of the inverse problem computationally tractable using, for example, Markov-chain-Monte-Carlo (MCMC) methods, fast approximations of the forward model are commonly employed. This introduces model error into the problem, which has the potential to significantly bias posterior statistics and hamper data integration efforts if not properly accounted for. Here, we present a new methodology for addressing the issue of model error in Bayesian solutions to hydrogeophysical inverse problems that is geared towards the common case where these errors cannot be effectively characterized globally through some parametric statistical distribution or locally based on interpolation between a small number of computed realizations. Rather than focusing on the construction of a global or local error model, we instead work towards identification of the model-error component of the residual through a projection-based approach. In this regard, pairs of approximate and detailed model runs are stored in a dictionary that grows at a specified rate during the MCMC inversion procedure. At each iteration, a local model-error basis is constructed for the current test set of model parameters using the K-nearest neighbour entries in the dictionary, which is then used to separate the model error from the other error sources before computing the likelihood of the proposed set of model parameters. We demonstrate the performance of our technique on the inversion of synthetic crosshole ground-penetrating radar traveltime data for three different subsurface parameterizations of varying complexity. The synthetic data are generated using the eikonal equation, whereas a straight-ray forward model is assumed in the inversion

Using ergonomic approaches for increasing effect of preparation at arm sport.

Directory of Open Access Journals (Sweden)

Podrigalo L.V.

2012-01-01

Full Text Available Possibility of the use of ergonometric approaches for the increase of efficiency of preparation of sportsmen of arm sport is studied. Complex research of the functional state of sportsmen of different level of trade is conducted. Corroboration legitimacy of organization of the specialized training, being based on primary development of muscles of overhead extremities. Importance of optimum capture and development of sling-dog is grounded, as a factor of success. Main and leading links are selected in providing of effectiveness. The necessity of physical development of working link (hands and brushes and association of the dynamic and static training is marked.

Research on the Optimization Method of Arm Movement in the Assembly Workshop Based on Ergonomics

Science.gov (United States)

Hu, X. M.; Qu, H. W.; Xu, H. J.; Yang, L.; Yu, C. C.

2017-12-01

In order to improve the work efficiency and comfortability, Ergonomics is used to research the work of the operator in the assembly workshop. An optimization algorithm of arm movement in the assembly workshop is proposed. In the algorithm, a mathematical model of arm movement is established based on multi rigid body movement model and D-H method. The solution of inverse kinematics equation on arm movement is solved through kinematics theory. The evaluation functions of each joint movement and the whole arm movement are given based on the comfortability of human body joint. The solution method of the optimal arm movement posture based on the evaluation functions is described. The software CATIA is used to verify that the optimal arm movement posture is valid in an example and the experimental result show the effectiveness of the algorithm.

A new approach to the inverse kinematics of a multi-joint robot manipulator using a minimization method

International Nuclear Information System (INIS)

Sasaki, Shinobu

1987-01-01

This paper proposes a new approach to solve the inverse kinematics of a type of sixlink manipulator. Directing our attention to features of joint structures of the manipulator, the original problem is first formulated by a system of equations with four variables and solved by means of a minimization technique. The remaining two variables are determined from constrained conditions involved. This is the basic idea in the present approach. The results of computer simulation of the present algorithm showed that the accuracies of solutions and convergence speed are much higher and quite satisfactory for practical purposes, as compared with the linearization-iteration method based on the conventional inverse Jacobian matrix. (author)

Incremental projection approach of regularization for inverse problems

Energy Technology Data Exchange (ETDEWEB)

Souopgui, Innocent, E-mail: innocent.souopgui@usm.edu [The University of Southern Mississippi, Department of Marine Science (United States); Ngodock, Hans E., E-mail: hans.ngodock@nrlssc.navy.mil [Naval Research Laboratory (United States); Vidard, Arthur, E-mail: arthur.vidard@imag.fr; Le Dimet, François-Xavier, E-mail: ledimet@imag.fr [Laboratoire Jean Kuntzmann (France)

2016-10-15

This paper presents an alternative approach to the regularized least squares solution of ill-posed inverse problems. Instead of solving a minimization problem with an objective function composed of a data term and a regularization term, the regularization information is used to define a projection onto a convex subspace of regularized candidate solutions. The objective function is modified to include the projection of each iterate in the place of the regularization. Numerical experiments based on the problem of motion estimation for geophysical fluid images, show the improvement of the proposed method compared with regularization methods. For the presented test case, the incremental projection method uses 7 times less computation time than the regularization method, to reach the same error target. Moreover, at convergence, the incremental projection is two order of magnitude more accurate than the regularization method.

Closing the Security Gap: Building Irregular Security Forces

Science.gov (United States)

2012-06-08

had mutinied against the British during the Second Sikh War. Lawrence had the Punjabi regiments disarmed and then demobilized. The British initially...contributed to the security problem.118 The British were primarily concerned with control of the Punjabi plains because its economic and agricultural...classes were allowed to carry arms. The British recruited the following tribes from within India: Rajput, Hindustani and Punjabi Brahman, Punjabi

A feature-based approach for best arm identification in the case of the Monte Carlo search algorithm discovery for one-player games

OpenAIRE

Taralla, David

2013-01-01

The field of reinforcement learning recently received the contribution by Ernst et al. (2013) "Monte carlo search algorithm discovery for one player games" who introduced a new way to conceive completely new algorithms. Moreover, it brought an automatic method to find the best algorithm to use in a particular situation using a multi-arm bandit approach. We address here the problem of best arm identification. The main problem is that the generated algorithm space (ie. the arm space) can be qui...

A biologically inspired neural network controller for ballistic arm movements

Directory of Open Access Journals (Sweden)

Schmid Maurizio

2007-09-01

Full Text Available Abstract Background In humans, the implementation of multijoint tasks of the arm implies a highly complex integration of sensory information, sensorimotor transformations and motor planning. Computational models can be profitably used to better understand the mechanisms sub-serving motor control, thus providing useful perspectives and investigating different control hypotheses. To this purpose, the use of Artificial Neural Networks has been proposed to represent and interpret the movement of upper limb. In this paper, a neural network approach to the modelling of the motor control of a human arm during planar ballistic movements is presented. Methods The developed system is composed of three main computational blocks: 1 a parallel distributed learning scheme that aims at simulating the internal inverse model in the trajectory formation process; 2 a pulse generator, which is responsible for the creation of muscular synergies; and 3 a limb model based on two joints (two degrees of freedom and six muscle-like actuators, that can accommodate for the biomechanical parameters of the arm. The learning paradigm of the neural controller is based on a pure exploration of the working space with no feedback signal. Kinematics provided by the system have been compared with those obtained in literature from experimental data of humans. Results The model reproduces kinematics of arm movements, with bell-shaped wrist velocity profiles and approximately straight trajectories, and gives rise to the generation of synergies for the execution of movements. The model allows achieving amplitude and direction errors of respectively 0.52 cm and 0.2 radians. Curvature values are similar to those encountered in experimental measures with humans. The neural controller also manages environmental modifications such as the insertion of different force fields acting on the end-effector. Conclusion The proposed system has been shown to properly simulate the development of

Usefulness of Interventional Treatment for Dysfunctional Hemodialysis Shunts of the Upper Arm by Means of the Retrograde Transradial Approach

International Nuclear Information System (INIS)

Shin, Hwa Seon; Shin, Tae Beom; Na, Jae Beom; Jung, Seong Hoon; Kim, Hyun Jung; Lee, Jung Eun; Song, Yun Gyu; Jung, Gyoo Sik

2010-01-01

This study was designed to evaluate the technical feasibility and clinical outcome of endovascular intervention using the retrograde transradial approach to treat dysfunctional hemodialysis shunts of the upper arms. During the last 3 years, sixteen procedures were performed by the transradial approach in 13 patients with dysfunctional hemodialysis shunts of the upper arms. The radial artery was accessed with the use of 20-gauge needle and a 6-Fr sheath. Angiography was performed using a 5-Fr catheter placed in the brachial artery, and then the interventional procedure was performed. The technical and clinical success rates, complications and patency rates were evaluated. Fistulography and percutaneous transluminal angioplasty via the transradial approach were performed in 16 cases of the 13 patients. Fistulography demonstrated stenosis in 7 cases and occlusions in 9 cases. Lesion multiplicity was identified in 9 out of 16 cases. Balloon angioplasty was performed in all cases and a stent was placed to overcome restenosis or to treat venous rupture in two cases. The technical success rate of balloon angioplasty was 87.5% (14/16) and the technical success rate with including stent insertion was 100% (16/16). The clinical success rate was 93.8%. There was one procedural-related complication. The primary patency rates at 6 and 12 months were 84.6% and 74%, respectively. The transradial approach seems to be technically feasible and effective for the management of insufficient hemodialysis shunts of the upper arms

A Riemann-Hilbert approach to the inverse problem for the Stark operator on the line

Science.gov (United States)

Its, A.; Sukhanov, V.

2016-05-01

The paper is concerned with the inverse scattering problem for the Stark operator on the line with a potential from the Schwartz class. In our study of the inverse problem, we use the Riemann-Hilbert formalism. This allows us to overcome the principal technical difficulties which arise in the more traditional approaches based on the Gel’fand-Levitan-Marchenko equations, and indeed solve the problem. We also produce a complete description of the relevant scattering data (which have not been obtained in the previous works on the Stark operator) and establish the bijection between the Schwartz class potentials and the scattering data.

Inversion duplication deletions involving the long arm of chromosome 13: phenotypic description of additional three fetuses and genotype-phenotype correlation.

Science.gov (United States)

Quelin, Chloe; Spaggiari, Emmanuel; Khung-Savatovsky, Suonavy; Dupont, Celine; Pasquier, Laurent; Loeuillet, Laurence; Jaillard, Sylvie; Lucas, Josette; Marcorelles, Pascale; Journel, Hubert; Pluquailec-Bilavarn, Khantaby; Bazin, Anne; Verloes, Alain; Delezoide, Anne-Lise; Aboura, Azzedine; Guimiot, Fabien

2014-10-01

Inversion duplication and terminal deletion of the long arm of chromosome 13 (inv dup del 13q) is a rare chromosomal rearrangement: only five patients have been reported, mostly involving a ring chromosome 13. We report on additional three fetuses with pure inv dup del 13q: Patient 1 had macrosomia, enlarged kidneys, hypersegmented lungs, unilateral moderate ventriculomegaly, and a mild form of hand and feet preaxial polydactyly; Patient 2 had intrauterine growth retardation, widely spaced eyes, left microphthalmia, right anophthalmia, short nose, bilateral absent thumbs, cutaneous syndactyly of toes 4 and 5, bifid third metacarpal, a small left kidney, hyposegmented lungs, and partial agenesis of the corpus callosum; Patient 3 had widely spaced eyes, long and smooth philtrum, low-set ears, median notch in the upper alveolar ridge, bifid tongue, cutaneous syndactyly of toes 2 and 3, enlarged kidneys and pancreas, arhinencephaly, and partial agenesis of the corpus callosum. We compared the phenotypes of these patients to those previously reported for ring chromosome 13, pure 13q deletions and duplications. We narrowed some critical regions previously reported for lung, kidney and fetal growth, and for thumb, cerebral, and eye anomalies. © 2014 Wiley Periodicals, Inc.

PREFACE: The Second International Conference on Inverse Problems: Recent Theoretical Developments and Numerical Approaches

Science.gov (United States)

Cheng, Jin; Hon, Yiu-Chung; Seo, Jin Keun; Yamamoto, Masahiro

2005-01-01

The Second International Conference on Inverse Problems: Recent Theoretical Developments and Numerical Approaches was held at Fudan University, Shanghai from 16-21 June 2004. The first conference in this series was held at the City University of Hong Kong in January 2002 and it was agreed to hold the conference once every two years in a Pan-Pacific Asian country. The next conference is scheduled to be held at Hokkaido University, Sapporo, Japan in July 2006. The purpose of this series of biennial conferences is to establish and develop constant international collaboration, especially among the Pan-Pacific Asian countries. In recent decades, interest in inverse problems has been flourishing all over the globe because of both the theoretical interest and practical requirements. In particular, in Asian countries, one is witnessing remarkable new trends of research in inverse problems as well as the participation of many young talents. Considering these trends, the second conference was organized with the chairperson Professor Li Tat-tsien (Fudan University), in order to provide forums for developing research cooperation and to promote activities in the field of inverse problems. Because solutions to inverse problems are needed in various applied fields, we entertained a total of 92 participants at the second conference and arranged various talks which ranged from mathematical analyses to solutions of concrete inverse problems in the real world. This volume contains 18 selected papers, all of which have undergone peer review. The 18 papers are classified as follows: Surveys: four papers give reviews of specific inverse problems. Theoretical aspects: six papers investigate the uniqueness, stability, and reconstruction schemes. Numerical methods: four papers devise new numerical methods and their applications to inverse problems. Solutions to applied inverse problems: four papers discuss concrete inverse problems such as scattering problems and inverse problems in

An algebraic approach to the inverse eigenvalue problem for a quantum system with a dynamical group

International Nuclear Information System (INIS)

Wang, S.J.

1993-04-01

An algebraic approach to the inverse eigenvalue problem for a quantum system with a dynamical group is formulated for the first time. One dimensional problem is treated explicitly in detail for both the finite dimensional and infinite dimensional Hilbert spaces. For the finite dimensional Hilbert space, the su(2) algebraic representation is used; while for the infinite dimensional Hilbert space, the Heisenberg-Weyl algebraic representation is employed. Fourier expansion technique is generalized to the generator space, which is suitable for analysis of irregular spectra. The polynormial operator basis is also used for complement, which is appropriate for analysis of some simple Hamiltonians. The proposed new approach is applied to solve the classical inverse Sturn-Liouville problem and to study the problems of quantum regular and irregular spectra. (orig.)

The inter-arm diastolic blood pressure difference induced by one arm ischemia: a new approach to assess vascular endothelia function.

Directory of Open Access Journals (Sweden)

Weitong Hu

Full Text Available OBJECTIVES: To evaluate whether inter-arm diastolic blood pressure difference (DBPl-r induced by one arm ischemia correlates with flow-mediated dilatation (FMD. METHODS: Bilateral arm BPs were simultaneously measured with two automatic devices and right brachial artery diameter (D was measured by ultrasound technique in 108 subjects (56 hypertensives and 52 normotensives. Following baseline diameter (D0 and BP measurement, right brachial artery was occluded for 5 minutes. The diameter was measured at 1, 1.5 and 2 min, and bilateral BPs measured at 3, 4 and 5 min after occlusion release. Their averages were recorded as post-D and post-BP, respectively. The difference between post-D and D0 (ΔD was calculated as the percentage increase of artery diameter (ΔD/D0. The BP difference between left and right arms was calculated as BPl-r, and the difference of post- BPl-r and baseline BPl-r was recorded as the net change of BPl-r (ΔBPl-r. RESULTS: At baseline, bilateral SBPs and DBPs were similar. Right arm ischemia induced significant DBP decline only in the right arm (68.8±12.7 vs 72.6±12.0 mmHg, P<0.05, which led to an increase of ΔDBPl-r (4.00±3.75 vs 0.78±4.47 mmHg, P<0.05. A positive correlation was seen between ΔD/D0 and ΔDBPl-r (r = 0.744, p<0.001. Furthermore, the correlation between age and ΔDBPl-r (r = -0.358, P<0.01 was similar to that between age and D/D0 (r = -0.398, P<0.01. Meanwhile, both ΔDBPl-r and ΔD/D0 were significantly lower in hypertensive patients than in normotensive patients. CONCLUSION: The inter-arm DBP difference induced by one arm ischemia may be a potential index for clinical evaluation of vascular endothelial function.

Statistical perspectives on inverse problems

DEFF Research Database (Denmark)

Andersen, Kim Emil

of the interior of an object from electrical boundary measurements. One part of this thesis concerns statistical approaches for solving, possibly non-linear, inverse problems. Thus inverse problems are recasted in a form suitable for statistical inference. In particular, a Bayesian approach for regularisation...... problem is given in terms of probability distributions. Posterior inference is obtained by Markov chain Monte Carlo methods and new, powerful simulation techniques based on e.g. coupled Markov chains and simulated tempering is developed to improve the computational efficiency of the overall simulation......Inverse problems arise in many scientific disciplines and pertain to situations where inference is to be made about a particular phenomenon from indirect measurements. A typical example, arising in diffusion tomography, is the inverse boundary value problem for non-invasive reconstruction...

A Multi-Armed Bandit Approach to Following a Markov Chain

Science.gov (United States)

2017-06-01

Introduction to online convex optimization ,” Foundations and Trends in Optimization , vol. 2, no. 3-4, pp. 157–325, 2016. [3] A. Mahajan and D. Teneketzis...stochastic optimization , machine learning, discrete time Markov chains, stochastic Multi-Armed Bandit, combinatorial Multi-Armed Bandit, online learning, and...fulfillment of the requirements for the degree of MASTER OF SCIENCE IN OPERATIONS RESEARCH from the NAVAL POSTGRADUATE SCHOOL June 2017 Approved by: Roberto

Centered Differential Waveform Inversion with Minimum Support Regularization

KAUST Repository

Kazei, Vladimir

2017-05-26

Time-lapse full-waveform inversion has two major challenges. The first one is the reconstruction of a reference model (baseline model for most of approaches). The second is inversion for the time-lapse changes in the parameters. Common model approach is utilizing the information contained in all available data sets to build a better reference model for time lapse inversion. Differential (Double-difference) waveform inversion allows to reduce the artifacts introduced into estimates of time-lapse parameter changes by imperfect inversion for the baseline-reference model. We propose centered differential waveform inversion (CDWI) which combines these two approaches in order to benefit from both of their features. We apply minimum support regularization commonly used with electromagnetic methods of geophysical exploration. We test the CDWI method on synthetic dataset with random noise and show that, with Minimum support regularization, it provides better resolution of velocity changes than with total variation and Tikhonov regularizations in time-lapse full-waveform inversion.

An evolutionary approach to real-time moment magnitude estimation via inversion of displacement spectra

Science.gov (United States)

Caprio, M.; Lancieri, M.; Cua, G. B.; Zollo, A.; Wiemer, S.

2011-01-01

We present an evolutionary approach for magnitude estimation for earthquake early warning based on real-time inversion of displacement spectra. The Spectrum Inversion (SI) method estimates magnitude and its uncertainty by inferring the shape of the entire displacement spectral curve based on the part of the spectra constrained by available data. The method consists of two components: 1) estimating seismic moment by finding the low frequency plateau Ω0, the corner frequency fc and attenuation factor (Q) that best fit the observed displacement spectra assuming a Brune ω2 model, and 2) estimating magnitude and its uncertainty based on the estimate of seismic moment. A novel characteristic of this method is that is does not rely on empirically derived relationships, but rather involves direct estimation of quantities related to the moment magnitude. SI magnitude and uncertainty estimates are updated each second following the initial P detection. We tested the SI approach on broadband and strong motion waveforms data from 158 Southern California events, and 25 Japanese events for a combined magnitude range of 3 ≤ M ≤ 7. Based on the performance evaluated on this dataset, the SI approach can potentially provide stable estimates of magnitude within 10 seconds from the initial earthquake detection.

An Approach to Naval Arms Control

Science.gov (United States)

1989-07-01

commentary pro and con on the control of SLCM’s has 9 I: been uttered by people not known to be expert on maritime strategy and the roles of navies in crisis ... transcultural misunderstanding is indeed deep and widespread (e.g., witness the surprise on the part of America’s leading television pundits that China’s...force on behalf of (U.S definition of) international order in situations short of war; 0 alliance cohesion; 37 i * crisis , arms race, and political

Design of a multi-arm randomized clinical trial with no control arm.

Science.gov (United States)

Magaret, Amalia; Angus, Derek C; Adhikari, Neill K J; Banura, Patrick; Kissoon, Niranjan; Lawler, James V; Jacob, Shevin T

2016-01-01

Clinical trial designs that include multiple treatments are currently limited to those that perform pairwise comparisons of each investigational treatment to a single control. However, there are settings, such as the recent Ebola outbreak, in which no treatment has been demonstrated to be effective; and therefore, no standard of care exists which would serve as an appropriate control. For illustrative purposes, we focused on the care of patients presenting in austere settings with critically ill 'sepsis-like' syndromes. Our approach involves a novel algorithm for comparing mortality among arms without requiring a single fixed control. The algorithm allows poorly-performing arms to be dropped during interim analyses. Consequently, the study may be completed earlier than planned. We used simulation to determine operating characteristics for the trial and to estimate the required sample size. We present a potential study design targeting a minimal effect size of a 23% relative reduction in mortality between any pair of arms. Using estimated power and spurious significance rates from the simulated scenarios, we show that such a trial would require 2550 participants. Over a range of scenarios, our study has 80 to 99% power to select the optimal treatment. Using a fixed control design, if the control arm is least efficacious, 640 subjects would be enrolled into the least efficacious arm, while our algorithm would enroll between 170 and 430. This simulation method can be easily extended to other settings or other binary outcomes. Early dropping of arms is efficient and ethical when conducting clinical trials with multiple arms. Copyright © 2015 Elsevier Inc. All rights reserved.

Constructing inverse V-type TiO{sub 2}-based photocatalyst via bio-template approach to enhance the photosynthetic water oxidation

Energy Technology Data Exchange (ETDEWEB)

Jiang, Jinghui; Zhou, Han; Ding, Jian; Zhang, Fan; Fan, Tongxiang, E-mail: txfan@sjtu.edu.cn; Zhang, Di

2015-08-30

Graphical abstract: Inverse V-type TiO{sub 2}-based photocatalyst was synthesized by using cross-linked titanium precursor to duplicate bio-template. - Highlights: • Cross-linked titanium precursor can facilitate an accurate duplication of templates. • In situ deposition of Ag{sup 0} from AgBr can maintain the completeness of surface structure. • Perfect inverse V-type Ag{sup 0}/TiO{sub 2} can achieve efficient water oxidation. - Abstract: Bio-template approach was employed to construct inverse V-type TiO{sub 2}-based photocatalyst with well distributed AgBr in TiO{sub 2} matrix by making dead Troides Helena wings with inverse V-type scales as the template. A cross-linked titanium precursor with homogenous hydrolytic rate, good liquidity, and low viscosity was employed to facilitate a perfect duplication of the template and the dispersion of AgBr based on appropriate pretreatment of the template by alkali and acid. The as-synthesized inverse V-type TiO{sub 2}/AgBr can be turned into inverse V-type TiO{sub 2}/Ag{sup 0} from AgBr photolysis during photocatalysis to achieve in situ deposition of Ag{sup 0} in TiO{sub 2} matrix, by this approach, to avoid the deformation of surface microstructure inherited from the template. The result showed that the cooperation of perfect inverse V-type structure and the well distributed TiO{sub 2}/Ag{sup 0} microstructures can efficiently boost the photosynthetic water oxidation compared to non-inverse V-type TiO{sub 2}/Ag{sup 0} and TiO{sub 2}/Ag{sup 0} without using template. The anti-reflection function of inverse V-type structure and the plasmatic effect of Ag{sup 0} might be able to account for the enhanced photon capture and efficient photoelectric conversion.

An inverse problem approach to pattern recognition in industry

Directory of Open Access Journals (Sweden)

Ali Sever

2015-01-01

Full Text Available Many works have shown strong connections between learning and regularization techniques for ill-posed inverse problems. A careful analysis shows that a rigorous connection between learning and regularization for inverse problem is not straightforward. In this study, pattern recognition will be viewed as an ill-posed inverse problem and applications of methods from the theory of inverse problems to pattern recognition are studied. A new learning algorithm derived from a well-known regularization model is generated and applied to the task of reconstruction of an inhomogeneous object as pattern recognition. Particularly, it is demonstrated that pattern recognition can be reformulated in terms of inverse problems defined by a Riesz-type kernel. This reformulation can be employed to design a learning algorithm based on a numerical solution of a system of linear equations. Finally, numerical experiments have been carried out with synthetic experimental data considering a reasonable level of noise. Good recoveries have been achieved with this methodology, and the results of these simulations are compatible with the existing methods. The comparison results show that the Regularization-based learning algorithm (RBA obtains a promising performance on the majority of the test problems. In prospects, this method can be used for the creation of automated systems for diagnostics, testing, and control in various fields of scientific and applied research, as well as in industry.

International security and arms control

International Nuclear Information System (INIS)

Ekeus, R.

2000-01-01

The end of the cold war also ended the focus on the bilateral approach to arms control and disarmament. Key concepts of security needed to be revisited, along with their implications for the disarmament and arms control agenda. Though there is currently a unipolar global security environment, there remain important tasks on the multilateral arms control agenda. The major task is that of reducing and eliminating weapons of mass destruction, especially nuclear weapons. The author contends that maintaining reliance on the nuclear-weapons option makes little sense in a time when the major Powers are strengthening their partnerships in economics, trade, peacemaking and building. (author)

Sharp spatially constrained inversion

DEFF Research Database (Denmark)

Vignoli, Giulio G.; Fiandaca, Gianluca G.; Christiansen, Anders Vest C A.V.C.

2013-01-01

We present sharp reconstruction of multi-layer models using a spatially constrained inversion with minimum gradient support regularization. In particular, its application to airborne electromagnetic data is discussed. Airborne surveys produce extremely large datasets, traditionally inverted...... by using smoothly varying 1D models. Smoothness is a result of the regularization constraints applied to address the inversion ill-posedness. The standard Occam-type regularized multi-layer inversion produces results where boundaries between layers are smeared. The sharp regularization overcomes...... inversions are compared against classical smooth results and available boreholes. With the focusing approach, the obtained blocky results agree with the underlying geology and allow for easier interpretation by the end-user....

An efficient Bayesian inference approach to inverse problems based on an adaptive sparse grid collocation method

International Nuclear Information System (INIS)

Ma Xiang; Zabaras, Nicholas

2009-01-01

A new approach to modeling inverse problems using a Bayesian inference method is introduced. The Bayesian approach considers the unknown parameters as random variables and seeks the probabilistic distribution of the unknowns. By introducing the concept of the stochastic prior state space to the Bayesian formulation, we reformulate the deterministic forward problem as a stochastic one. The adaptive hierarchical sparse grid collocation (ASGC) method is used for constructing an interpolant to the solution of the forward model in this prior space which is large enough to capture all the variability/uncertainty in the posterior distribution of the unknown parameters. This solution can be considered as a function of the random unknowns and serves as a stochastic surrogate model for the likelihood calculation. Hierarchical Bayesian formulation is used to derive the posterior probability density function (PPDF). The spatial model is represented as a convolution of a smooth kernel and a Markov random field. The state space of the PPDF is explored using Markov chain Monte Carlo algorithms to obtain statistics of the unknowns. The likelihood calculation is performed by directly sampling the approximate stochastic solution obtained through the ASGC method. The technique is assessed on two nonlinear inverse problems: source inversion and permeability estimation in flow through porous media

Technology-supported training of arm-hand skills in stroke

NARCIS (Netherlands)

Timmermans, A.A.A.

2010-01-01

Impaired arm-hand performance is a serious consequence of stroke that is associated with reduced self-efficacy and poor quality of life. Task-oriented arm training is a therapy approach that is known to improve skilled arm-hand performance, even in chronic stages after stroke. At the start of this

Technology and the arms race

International Nuclear Information System (INIS)

MacKenzie, D.

1988-01-01

This article makes a review of the book Innovation and the Arms Race: How the United States and the Soviet Union Develop New Military Technologies written by Matthew Evangelista. For at least the last two decades, scholars have struggled to come to grips with the role of technological change in the arms race. Possible relationships between theories on technology and politics are examined. The contrasts between U.S. and Soviet approaches are highlighted

A compressive sensing approach to the calculation of the inverse data space

KAUST Repository

Khan, Babar Hasan; Saragiotis, Christos; Alkhalifah, Tariq Ali

2012-01-01

Seismic processing in the Inverse Data Space (IDS) has its advantages like the task of removing the multiples simply becomes muting the zero offset and zero time data in the inverse domain. Calculation of the Inverse Data Space by sparse inversion

Recurrent Neural Network for Computing Outer Inverse.

Science.gov (United States)

Živković, Ivan S; Stanimirović, Predrag S; Wei, Yimin

2016-05-01

Two linear recurrent neural networks for generating outer inverses with prescribed range and null space are defined. Each of the proposed recurrent neural networks is based on the matrix-valued differential equation, a generalization of dynamic equations proposed earlier for the nonsingular matrix inversion, the Moore-Penrose inversion, as well as the Drazin inversion, under the condition of zero initial state. The application of the first approach is conditioned by the properties of the spectrum of a certain matrix; the second approach eliminates this drawback, though at the cost of increasing the number of matrix operations. The cases corresponding to the most common generalized inverses are defined. The conditions that ensure stability of the proposed neural network are presented. Illustrative examples present the results of numerical simulations.

Optimal inverse magnetorheological damper modeling using shuffled frog-leaping algorithm–based adaptive neuro-fuzzy inference system approach

Directory of Open Access Journals (Sweden)

Xiufang Lin

2016-08-01

Full Text Available Magnetorheological dampers have become prominent semi-active control devices for vibration mitigation of structures which are subjected to severe loads. However, the damping force cannot be controlled directly due to the inherent nonlinear characteristics of the magnetorheological dampers. Therefore, for fully exploiting the capabilities of the magnetorheological dampers, one of the challenging aspects is to develop an accurate inverse model which can appropriately predict the input voltage to control the damping force. In this article, a hybrid modeling strategy combining shuffled frog-leaping algorithm and adaptive-network-based fuzzy inference system is proposed to model the inverse dynamic characteristics of the magnetorheological dampers for improving the modeling accuracy. The shuffled frog-leaping algorithm is employed to optimize the premise parameters of the adaptive-network-based fuzzy inference system while the consequent parameters are tuned by a least square estimation method, here known as shuffled frog-leaping algorithm-based adaptive-network-based fuzzy inference system approach. To evaluate the effectiveness of the proposed approach, the inverse modeling results based on the shuffled frog-leaping algorithm-based adaptive-network-based fuzzy inference system approach are compared with those based on the adaptive-network-based fuzzy inference system and genetic algorithm–based adaptive-network-based fuzzy inference system approaches. Analysis of variance test is carried out to statistically compare the performance of the proposed methods and the results demonstrate that the shuffled frog-leaping algorithm-based adaptive-network-based fuzzy inference system strategy outperforms the other two methods in terms of modeling (training accuracy and checking accuracy.

3D inversion based on multi-grid approach of magnetotelluric data from Northern Scandinavia

Science.gov (United States)

Cherevatova, M.; Smirnov, M.; Korja, T. J.; Egbert, G. D.

2012-12-01

In this work we investigate the geoelectrical structure of the cratonic margin of Fennoscandian Shield by means of magnetotelluric (MT) measurements carried out in Northern Norway and Sweden during summer 2011-2012. The project Magnetotellurics in the Scandes (MaSca) focuses on the investigation of the crust, upper mantle and lithospheric structure in a transition zone from a stable Precambrian cratonic interior to a passive continental margin beneath the Caledonian Orogen and the Scandes Mountains in western Fennoscandia. Recent MT profiles in the central and southern Scandes indicated a large contrast in resistivity between Caledonides and Precambrian basement. The alum shales as a highly conductive layers between the resistive Precambrian basement and the overlying Caledonian nappes are revealed from this profiles. Additional measurements in the Northern Scandes were required. All together data from 60 synchronous long period (LMT) and about 200 broad band (BMT) sites were acquired. The array stretches from Lofoten and Bodo (Norway) in the west to Kiruna and Skeleftea (Sweden) in the east covering an area of 500x500 square kilometers. LMT sites were occupied for about two months, while most of the BMT sites were measured during one day. We have used new multi-grid approach for 3D electromagnetic (EM) inversion and modelling. Our approach is based on the OcTree discretization where the spatial domain is represented by rectangular cells, each of which might be subdivided (recursively) into eight sub-cells. In this simplified implementation the grid is refined only in the horizontal direction, uniformly in each vertical layer. Using multi-grid we manage to have a high grid resolution near the surface (for instance, to tackle with galvanic distortions) and lower resolution at greater depth as the EM fields decay in the Earth according to the diffusion equation. We also have a benefit in computational costs as number of unknowns decrease. The multi-grid forward

Reference trajectory tracking for a multi-DOF robot arm

Directory of Open Access Journals (Sweden)

Krasňanský Róbert

2015-12-01

Full Text Available This paper presents the problem of tracking the generated reference trajectory by the simulation model of a multi-DOF robot arm. The kinematic transformation between task space and joint configuration coordinates is nonlinear and configuration dependent. To obtain the solution of the forward kinematics problem, the homogeneous transformation matrix is used. A solution to the inverse kinematics is a vector of joint configuration coordinates calculated using of pseudoinverse Jacobian technique. These coordinates correspond to a set of task space coordinates. The algorithm is presented which uses iterative solution and is simplified by considering stepper motors in robot arm joints. The reference trajectory in Cartesian coordinate system is generated on-line by the signal generator previously developed in MS Excel. Dynamic Data Exchange communication protocol allows sharing data with Matlab-Simulink. These data represent the reference tracking trajectory of the end effector. Matlab-Simulink software is used to calculate the representative joint rotations. The proposed algorithm is demonstrated experimentally on the model of 7-DOF robot arm system.

Measurement approaches to support future warhead arms control transparency

International Nuclear Information System (INIS)

Olinger, C.T.; Frankle, C.M.; Johnson, M.W.; Poths, J.

1998-01-01

Transparency on warhead stockpiles, warhead dismantlement, and fissile material stockpiles in nuclear weapons states will become increasingly important in the move beyond START II toward lower quantities of warheads. Congressional support for further warhead reductions will likely depend on the degree of irreversibility, or in other words, the rapidity with which warhead inventories could be reconstituted. Whether irreversibility considerations can be satisfied will depend on monitoring dismantlement as well as constraining the available stockpile of fissile materials for possible refabrication into warheads. Measurement techniques designed to address the above problems will need to consider NPT Article 1 obligations as well as Russian and US classification regulations, which prohibit or restrict the transfer of nuclear warhead design information to other states. Classification considerations currently limit the potential completeness of future inspections of weapons materials. Many conventional international safeguards approaches are not currently viable for arms control applications because they would reveal weapons design information. The authors discuss a variety of technical measures that may help to improve transparence of warhead and fissile material stockpiles and may enable limited warhead dismantlement transparency

Opal shell structures: direct assembly versus inversion approach.

Science.gov (United States)

Deng, Tian-Song; Sharifi, Parvin; Marlow, Frank

2013-09-16

Opal shell structures can be fabricated in two ways: By direct assembly from hollow spheres (hs-opal) or by infiltration of precursors into opal templates and inversion. The resulting lattice disturbances were characterized by scanning electron microscopy (SEM), optical microscopy, and transmission spectra. The hs-opal system shows much lower disturbances, for example, a lower number of cracks and lattice deformations. The strong suppression of crack formation in one of these inverse opal structures can be considered as promising candidates for the fabrication of more perfect photonic crystals. Copyright © 2013 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

ARM assembly language with hardware experiments

CERN Document Server

Elahi, Ata

2015-01-01

This book provides a hands-on approach to learning ARM assembly language with the use of a TI microcontroller. The book starts with an introduction to computer architecture and then discusses number systems and digital logic. The text covers ARM Assembly Language, ARM Cortex Architecture and its components, and Hardware Experiments using TILM3S1968. Written for those interested in learning embedded programming using an ARM Microcontroller. ·         Introduces number systems and signal transmission methods   ·         Reviews logic gates, registers, multiplexers, decoders and memory   ·         Provides an overview and examples of ARM instruction set   ·         Uses using Keil development tools for writing and debugging ARM assembly language Programs   ·         Hardware experiments using a Mbed NXP LPC1768 microcontroller; including General Purpose Input/Output (GPIO) configuration, real time clock configuration, binary input to 7-segment display, creating ...

Anthropomorphic Coding of Speech and Audio: A Model Inversion Approach

Directory of Open Access Journals (Sweden)

W. Bastiaan Kleijn

2005-06-01

Full Text Available Auditory modeling is a well-established methodology that provides insight into human perception and that facilitates the extraction of signal features that are most relevant to the listener. The aim of this paper is to provide a tutorial on perceptual speech and audio coding using an invertible auditory model. In this approach, the audio signal is converted into an auditory representation using an invertible auditory model. The auditory representation is quantized and coded. Upon decoding, it is then transformed back into the acoustic domain. This transformation converts a complex distortion criterion into a simple one, thus facilitating quantization with low complexity. We briefly review past work on auditory models and describe in more detail the components of our invertible model and its inversion procedure, that is, the method to reconstruct the signal from the output of the auditory model. We summarize attempts to use the auditory representation for low-bit-rate coding. Our approach also allows the exploitation of the inherent redundancy of the human auditory system for the purpose of multiple description (joint source-channel coding.

Development of a Multi-Arm Mobile Robot for Nuclear Decommissioning Tasks

Directory of Open Access Journals (Sweden)

Mohamed J. Bakari

2008-11-01

Full Text Available This paper concerns the design of a two-arm mobile delivery platform for application within nuclear decommissioning tasks. The adoption of the human arm as a model of manoeuvrability, scale and dexterity is the starting point for operation of two seven-function arms within the context of nuclear decommissioning tasks, the selection of hardware and its integration, and the development of suitable control methods. The forward and inverse kinematics for the manipulators are derived and the proposed software architecture identified to control the movements of the arm joints and the performance of selected decommissioning tasks. We discuss the adoption of a BROKK demolition machine as a mobile platform and the integration with its hydraulic system to operate the two seven-function manipulators separately. The paper examines the modelling and development of a real-time control method using Proportional-Integral-Derivative (PID and Proportional-Integral-Plus (PIP control algorithms in the host computer with National Instruments functions and tools to control the manipulators and obtain feedback through wireless communication. Finally we consider the application of a third party device, such as a personal mobile phone, and its interface with LabVIEW software in order to operate the robot arms remotely.

Inverse planning for x-ray rotation therapy: a general solution of the inverse problem

International Nuclear Information System (INIS)

Oelfke, U.; Bortfeld, T.

1999-01-01

Rotation therapy with photons is currently under investigation for the delivery of intensity modulated radiotherapy (IMRT). An analytical approach for inverse treatment planning of this radiotherapy technique is described. The inverse problem for the delivery of arbitrary 2D dose profiles is first formulated and then solved analytically. In contrast to previously applied strategies for solving the inverse problem, it is shown that the most general solution for the fluence profiles consists of two independent solutions of different parity. A first analytical expression for both fluence profiles is derived. The mathematical derivation includes two different strategies, an elementary expansion of fluence and dose into polynomials and a more practical approach in terms of Fourier transforms. The obtained results are discussed in the context of previous work on this problem. (author)

Concise Arm and Hand Rehabilitation Approach in Stroke (CARAS: A practical and evidence-based framework for clinical rehabilitation management

Directory of Open Access Journals (Sweden)

Johan A. Franck

2015-10-01

Full Text Available The volume of information on new treatment techniques supporting the restoration of arm-hand function (AHF and arm-hand skill performance (ASHP in stroke survivors overwhelms therapists in everyday clinical practice when choosing the appropriate therapy. The Concise Arm and Hand Rehabilitation Approach in Stroke (CARAS is designed for paramedical staff to structure and implement training of AHF and AHSP in stroke survivors. The CARAS is based on four constructs: (a stratification according to the severity of arm–hand impairment (using the Utrecht Arm/Hand -Test [UAT], (b the individual’s rehabilitation goals and concomitant potential rehabilitation outcomes, (c principles of self-efficacy, and (d possibilities to systematically incorporate (new technology and new evidence-based training elements swiftly. The framework encompasses three programs aimed at treating either the severely (UAT 0-1, moderately (UAT 2-3, or mildly (UAT 4-7 impaired arm-hand. Program themes are: taking care of the limb and prevention of complications (Program 1, task-oriented gross motor grip performance (Program 2, and functional AHSP training (Program 3. Each program is preceded and followed by an assessment. Training modularity facilitates rapid interchange/adaptation of sub-elements. Proof-of-principle in clinical rehabilitation has been established. The CARAS facilitates rapid structured design and provision of state-of-the-art AHF and ASHP treatment in stroke patients.

Optimization on robot arm machining by using genetic algorithms

Science.gov (United States)

Liu, Tung-Kuan; Chen, Chiu-Hung; Tsai, Shang-En

2007-12-01

In this study, an optimization problem on the robot arm machining is formulated and solved by using genetic algorithms (GAs). The proposed approach adopts direct kinematics model and utilizes GA's global search ability to find the optimum solution. The direct kinematics equations of the robot arm are formulated and can be used to compute the end-effector coordinates. Based on these, the objective of optimum machining along a set of points can be evolutionarily evaluated with the distance between machining points and end-effector positions. Besides, a 3D CAD application, CATIA, is used to build up the 3D models of the robot arm, work-pieces and their components. A simulated experiment in CATIA is used to verify the computation results first and a practical control on the robot arm through the RS232 port is also performed. From the results, this approach is proved to be robust and can be suitable for most machining needs when robot arms are adopted as the machining tools.

A new optimization approach for source-encoding full-waveform inversion

NARCIS (Netherlands)

Moghaddam, P.P.; Keers, H.; Herrmann, F.J.; Mulder, W.A.

2013-01-01

Waveform inversion is the method of choice for determining a highly heterogeneous subsurface structure. However, conventional waveform inversion requires that the wavefield for each source is computed separately. This makes it very expensive for realistic 3D seismic surveys. Source-encoding waveform

An empirical approach to inversion of an unconventional helicopter electromagnetic dataset

Science.gov (United States)

Pellerin, L.; Labson, V.F.

2003-01-01

A helicopter electromagnetic (HEM) survey acquired at the U.S. Idaho National Engineering and Environmental Laboratory (INEEL) used a modification of a traditional mining airborne method flown at low levels for detailed characterization of shallow waste sites. The low sensor height, used to increase resolution, invalidates standard assumptions used in processing HEM data. Although the survey design strategy was sound, traditional interpretation techniques, routinely used in industry, proved ineffective. Processed data and apparent resistivity maps were severely distorted, and hence unusable, due to low flight height effects, high magnetic permeability of the basalt host, and the conductive, three-dimensional nature of the waste site targets.To accommodate these interpretation challenges, we modified a one-dimensional inversion routine to include a linear term in the objective function that allows for the magnetic and three-dimensional electromagnetic responses in the in-phase data. Although somewhat ad hoc, the use of this term in the inverse routine, referred to as the shift factor, was successful in defining the waste sites and reducing noise due to the low flight height and magnetic characteristics of the host rock. Many inversion scenarios were applied to the data and careful analysis was necessary to determine the parameters appropriate for interpretation, hence the approach was empirical. Data from three areas were processed with this scheme to highlight different interpretational aspects of the method. Wastes sites were delineated with the shift terms in two of the areas, allowing for separation of the anthropomorphic targets from the natural one-dimensional host. In the third area, the estimated resistivity and the shift factor were used for geological mapping. The high magnetic content of the native soil enabled the mapping of disturbed soil with the shift term. Published by Elsevier Science B.V.

Inverse Kinematics of a Serial Robot

Directory of Open Access Journals (Sweden)

Amici Cinzia

2016-01-01

Full Text Available This work describes a technique to treat the inverse kinematics of a serial manipulator. The inverse kinematics is obtained through the numerical inversion of the Jacobian matrix, that represents the equation of motion of the manipulator. The inversion is affected by numerical errors and, in different conditions, due to the numerical nature of the solver, it does not converge to a reasonable solution. Thus a soft computing approach is adopted to mix different traditional methods to obtain an increment of algorithmic convergence.

A modular approach to inverse modelling of a district heating facility with seasonal thermal energy storage

DEFF Research Database (Denmark)

Tordrup, Karl Woldum; Poulsen, Uffe Vestergaard; Nielsen, Carsten

2017-01-01

We use a modular approach to develop a TRNSYS model for a district heating facility by applying inverse modelling to one year of operational data for individual components. We assemble the components into a single TRNSYS model for the full system using the accumulation tanks as a central hub conn...

A compressive sensing approach to the calculation of the inverse data space

KAUST Repository

Khan, Babar Hasan

2012-01-01

Seismic processing in the Inverse Data Space (IDS) has its advantages like the task of removing the multiples simply becomes muting the zero offset and zero time data in the inverse domain. Calculation of the Inverse Data Space by sparse inversion techniques has seen mitigation of some artifacts. We reformulate the problem by taking advantage of some of the developments from the field of Compressive Sensing. The seismic data is compressed at the sensor level by recording projections of the traces. We then process this compressed data directly to estimate the inverse data space. Due to the smaller number of data set we also gain in terms of computational complexity.

Research regarding the influence of driving-wires length change on positioning precision of a robotic arm

Science.gov (United States)

Ciofu, C.; Stan, G.

2016-08-01

The paper emphasise positioning precision of an elephant's trunk robotic arm which has joints driven by wires with variable length while operating The considered 5 degrees of freedom robotic arm has a particular structure of joint that makes possible inner actuation with wire-driven mechanism. We analyse solely the length change of wires as a consequence due inner winding and unwinding on joints for certain values of rotational angles. Variations in wires length entail joint angular displacements. We analyse positioning precision by taking into consideration equations from inverse kinematics of the elephant's trunk robotic arm. The angular displacements of joints are considered into computational method after partial derivation of positioning equations. We obtain variations of wires length at about tenths of micrometers. These variations employ angular displacements which are about minutes of sexagesimal degree and, thus, define positioning precision of elephant's trunk robotic arms. The analytical method is used for determining aftermath design structure of an elephant's trunk robotic arm with inner actuation through wires on positioning precision. Thus, designers could take suitable decisions on accuracy specifications limits of the robotic arm.

Inverse problems in 1D hemodynamics on systemic networks: a sequential approach.

Science.gov (United States)

Lombardi, D

2014-02-01

In this work, a sequential approach based on the unscented Kalman filter is applied to solve inverse problems in 1D hemodynamics, on a systemic network. For instance, the arterial stiffness is estimated by exploiting cross-sectional area and mean speed observations in several locations of the arteries. The results are compared with those ones obtained by estimating the pulse wave velocity and the Moens-Korteweg formula. In the last section, a perspective concerning the identification of the terminal models parameters and peripheral circulation (modeled by a Windkessel circuit) is presented. Copyright © 2013 John Wiley & Sons, Ltd.

Characterizing Arctic mixed-phase cloud structure and its relationship with humidity and temperature inversion using ARM NSA observations

Science.gov (United States)

Qiu, Shaoyue; Dong, Xiquan; Xi, Baike; Li, J.-L. F.

2015-08-01

In this study, the characteristics of the Arctic mixed-phase cloud (AMC) have been investigated using data collected at the Atmospheric Radiation Measurement North Slope Alaska site from October 2006 to September 2009. AMC has an annual occurrence frequency of 42.3%, which includes 18.7% of single-layered AMCs and 23.6% for multiple layers. Two cloud base heights (CBHs) are defined from ceilometer and micropulse lidar (MPL) measurements. For single-layered AMC, the ceilometer-derived CBH represents the base of the liquid-dominant layer near the cloud top, while MPL-derived CBH represents base of the lower ice-dominant layer. The annual mean CBHs from ceilometer and MPL measurements are 1.0 km and 0.6 km, respectively, with the largest difference ( 1.0 km) occurring from December to March and the smallest difference in September. The humidity inversion occurrence decreases with increasing humidity inversion intensity (stronger in summer than in winter). During the winter months, AMC occurrences increase from 15% to 35% when the inversion intensity increases from 0.1 to 0.9 g/kg. On the contrary, despite a higher frequency of strong humidity inversion in summer, AMC occurrences are nearly invariant for different inversion intensities. On average, humidity and temperature inversion frequencies of occurrence above an AMC are 5 and 8 times, respectively, as high as those below an AMC. The strong inversion occurrences for both humidity and temperature above an AMC provide the moisture sources from above for the formation and maintenance of AMCs. This result helps to reconcile the persistency of AMCs even when the Arctic surface is covered by snow and ice.

An application of sparse inversion on the calculation of the inverse data space of geophysical data

KAUST Repository

Saragiotis, Christos

2011-07-01

Multiple reflections as observed in seismic reflection measurements often hide arrivals from the deeper target reflectors and need to be removed. The inverse data space provides a natural separation of primaries and surface-related multiples, as the surface multiples map onto the area around the origin while the primaries map elsewhere. However, the calculation of the inverse data is far from trivial as theory requires infinite time and offset recording. Furthermore regularization issues arise during inversion. We perform the inversion by minimizing the least-squares norm of the misfit function and by constraining the 1 norm of the solution, being the inverse data space. In this way a sparse inversion approach is obtained. We show results on field data with an application to surface multiple removal. © 2011 IEEE.

The Microsoft Visual Studio Software Development For 5 DOF Nuclear Malaysia Robot Arm V2 Control System

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Azraf Azman; Mohd Rizal Mamat; Mohd Arif Hamzah

2014-01-01

This paper presents the Microsoft visual studio development for 5DOF Nuclear Malaysia Robot Arm V2 control system. The kinematics analysis is the study of the relationship between the individual joints of robot manipulator, the position and orientation of the end-effector. The Denavit-Hartenberg (DH) model is used to model the robot links and joints. Both forward and inverse kinematic are presented. The simulation software has been developed by using Microsoft visual studio to solve the robot arms kinematic behavior. (author)

An inverse method for radiation transport

Energy Technology Data Exchange (ETDEWEB)

Favorite, J. A. (Jeffrey A.); Sanchez, R. (Richard)

2004-01-01

Adjoint functions have been used with forward functions to compute gradients in implicit (iterative) solution methods for inverse problems in optical tomography, geoscience, thermal science, and other fields, but only once has this approach been used for inverse solutions to the Boltzmann transport equation. In this paper, this approach is used to develop an inverse method that requires only angle-independent flux measurements, rather than angle-dependent measurements as was done previously. The method is applied to a simplified form of the transport equation that does not include scattering. The resulting procedure uses measured values of gamma-ray fluxes of discrete, characteristic energies to determine interface locations in a multilayer shield. The method was implemented with a Newton-Raphson optimization algorithm, and it worked very well in numerical one-dimensional spherical test cases. A more sophisticated optimization method would better exploit the potential of the inverse method.

Forward and inverse kinematics of double universal joint robot wrists

Science.gov (United States)

Williams, Robert L., II

1991-01-01

A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.

Validity of the top-down approach of inverse dynamics analysis in fast and large rotational trunk movements.

Science.gov (United States)

Iino, Yoichi; Kojima, Takeji

2012-08-01

This study investigated the validity of the top-down approach of inverse dynamics analysis in fast and large rotational movements of the trunk about three orthogonal axes of the pelvis for nine male collegiate students. The maximum angles of the upper trunk relative to the pelvis were approximately 47°, 49°, 32°, and 55° for lateral bending, flexion, extension, and axial rotation, respectively, with maximum angular velocities of 209°/s, 201°/s, 145°/s, and 288°/s, respectively. The pelvic moments about the axes during the movements were determined using the top-down and bottom-up approaches of inverse dynamics and compared between the two approaches. Three body segment inertial parameter sets were estimated using anthropometric data sets (Ae et al., Biomechanism 11, 1992; De Leva, J Biomech, 1996; Dumas et al., J Biomech, 2007). The root-mean-square errors of the moments and the absolute errors of the peaks of the moments were generally smaller than 10 N·m. The results suggest that the pelvic moment in motions involving fast and large trunk movements can be determined with a certain level of validity using the top-down approach in which the trunk is modeled as two or three rigid-link segments.

A patient with familial bone marrow failure and an inversion of chromosome 8.

Science.gov (United States)

Buchbinder, David Kyle; Zadeh, Touran; Nugent, Diane

2011-12-01

Familial bone marrow failure has been associated with a variety of chromosomal aberrations. Chromosome 8 abnormalities have been described in association with neoplastic and hematologic disorders; however, to our knowledge, inversion of the long arm of chromosome 8 has not been described in the context of familial bone marrow failure. We describe a 9-year-old female with familial bone marrow failure and an inversion of chromosome 8 [inv (8) (q22, q24.3)]. Given the importance of considering the genetic determinants of familial bone marrow failure, the potential role of chromosome 8 abnormalities in the development of marrow failure is discussed.

Synthesis of Well-Defined Three-Arm Star-Branched Polystyrene through Arm-First Coupling Approach by Atom Transfer Radical Polymerization

Directory of Open Access Journals (Sweden)

Syed Shahabuddin

2015-01-01

Full Text Available Here we describe a simple route to synthesize three-arm star-branched polystyrene. Atom transfer radical polymerization technique has been utilized to yield branched polystyrene involving Williamson coupling strategy. Initially a linear polymeric chain of predetermined molecular weight has been synthesized which is further end-functionalized into a primary alkyl bromide moiety, a prime requisition for Williamson reaction. The end-functionalized polymer is then coupled using 1,1,1-tris(4-hydroxyphenylethane, a trifunctional core molecule, to give well-defined triple-arm star-branched polystyrene.

Nuclear disarmament verification

International Nuclear Information System (INIS)

DeVolpi, A.

1993-01-01

Arms control treaties, unilateral actions, and cooperative activities -- reflecting the defusing of East-West tensions -- are causing nuclear weapons to be disarmed and dismantled worldwide. In order to provide for future reductions and to build confidence in the permanency of this disarmament, verification procedures and technologies would play an important role. This paper outlines arms-control objectives, treaty organization, and actions that could be undertaken. For the purposes of this Workshop on Verification, nuclear disarmament has been divided into five topical subareas: Converting nuclear-weapons production complexes, Eliminating and monitoring nuclear-weapons delivery systems, Disabling and destroying nuclear warheads, Demilitarizing or non-military utilization of special nuclear materials, and Inhibiting nuclear arms in non-nuclear-weapons states. This paper concludes with an overview of potential methods for verification

Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator

Directory of Open Access Journals (Sweden)

Ikhsan Eka Prasetia

2015-03-01

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

Changes in arm-hand function and arm-hand skill performance in patients after stroke during and after rehabilitation.

Science.gov (United States)

Franck, Johan Anton; Smeets, Rob Johannes Elise Marie; Seelen, Henk Alexander Maria

2017-01-01

Arm-hand rehabilitation programs applied in stroke rehabilitation frequently target specific populations and thus are less applicable in heterogeneous patient populations. Besides, changes in arm-hand function (AHF) and arm-hand skill performance (AHSP) during and after a specific and well-described rehabilitation treatment are often not well evaluated. This single-armed prospective cohort study featured three subgroups of stroke patients with either a severely, moderately or mildly impaired AHF. Rehabilitation treatment consisted of a Concise_Arm_and_hand_ Rehabilitation_Approach_in_Stroke (CARAS). Measurements at function and activity level were performed at admission, clinical discharge, 3, 6, 9 and 12 months after clinical discharge. Eighty-nine stroke patients (M/F:63/23; mean age:57.6yr (+/-10.6); post-stroke time:29.8 days (+/-20.1)) participated. All patients improved on AHF and arm-hand capacity during and after rehabilitation, except on grip strength in the severely affected subgroup. Largest gains occurred in patients with a moderately affected AHF. As to self-perceived AHSP, on average, all subgroups improved over time. A small percentage of patients declined regarding self-perceived AHSP post-rehabilitation. A majority of stroke patients across the whole arm-hand impairment severity spectrum significantly improved on AHF, arm-hand capacity and self-perceived AHSP. These were maintained up to one year post-rehabilitation. Results may serve as a control condition in future studies.

Biologically inspired control of humanoid robot arms robust and adaptive approaches

CERN Document Server

Spiers, Adam; Herrmann, Guido

2016-01-01

This book investigates a biologically inspired method of robot arm control, developed with the objective of synthesising human-like motion dynamically, using nonlinear, robust and adaptive control techniques in practical robot systems. The control method caters to a rising interest in humanoid robots and the need for appropriate control schemes to match these systems. Unlike the classic kinematic schemes used in industrial manipulators, the dynamic approaches proposed here promote human-like motion with better exploitation of the robot’s physical structure. This also benefits human-robot interaction. The control schemes proposed in this book are inspired by a wealth of human-motion literature that indicates the drivers of motion to be dynamic, model-based and optimal. Such considerations lend themselves nicely to achievement via nonlinear control techniques without the necessity for extensive and complex biological models. The operational-space method of robot control forms the basis of many of the techniqu...

Learning the inverse kinetics of an octopus-like manipulator in three-dimensional space.

Science.gov (United States)

Giorelli, M; Renda, F; Calisti, M; Arienti, A; Ferri, G; Laschi, C

2015-05-13

This work addresses the inverse kinematics problem of a bioinspired octopus-like manipulator moving in three-dimensional space. The bioinspired manipulator has a conical soft structure that confers the ability of twirling around objects as a real octopus arm does. Despite the simple design, the soft conical shape manipulator driven by cables is described by nonlinear differential equations, which are difficult to solve analytically. Since exact solutions of the equations are not available, the Jacobian matrix cannot be calculated analytically and the classical iterative methods cannot be used. To overcome the intrinsic problems of methods based on the Jacobian matrix, this paper proposes a neural network learning the inverse kinematics of a soft octopus-like manipulator driven by cables. After the learning phase, a feed-forward neural network is able to represent the relation between manipulator tip positions and forces applied to the cables. Experimental results show that a desired tip position can be achieved in a short time, since heavy computations are avoided, with a degree of accuracy of 8% relative average error with respect to the total arm length.

Magnetotelluric inversion for depth-to-basement estimation

DEFF Research Database (Denmark)

Cai, Hongzhu; Zhdanov, Michael

2015-01-01

The magnetotelluric (MT) method can be effectively applied for depth-to-basement estimation, because there exists a strong contrast in resistivity between a conductive sedimentary basin and a resistive crystalline basement. Conventional inversions of MT data are usually aimed at determining...... the volumetric distribution of the conductivity within the inversion domain. By the nature of the MT method, the recovered distribution of the subsurface conductivity is typically diffusive, which makes it difficult to select the sediment-basement interface. This paper develops a novel approach to 3D MT...... inversion for the depth-to-basement estimate. The key to this approach is selection of the model parameterization with the depth to basement being the major unknown parameter. In order to estimate the depth to the basement, the inversion algorithm recovers both the thickness and the conductivities...

Case report: an electrocardiogram of spontaneous pneumothorax mimicking arm lead reversal.

Science.gov (United States)

Wieters, J Scott; Carlin, Joseph P; Morris, Andrew

2014-05-01

There are several previously documented findings for electrocardiograms (ECGs) of spontaneous pneumothorax. These findings include axis deviation, T-wave inversion, and right bundle branch block. When an ECG has the arm leads incorrectly placed, the ECG will display right axis deviation and inversion of the P waves in lead I. There have been no previously published ECGs of spontaneous pneumothorax that have shown the same findings as reversal of the limb leads of an ECG. A possible finding of spontaneous pneumothorax is an identical finding to that of an ECG that has been flagged for limb lead reversal. A patient presented in the emergency setting with acute chest pain and shortness of breath caused by a tension pneumothorax. An ECG was administered; findings indicated reversal of the arm leads (right axis deviation and inverted P waves in lead I), but there was no actual limb lead reversal present. ECG findings resolved upon resolution of the pneumothorax. If a patient presents with chest pain and shortness of breath, and the patient's ECG is flagged for limb lead reversal despite being set up correctly, the physician should raise clinical suspicion for a possible spontaneous pneumothorax. Copyright © 2014 Elsevier Inc. All rights reserved.

Intercomparisons of Prognostic, Diagnostic, and Inversion Modeling Approaches for Estimation of Net Ecosystem Exchange over the Pacific Northwest Region

Science.gov (United States)

Turner, D. P.; Jacobson, A. R.; Nemani, R. R.

2013-12-01

The recent development of large spatially-explicit datasets for multiple variables relevant to monitoring terrestrial carbon flux offers the opportunity to estimate the terrestrial land flux using several alternative, potentially complimentary, approaches. Here we developed and compared regional estimates of net ecosystem exchange (NEE) over the Pacific Northwest region of the U.S. using three approaches. In the prognostic modeling approach, the process-based Biome-BGC model was driven by distributed meteorological station data and was informed by Landsat-based coverages of forest stand age and disturbance regime. In the diagnostic modeling approach, the quasi-mechanistic CFLUX model estimated net ecosystem production (NEP) by upscaling eddy covariance flux tower observations. The model was driven by distributed climate data and MODIS FPAR (the fraction of incident PAR that is absorbed by the vegetation canopy). It was informed by coarse resolution (1 km) data about forest stand age. In both the prognostic and diagnostic modeling approaches, emissions estimates for biomass burning, harvested products, and river/stream evasion were added to model-based NEP to get NEE. The inversion model (CarbonTracker) relied on observations of atmospheric CO2 concentration to optimize prior surface carbon flux estimates. The Pacific Northwest is heterogeneous with respect to land cover and forest management, and repeated surveys of forest inventory plots support the presence of a strong regional carbon sink. The diagnostic model suggested a stronger carbon sink than the prognostic model, and a much larger sink that the inversion model. The introduction of Landsat data on disturbance history served to reduce uncertainty with respect to regional NEE in the diagnostic and prognostic modeling approaches. The FPAR data was particularly helpful in capturing the seasonality of the carbon flux using the diagnostic modeling approach. The inversion approach took advantage of a global

Chromatid Painting for Chromosomal Inversion Detection, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — We propose a novel approach to the detection of chromosomal inversions. Transmissible chromosome aberrations (translocations and inversions) have profound genetic...

Designing, Fabrication and Controlling Of Multipurpose3-DOF Robotic Arm

Science.gov (United States)

Nabeel, Hafiz Muhammad; Azher, Anum; Usman Ali, Syed M.; Wahab Mughal, Abdul

2013-12-01

In the present work, we have successfully designed and developed a 3-DOF articulated Robotic Arm capable of performing typical industrial tasks such as painting or spraying, assembling and handling automobiles parts and etc., in resemblance to a human arm. The mechanical assembly is designed on SOLIDWORKS and aluminum grade 6061 -T6 is used for its fabrication in order to reduce the structure weight. We have applied inverse kinematics to determine the joint angles, equations are fed into an efficient microcontroller ATMEGA16 which performs all the calculations to determine the joint angles on the basis of given coordinates to actuate the joints through motorized control. Good accuracy was obtained with quadrature optical encoders installed in each joint to achieve the desired position and a LabVIEW based GUI is designed to provide human machine interface.

Designing, Fabrication and Controlling Of Multipurpose3-DOF Robotic Arm

International Nuclear Information System (INIS)

Nabeel, Hafiz Muhammad; Azher, Anum; Ali, Syed M Usman; Mughal, Abdul Wahab

2013-01-01

In the present work, we have successfully designed and developed a 3-DOF articulated Robotic Arm capable of performing typical industrial tasks such as painting or spraying, assembling and handling automobiles parts and etc., in resemblance to a human arm. The mechanical assembly is designed on SOLIDWORKS and aluminum grade 6061 -T6 is used for its fabrication in order to reduce the structure weight. We have applied inverse kinematics to determine the joint angles, equations are fed into an efficient microcontroller ATMEGA16 which performs all the calculations to determine the joint angles on the basis of given coordinates to actuate the joints through motorized control. Good accuracy was obtained with quadrature optical encoders installed in each joint to achieve the desired position and a LabVIEW based GUI is designed to provide human machine interface

Analytical solution for the inverse kinematics of a redundant 7DoF manipulator with link offsets

CSIR Research Space (South Africa)

Singh, GK

2010-10-01

Full Text Available This work addresses the inverse kinematics problem for the 7 Degrees of Freedom Barrett Whole Arm Manipulator with link offsets. The presence of link offsets gives rise to the possibility of the in-elbow & out-elbow poses for a given end...

An Inverse Source Problem for a One-dimensional Wave Equation: An Observer-Based Approach

KAUST Repository

Asiri, Sharefa M.

2013-05-25

Observers are well known in the theory of dynamical systems. They are used to estimate the states of a system from some measurements. However, recently observers have also been developed to estimate some unknowns for systems governed by Partial differential equations. Our aim is to design an observer to solve inverse source problem for a one dimensional wave equation. Firstly, the problem is discretized in both space and time and then an adaptive observer based on partial field measurements (i.e measurements taken form the solution of the wave equation) is applied to estimate both the states and the source. We see the effectiveness of this observer in both noise-free and noisy cases. In each case, numerical simulations are provided to illustrate the effectiveness of this approach. Finally, we compare the performance of the observer approach with Tikhonov regularization approach.

Armed Helicopters: How the Army Fought Its Way into Attack Aviation

Science.gov (United States)

2015-04-01

arm. It is included as an integral part of armies, corps and divisions; and as such must operate in close liaison with all arms.”5 The observation... launchers machine guns and mini-guns.57 There still seemed to be little if any systematic approach to the armed helicopter concept. The leadership

Validation of satellite-retrieved MBL cloud properties using DOE ARM AMF measurements at the Azores

Science.gov (United States)

Xi, B.; Dong, X.; Minnis, P.; Sun-Mack, S.

2013-05-01

Marine Boundary Layer (MBL) cloud properties derived for the Clouds and the Earth's Radiant Energy System (CERES) Project using Terra and Aqua Moderate Resolution Imaging Spectroradiometer (MODIS) data are compared with observations taken at the Atmospheric Radiation Measurement (ARM) AMF AZORES site from June 2009 through December 2010. Retrievals from ARM surface-based data were averaged over a 1-hour interval centered at the time of each satellite overpass, and the CERES-MODIS Ed4 cloud properties were averaged within a 30-km x 30-km box centered on the ARM AZORES site. Two datasets were analyzed: all of the single-layered unbroken decks (SL) and those cases without temperature inversions. The CERES-MODIS cloud top/base heights were determined from cloud top/base temperature by using a lapse rate method normalized to the 24-h mean surface air temperature. The preliminary results show: for all SL MBL at daytime, they are, on average, 0.148 km (cloud top) and 0.087 km (cloud base) higher than the ARM radar-lidar observed cloud top and base, respectively. At nighttime, they are 0.446 km (cloud top) and 0.334 km (cloud base). For those cases without temperature inversions, the comparisons are close to their SL counterparts. For cloud temperatures, the MODIS-derived cloud-top and -base temperatures are 1.6 K lower and 0.4 K higher than the surface values with correlations of 0.92 during daytime. At nighttime, the differences are slightly larger and correlations are lower than daytime comparisons. Variations in the height difference are mainly caused by uncertainties in the surface air temperatures and lapse rates. Based on a total of 61 daytime and 87 nighttime samples (ALL SL cases), the temperature inversion layers occur about 72% during daytime and 83% during nighttime. The difference of surface-observed lapse rate and the satellite derived lapse rate can be 1.6 K/km for daytime and 3.3K/km for nighttime. From these lapse rates, we can further analyze the surface

Reconciling ocean mass content change based on direct and inverse approaches by utilizing data from GRACE, altimetry and Swarm

Science.gov (United States)

Rietbroek, R.; Uebbing, B.; Lück, C.; Kusche, J.

2017-12-01

Ocean mass content (OMC) change due to the melting of the ice-sheets in Greenland and Antarctica, melting of glaciers and changes in terrestrial hydrology is a major contributor to present-day sea level rise. Since 2002, the GRACE satellite mission serves as a valuable tool for directly measuring the variations in OMC. As GRACE has almost reached the end of its lifetime, efforts are being made to utilize the Swarm mission for the recovery of low degree time-variable gravity fields to bridge a possible gap until the GRACE-FO mission and to fill up periods where GRACE data was not existent. To this end we compute Swarm monthly normal equations and spherical harmonics that are found competitive to other solutions. In addition to directly measuring the OMC, combination of GRACE gravity data with altimetry data in a global inversion approach allows to separate the total sea level change into individual mass-driven and steric contributions. However, published estimates of OMC from the direct and inverse methods differ not only depending on the time window, but also are influenced by numerous post-processing choices. Here, we will look into sources of such differences between direct and inverse approaches and evaluate the capabilities of Swarm to derive OMC. Deriving time series of OMC requires several processing steps; choosing a GRACE (and altimetry) product, data coverage, masks and filters to be applied in either spatial or spectral domain, corrections related to spatial leakage, GIA and geocenter motion. In this study, we compare and quantify the effects of the different processing choices of the direct and inverse methods. Our preliminary results point to the GIA correction as the major source of difference between the two approaches.

Neck and arm pain syndromes

DEFF Research Database (Denmark)

de las Peñas, César Fernández; Cleland, Joshua; Huijbregts, Peter

approaches.It uniquely addresses the expanding role of the various health care professions which require increased knowledge and skills in screening for contra-indications and recognizing the need for medical-surgical referral. Neck and Arm Pain Syndromes also stresses the integration of experiential......The first of its kind, Neck and Arm Pain Syndromes is a comprehensive evidence- and clinical-based book, covering research-based diagnosis, prognosis and management of neuromusculoskeletal pathologies and dysfunctions of the upper quadrant, including joint, muscle, myofascial and neural tissue...... of the most commonly seen pain syndromes in clinical practice over 800 illustrations demonstrating examination procedures and techniques....

Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain

Directory of Open Access Journals (Sweden)

Tianliang Liu

2016-05-01

Full Text Available When applied to some tasks, such as payload handling, assembling, repairing and so on, the two arms of a humanoid robot will form a closed kinematic chain. It makes the motion planning and control for dual-arm coordination very complex and difficult. In this paper, we present three types of resolved motion control methods for a humanoid robot during coordinated manipulation. They are, respectively, position-level, velocity-level and acceleration-level resolved motion control methods. The desired pose, velocity and acceleration of each end-effector are then resolved according to the desired motion of the payload and the constraints on the closed-chain system without consideration of the internal force. Corresponding to the three cases above, the joint variables of each arm are then calculated using the inverse kinematic equations, at position-level, velocity-level or acceleration-level. Finally, a dynamic modelling and simulation platform is established based on ADAMS and Matlab software. The proposed methods are verified by typical cases. The simulation results show that the proposed control strategy can realize the dual-arm coordinated operation and the internal force of the closed chain during the operation is controlled in a reasonable range at the same time.

Atmospheric inverse modeling via sparse reconstruction

Science.gov (United States)

Hase, Nils; Miller, Scot M.; Maaß, Peter; Notholt, Justus; Palm, Mathias; Warneke, Thorsten

2017-10-01

Many applications in atmospheric science involve ill-posed inverse problems. A crucial component of many inverse problems is the proper formulation of a priori knowledge about the unknown parameters. In most cases, this knowledge is expressed as a Gaussian prior. This formulation often performs well at capturing smoothed, large-scale processes but is often ill equipped to capture localized structures like large point sources or localized hot spots. Over the last decade, scientists from a diverse array of applied mathematics and engineering fields have developed sparse reconstruction techniques to identify localized structures. In this study, we present a new regularization approach for ill-posed inverse problems in atmospheric science. It is based on Tikhonov regularization with sparsity constraint and allows bounds on the parameters. We enforce sparsity using a dictionary representation system. We analyze its performance in an atmospheric inverse modeling scenario by estimating anthropogenic US methane (CH4) emissions from simulated atmospheric measurements. Different measures indicate that our sparse reconstruction approach is better able to capture large point sources or localized hot spots than other methods commonly used in atmospheric inversions. It captures the overall signal equally well but adds details on the grid scale. This feature can be of value for any inverse problem with point or spatially discrete sources. We show an example for source estimation of synthetic methane emissions from the Barnett shale formation.

Inversion (X)(p11.4q22) associated with Norrie disease in a four generation family.

Science.gov (United States)

Pettenati, M J; Rao, P N; Weaver, R G; Thomas, I T; McMahan, M R

1993-03-01

We report on a 4-generation family in which Norrie disease occurs together with a pericentric inversion of the X chromosome in all affected males and carrier females. The breakpoint in the short arm of the X chromosome appears to be at the purported location of the Norrie disease gene. This is the second report of an association between Norrie disease and a chromosome aberration involving Xp11, and the first report of a specific gene disruption, thus physical gene location, due to a pericentric chromosome inversion.

[Family paracentric inversion of the short arm of chromosome X (Xp21.2p11.23) and connection with autism spectrum disorders].

Science.gov (United States)

Milovančević, Milica Pejović; Vešić, Marija; Jelisavčić, Marko; Nikšić, Snežana; Pilić, Gordana Radivojević; Maravić, Vanja Mandić

2012-01-01

Autism spectrum disorders (ASDs) are a group of complex pervasive developmental disorders characterized by impairments in communication, social interaction and behavior. In most cases autism is caused by a combination of genetic factors and environmental risk factors. In 10% to 20% of cases it has been shown that the cause of ASD is genetic. We are describing a 2-year-old boy who was referred to genetic counseling because of speech delay and certain autism-like behavior. By cytogenetic analysis the karyotype 46, inv(X),Y was obtained. The boy was a carrier of a paracentric inversion of the short arm of the chromosome X. After cytogenetic analysis of parental blood, it was detected that mother was a carrier of identical aberration, but had no clinical signs. The method of fluorescent in situ hybridization (FISH) yielded the precise breakpoint in the region (p21.2p11.23). Mother and son were carriers of identical X chromosome. Breakpoints are located in the regions that have already been linked to autism, which indicates that the positional effect of the gene could have been a possible cause of the patient's genotype. In addition to positional effects, in order to better understand the etiology of autism other genetic and environmental factors should be always taken into consideration.

3D geophysical inversion for contact surfaces

Science.gov (United States)

Lelièvre, Peter; Farquharson, Colin

2014-05-01

Geologists' interpretations about the Earth typically involve distinct rock units with contacts (interfaces) between them. In contrast, standard minimum-structure volumetric inversions (performed on meshes of space-filling cells) recover smooth models inconsistent with such interpretations. There are several approaches through which geophysical inversion can help recover models with the desired characteristics. Some authors have developed iterative strategies in which several volumetric inversions are performed with regularization parameters changing to achieve sharper interfaces at automatically determined locations. Another approach is to redesign the regularization to be consistent with the desired model characteristics, e.g. L1-like norms or compactness measures. A few researchers have taken approaches that limit the recovered values to lie within particular ranges, resulting in sharp discontinuities; these include binary inversion, level set methods and clustering strategies. In most of the approaches mentioned above, the model parameterization considers the physical properties in each of the many space-filling cells within the volume of interest. The exception are level set methods, in which a higher dimensional function is parameterized and the contact surface is determined from the zero-level of that function. However, even level-set methods rely on an underlying volumetric mesh. We are researching a fundamentally different type of inversion that parameterizes the Earth in terms of the contact surfaces between rock units. 3D geological Earth models typically comprise wireframe surfaces of tessellated triangles or other polygonal planar facets. This wireframe representation allows for flexible and efficient generation of complicated geological structures. Therefore, a natural approach for representing a geophysical model in an inversion is to parameterize the wireframe contact surfaces as the coordinates of the nodes (facet vertices). The geological and

The Earthquake‐Source Inversion Validation (SIV) Project

KAUST Repository

Mai, Paul Martin

2016-04-27

Finite-fault earthquake source inversions infer the (time-dependent) displacement on the rupture surface from geophysical data. The resulting earthquake source models document the complexity of the rupture process. However, multiple source models for the same earthquake, obtained by different research teams, often exhibit remarkable dissimilarities. To address the uncertainties in earthquake-source inversion methods and to understand strengths and weaknesses of the various approaches used, the Source Inversion Validation (SIV) project conducts a set of forward-modeling exercises and inversion benchmarks. In this article, we describe the SIV strategy, the initial benchmarks, and current SIV results. Furthermore, we apply statistical tools for quantitative waveform comparison and for investigating source-model (dis)similarities that enable us to rank the solutions, and to identify particularly promising source inversion approaches. All SIV exercises (with related data and descriptions) and statistical comparison tools are available via an online collaboration platform, and we encourage source modelers to use the SIV benchmarks for developing and testing new methods. We envision that the SIV efforts will lead to new developments for tackling the earthquake-source imaging problem.

The Earthquake‐Source Inversion Validation (SIV) Project

KAUST Repository

Mai, Paul Martin; Schorlemmer, Danijel; Page, Morgan; Ampuero, Jean‐Paul; Asano, Kimiyuki; Causse, Mathieu; Custodio, Susana; Fan, Wenyuan; Festa, Gaetano; Galis, Martin; Gallovic, Frantisek; Imperatori, Walter; Kä ser, Martin; Malytskyy, Dmytro; Okuwaki, Ryo; Pollitz, Fred; Passone, Luca; Razafindrakoto, Hoby; Sekiguchi, Haruko; Song, Seok Goo; Somala, Surendra N.; Thingbaijam, Kiran Kumar; Twardzik, Cedric; van Driel, Martin; Vyas, Jagdish Chandra; Wang, Rongjiang; Yagi, Yuji; Zielke, Olaf

2016-01-01

Finite-fault earthquake source inversions infer the (time-dependent) displacement on the rupture surface from geophysical data. The resulting earthquake source models document the complexity of the rupture process. However, multiple source models for the same earthquake, obtained by different research teams, often exhibit remarkable dissimilarities. To address the uncertainties in earthquake-source inversion methods and to understand strengths and weaknesses of the various approaches used, the Source Inversion Validation (SIV) project conducts a set of forward-modeling exercises and inversion benchmarks. In this article, we describe the SIV strategy, the initial benchmarks, and current SIV results. Furthermore, we apply statistical tools for quantitative waveform comparison and for investigating source-model (dis)similarities that enable us to rank the solutions, and to identify particularly promising source inversion approaches. All SIV exercises (with related data and descriptions) and statistical comparison tools are available via an online collaboration platform, and we encourage source modelers to use the SIV benchmarks for developing and testing new methods. We envision that the SIV efforts will lead to new developments for tackling the earthquake-source imaging problem.

The Earthquake‐Source Inversion Validation (SIV) Project

Science.gov (United States)

Mai, P. Martin; Schorlemmer, Danijel; Page, Morgan T.; Ampuero, Jean-Paul; Asano, Kimiyuki; Causse, Mathieu; Custodio, Susana; Fan, Wenyuan; Festa, Gaetano; Galis, Martin; Gallovic, Frantisek; Imperatori, Walter; Käser, Martin; Malytskyy, Dmytro; Okuwaki, Ryo; Pollitz, Fred; Passone, Luca; Razafindrakoto, Hoby N. T.; Sekiguchi, Haruko; Song, Seok Goo; Somala, Surendra N.; Thingbaijam, Kiran K. S.; Twardzik, Cedric; van Driel, Martin; Vyas, Jagdish C.; Wang, Rongjiang; Yagi, Yuji; Zielke, Olaf

2016-01-01

Finite‐fault earthquake source inversions infer the (time‐dependent) displacement on the rupture surface from geophysical data. The resulting earthquake source models document the complexity of the rupture process. However, multiple source models for the same earthquake, obtained by different research teams, often exhibit remarkable dissimilarities. To address the uncertainties in earthquake‐source inversion methods and to understand strengths and weaknesses of the various approaches used, the Source Inversion Validation (SIV) project conducts a set of forward‐modeling exercises and inversion benchmarks. In this article, we describe the SIV strategy, the initial benchmarks, and current SIV results. Furthermore, we apply statistical tools for quantitative waveform comparison and for investigating source‐model (dis)similarities that enable us to rank the solutions, and to identify particularly promising source inversion approaches. All SIV exercises (with related data and descriptions) and statistical comparison tools are available via an online collaboration platform, and we encourage source modelers to use the SIV benchmarks for developing and testing new methods. We envision that the SIV efforts will lead to new developments for tackling the earthquake‐source imaging problem.

Optimizing Armed Forces Capabilities for Hybrid Warfare – New Challenge for Slovak Armed Forces

Directory of Open Access Journals (Sweden)

Peter PINDJÁK

2015-09-01

Full Text Available The paper deals with the optimization of military capabilities of the Slovak Armed Forces for conducting operations in a hybrid conflict, which represents one of the possible scenarios of irregular warfare. Whereas in the regular warfare adversaries intend to eliminate the centers of gravity of each other, most often command and control structures, in irregular conflicts, the center of gravity shifts towards the will and cognitive perception of the target population. Hybrid warfare comprises a thoroughly planned combination of conventional military approaches and kinetic operations with subversive, irregular activities, including information and cyber operations. These efforts are often accompanied by intensified activities of intelligence services, special operation forces, and even mercenary and other paramilitary groups. The development of irregular warfare capabilities within the Slovak Armed Forces will require a progressive transformation process that may turn the armed forces into a modern and adaptable element of power, capable of deployment in national and international crisis management operations.

Proprioceptive Interaction between the Two Arms in a Single-Arm Pointing Task.

Directory of Open Access Journals (Sweden)

Kazuyoshi Kigawa

Full Text Available Proprioceptive signals coming from both arms are used to determine the perceived position of one arm in a two-arm matching task. Here, we examined whether the perceived position of one arm is affected by proprioceptive signals from the other arm in a one-arm pointing task in which participants specified the perceived position of an unseen reference arm with an indicator paddle. Both arms were hidden from the participant's view throughout the study. In Experiment 1, with both arms placed in front of the body, the participants received 70-80 Hz vibration to the elbow flexors of the reference arm (= right arm to induce the illusion of elbow extension. This extension illusion was compared with that when the left arm elbow flexors were vibrated or not. The degree of the vibration-induced extension illusion of the right arm was reduced in the presence of left arm vibration. In Experiment 2, we found that this kinesthetic interaction between the two arms did not occur when the left arm was vibrated in an abducted position. In Experiment 3, the vibration-induced extension illusion of one arm was fully developed when this arm was placed at an abducted position, indicating that the brain receives increased proprioceptive input from a vibrated arm even if the arm was abducted. Our results suggest that proprioceptive interaction between the two arms occurs in a one-arm pointing task when the two arms are aligned with one another. The position sense of one arm measured using a pointer appears to include the influences of incoming information from the other arm when both arms were placed in front of the body and parallel to one another.

Control of plasma profile in microwave discharges via inverse-problem approach

Directory of Open Access Journals (Sweden)

Yasuyoshi Yasaka

2013-12-01

Full Text Available In the manufacturing process of semiconductors, plasma processing is an essential technology, and the plasma used in the process is required to be of high density, low temperature, large diameter, and high uniformity. This research focuses on the microwave-excited plasma that meets these needs, and the research target is a spatial profile control. Two novel techniques are introduced to control the uniformity; one is a segmented slot antenna that can change radial distribution of the radiated field during operation, and the other is a hyper simulator that can predict microwave power distribution necessary for a desired radial density profile. The control system including these techniques provides a method of controlling radial profiles of the microwave plasma via inverse-problem approach, and is investigated numerically and experimentally.

Algebraic properties of generalized inverses

CERN Document Server

Cvetković‐Ilić, Dragana S

2017-01-01

This book addresses selected topics in the theory of generalized inverses. Following a discussion of the “reverse order law” problem and certain problems involving completions of operator matrices, it subsequently presents a specific approach to solving the problem of the reverse order law for {1} -generalized inverses. Particular emphasis is placed on the existence of Drazin invertible completions of an upper triangular operator matrix; on the invertibility and different types of generalized invertibility of a linear combination of operators on Hilbert spaces and Banach algebra elements; on the problem of finding representations of the Drazin inverse of a 2x2 block matrix; and on selected additive results and algebraic properties for the Drazin inverse. In addition to the clarity of its content, the book discusses the relevant open problems for each topic discussed. Comments on the latest references on generalized inverses are also included. Accordingly, the book will be useful for graduate students, Ph...

Inverse planning and optimization: a comparison of solutions

Energy Technology Data Exchange (ETDEWEB)

Ringor, Michael [School of Health Sciences, Purdue University, West Lafayette, IN (United States); Papiez, Lech [Department of Radiation Oncology, Indiana University, Indianapolis, IN (United States)

1998-09-01

The basic problem in radiation therapy treatment planning is to determine an appropriate set of treatment parameters that would induce an effective dose distribution inside a patient. One can approach this task as an inverse problem, or as an optimization problem. In this presentation, we compare both approaches. The inverse problem is presented as a dose reconstruction problem similar to tomography reconstruction. We formulate the optimization problem as linear and quadratic programs. Explicit comparisons are made between the solutions obtained by inversion and those obtained by optimization for the case in which scatter and attenuation are ignored (the NS-NA approximation)

Human Xq28 Inversion Polymorphism: From Sex Linkage to Genomics--A Genetic Mother Lode

Science.gov (United States)

Kirby, Cait S.; Kolber, Natalie; Salih Almohaidi, Asmaa M.; Bierwert, Lou Ann; Saunders, Lori; Williams, Steven; Merritt, Robert

2016-01-01

An inversion polymorphism of the filamin and emerin genes at the tip of the long arm of the human X-chromosome serves as the basis of an investigative laboratory in which students learn something new about their own genomes. Long, nearly identical inverted repeats flanking the filamin and emerin genes illustrate how repetitive elements can lead to…

New approach to evaluate late arm impairment and effects of dragon boat activity in breast cancer survivors.

Science.gov (United States)

Melchiorri, Giovanni; Viero, Valerio; Triossi, Tamara; Sorge, Roberto; Tancredi, Virginia; Cafaro, Domenico; Andreis, Caterina; Vulpiani, Maria Chiara; Saraceni, Vincenzo Maria

2017-11-01

To verify the applicability of a new approach based on the strength curves (SCs) methodology in late arm impairment in breast cancer (BC) survivors and to evaluate the effects of dragon boat (DB) activity on the late regaining of the muscle strength, upper limb impairment, and quality of life in patients undergoing surgery for BC.Retrospective observational study on 64 subjects (54.5 ± 9.7 years), 47 of them had undergone unilateral mastectomy surgery and were evaluated for late arm impairment. A clinical evaluation of the shoulder and compilation of functional assessment (DASH, Rowe, Constant-Murley) and quality of life (SF-36) scales were carried out. Assessment of muscle strength with SC obtained with isometric assessments and serratus anterior muscle test were performed.Differences between the SC are evident between healthy and operated subjects. Among the 3 groups of operated subjects the difference in strength is maximum at 0°. Statistically significant difference was found between operated and nonoperated only in SF-36 scale. No significant difference was found between groups for shoulder instability and winged scapula.The SC can be used in the study of upper limb impairment after surgery for BC: measurements carried out at 1st degrees of the range of motion are more useful for clinicians. DB activity is useful to reduce the late arm impairment.

Position Control Method For Pick And Place Robot Arm For Object Sorting System

Directory of Open Access Journals (Sweden)

Khin Moe Myint

2015-08-01

Full Text Available The more increase the number of industries in developing countries the more require labourers or workers in that. To reduce the cost of labour force and to increase the manufacturing capacity of industries the advanced robot arms are more needed. The aim of this journal is to eliminate the manual control for object sorting system.Robot arm design in this research uses two joints three links and servo motors to drive. Microcontroller is used to generate required PWM signal for servo motors. In this research the position control of robot arm was designed by using kinematic control methods. There are two types of kinematic control methods which are forward and reverse kinematic methods. In forward kinematic method the input parameters are the joint angles and link length of robot arm and then the output is the position at XYZ coordinate of tool or gripper. In inverse kinematic the input parameters are position at XYZ coordinate of gripper and the link length of robot arm and then the output parameters are the joint angles. So kinematic methods can explain the analytical description of the geometry motion of the manipulator with reference to a robot coordinate system fixed to a frame without consideration of the forces or the moments causing the movements. For sorting system Metal detector is used to detect the metal or non-metal. This position control of pick and place robot arm is fully tested and the result is obtained more precisely.

Robotic arm

Science.gov (United States)

Kwech, Horst

1989-04-18

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

High-efficiency synthesis of dendrimer-like poly(ethylene oxide) via “arm-first” approach

KAUST Repository

Zhu, Saisai; Xia, Ru; Chen, Peng; Yang, Bin; Miao, Jibin; Zheng, Zhengzhi; Su, Lifeng; Qian, Jiasheng; Cao, Ming; Feng, Xiaoshuang

2017-01-01

In this study, a dendrimer-like polymer based on poly(ethylene oxide) (PEO) was synthesized through a combination of anionic ring-opening polymerization (AROP) and click reaction via arm-first method. Firstly, the polymeric arm, a linear PEO

A Proposal for Automatic Fruit Harvesting by Combining a Low Cost Stereovision Camera and a Robotic Arm

Science.gov (United States)

Font, Davinia; Pallejà, Tomàs; Tresanchez, Marcel; Runcan, David; Moreno, Javier; Martínez, Dani; Teixidó, Mercè; Palacín, Jordi

2014-01-01

This paper proposes the development of an automatic fruit harvesting system by combining a low cost stereovision camera and a robotic arm placed in the gripper tool. The stereovision camera is used to estimate the size, distance and position of the fruits whereas the robotic arm is used to mechanically pickup the fruits. The low cost stereovision system has been tested in laboratory conditions with a reference small object, an apple and a pear at 10 different intermediate distances from the camera. The average distance error was from 4% to 5%, and the average diameter error was up to 30% in the case of a small object and in a range from 2% to 6% in the case of a pear and an apple. The stereovision system has been attached to the gripper tool in order to obtain relative distance, orientation and size of the fruit. The harvesting stage requires the initial fruit location, the computation of the inverse kinematics of the robotic arm in order to place the gripper tool in front of the fruit, and a final pickup approach by iteratively adjusting the vertical and horizontal position of the gripper tool in a closed visual loop. The complete system has been tested in controlled laboratory conditions with uniform illumination applied to the fruits. As a future work, this system will be tested and improved in conventional outdoor farming conditions. PMID:24984059

A Proposal for Automatic Fruit Harvesting by Combining a Low Cost Stereovision Camera and a Robotic Arm

Directory of Open Access Journals (Sweden)

Davinia Font

2014-06-01

Full Text Available This paper proposes the development of an automatic fruit harvesting system by combining a low cost stereovision camera and a robotic arm placed in the gripper tool. The stereovision camera is used to estimate the size, distance and position of the fruits whereas the robotic arm is used to mechanically pickup the fruits. The low cost stereovision system has been tested in laboratory conditions with a reference small object, an apple and a pear at 10 different intermediate distances from the camera. The average distance error was from 4% to 5%, and the average diameter error was up to 30% in the case of a small object and in a range from 2% to 6% in the case of a pear and an apple. The stereovision system has been attached to the gripper tool in order to obtain relative distance, orientation and size of the fruit. The harvesting stage requires the initial fruit location, the computation of the inverse kinematics of the robotic arm in order to place the gripper tool in front of the fruit, and a final pickup approach by iteratively adjusting the vertical and horizontal position of the gripper tool in a closed visual loop. The complete system has been tested in controlled laboratory conditions with uniform illumination applied to the fruits. As a future work, this system will be tested and improved in conventional outdoor farming conditions.

Evaluating the inverse reasoning account of object discovery.

Science.gov (United States)

Carroll, Christopher D; Kemp, Charles

2015-06-01

People routinely make inferences about unobserved objects. A hotel guest with welts on his arms, for example, will often worry about bed bugs. The discovery of unobserved objects almost always involves a backward inference from some observed effects (e.g., welts) to unobserved causes (e.g., bed bugs). The inverse reasoning account, which is typically formalized as Bayesian inference, posits that the strength of a backward inference is closely connected to the strength of the corresponding forward inference from the unobserved causes to the observed effects. We evaluated the inverse reasoning account of object discovery in three experiments where participants were asked to discover the unobserved "attractors" and "repellers" that controlled a "particle" moving within an arena. Experiments 1 and 2 showed that participants often failed to provide the best explanations for various particle motions, even when the best explanations were simple and when participants enthusiastically endorsed these explanations when presented with them. This failure demonstrates that object discovery is critically dependent on the processes that support hypothesis generation-processes that the inverse reasoning account does not explain. Experiment 3 demonstrated that people sometimes generate explanations that are invalid even according to their own forward inferences, suggesting that the psychological processes that support forward and backward inference are less intertwined than the inverse reasoning account suggests. The experimental findings support an alternative account of object discovery in which people rely on heuristics to generate possible explanations. Copyright © 2015 Elsevier B.V. All rights reserved.

An Inverse Analysis Approach to the Characterization of Chemical Transport in Paints

Science.gov (United States)

Willis, Matthew P.; Stevenson, Shawn M.; Pearl, Thomas P.; Mantooth, Brent A.

2014-01-01

The ability to directly characterize chemical transport and interactions that occur within a material (i.e., subsurface dynamics) is a vital component in understanding contaminant mass transport and the ability to decontaminate materials. If a material is contaminated, over time, the transport of highly toxic chemicals (such as chemical warfare agent species) out of the material can result in vapor exposure or transfer to the skin, which can result in percutaneous exposure to personnel who interact with the material. Due to the high toxicity of chemical warfare agents, the release of trace chemical quantities is of significant concern. Mapping subsurface concentration distribution and transport characteristics of absorbed agents enables exposure hazards to be assessed in untested conditions. Furthermore, these tools can be used to characterize subsurface reaction dynamics to ultimately design improved decontaminants or decontamination procedures. To achieve this goal, an inverse analysis mass transport modeling approach was developed that utilizes time-resolved mass spectroscopy measurements of vapor emission from contaminated paint coatings as the input parameter for calculation of subsurface concentration profiles. Details are provided on sample preparation, including contaminant and material handling, the application of mass spectrometry for the measurement of emitted contaminant vapor, and the implementation of inverse analysis using a physics-based diffusion model to determine transport properties of live chemical warfare agents including distilled mustard (HD) and the nerve agent VX. PMID:25226346

Inverse transition radiation

International Nuclear Information System (INIS)

Steinhauer, L.C.; Romea, R.D.; Kimura, W.D.

1997-01-01

A new method for laser acceleration is proposed based upon the inverse process of transition radiation. The laser beam intersects an electron-beam traveling between two thin foils. The principle of this acceleration method is explored in terms of its classical and quantum bases and its inverse process. A closely related concept based on the inverse of diffraction radiation is also presented: this concept has the significant advantage that apertures are used to allow free passage of the electron beam. These concepts can produce net acceleration because they do not satisfy the conditions in which the Lawson-Woodward theorem applies (no net acceleration in an unbounded vacuum). Finally, practical aspects such as damage limits at optics are employed to find an optimized set of parameters. For reasonable assumptions an acceleration gradient of 200 MeV/m requiring a laser power of less than 1 GW is projected. An interesting approach to multi-staging the acceleration sections is also presented. copyright 1997 American Institute of Physics

An adaptive inverse kinematics algorithm for robot manipulators

Science.gov (United States)

Colbaugh, R.; Glass, K.; Seraji, H.

1990-01-01

An adaptive algorithm for solving the inverse kinematics problem for robot manipulators is presented. The algorithm is derived using model reference adaptive control (MRAC) theory and is computationally efficient for online applications. The scheme requires no a priori knowledge of the kinematics of the robot if Cartesian end-effector sensing is available, and it requires knowledge of only the forward kinematics if joint position sensing is used. Computer simulation results are given for the redundant seven-DOF robotics research arm, demonstrating that the proposed algorithm yields accurate joint angle trajectories for a given end-effector position/orientation trajectory.

Approximation of Bayesian Inverse Problems for PDEs

OpenAIRE

Cotter, S. L.; Dashti, M.; Stuart, A. M.

2010-01-01

Inverse problems are often ill posed, with solutions that depend sensitively on data.n any numerical approach to the solution of such problems, regularization of some form is needed to counteract the resulting instability. This paper is based on an approach to regularization, employing a Bayesian formulation of the problem, which leads to a notion of well posedness for inverse problems, at the level of probability measures. The stability which results from this well posedness may be used as t...

Robotic arm

International Nuclear Information System (INIS)

Kwech, H.

1989-01-01

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs

Kootenay Lake Fertilization Experiment, Year 15 (North Arm) and Year 3 (South Arm) (2006) Report

Energy Technology Data Exchange (ETDEWEB)

Schindler, E.U.; Sebastian, D.; Andrusak, G.F. [Fish and Wildlife Science and Allocation, Ministry of Environment, Province of British Columbia

2009-07-01

This report summarizes results from the fifteenth year (2006) of nutrient additions to the North Arm of Kootenay Lake and three years of nutrient additions to the South Arm. Experimental fertilization of the lake has been conducted using an adaptive management approach in an effort to restore lake productivity lost as a result of nutrient uptake in upstream reservoirs. The primary objective of the experiment is to restore kokanee (Oncorhynchus nerka) populations, which are the main food source for Gerrard rainbow trout (Oncorhynchus mykiss) and bull trout (Salvelinus confluentus). The quantity of agricultural grade liquid fertilizer (10-34-0, ammonium polyphosphate and 28-0-0, urea ammonium nitrate) added to the North Arm in 2006 was 44.7 tonnes of P and 248.4 tonnes of N. The total fertilizer load added to the South Arm was 257 tonnes of nitrogen; no P was added. Kootenay Lake has an area of 395 km{sup 2}, a maximum depth of 150 m, a mean depth of 94 m, and a water renewal time of approximately two years. Kootenay Lake is a monomictic lake, generally mixing from late fall to early spring and stratifying during the summer. Surface water temperatures generally exceed 20 C for only a few weeks in July. Results of oxygen profiles were similar to previous years with the lake being well oxygenated from the surface to the bottom depths at all stations. Similar to past years, Secchi disc measurements at all stations in 2006 indicate a typical seasonal pattern of decreasing depths associated with the spring phytoplankton bloom, followed by increasing depths as the bloom gradually decreases by the late summer and fall. Total phosphorus (TP) ranged from 2-7 {micro}g/L and tended to decrease as summer advanced. Over the sampling season dissolved inorganic nitrogen (DIN) concentrations decreased, with the decline corresponding to nitrate (the dominant component of DIN) being utilized by phytoplankton during summer stratification. Owing to the importance of epilimnetic nitrate

Inversion algorithms for large-scale geophysical electromagnetic measurements

International Nuclear Information System (INIS)

Abubakar, A; Habashy, T M; Li, M; Liu, J

2009-01-01

Low-frequency surface electromagnetic prospecting methods have been gaining a lot of interest because of their capabilities to directly detect hydrocarbon reservoirs and to compliment seismic measurements for geophysical exploration applications. There are two types of surface electromagnetic surveys. The first is an active measurement where we use an electric dipole source towed by a ship over an array of seafloor receivers. This measurement is called the controlled-source electromagnetic (CSEM) method. The second is the Magnetotelluric (MT) method driven by natural sources. This passive measurement also uses an array of seafloor receivers. Both surface electromagnetic methods measure electric and magnetic field vectors. In order to extract maximal information from these CSEM and MT data we employ a nonlinear inversion approach in their interpretation. We present two types of inversion approaches. The first approach is the so-called pixel-based inversion (PBI) algorithm. In this approach the investigation domain is subdivided into pixels, and by using an optimization process the conductivity distribution inside the domain is reconstructed. The optimization process uses the Gauss–Newton minimization scheme augmented with various forms of regularization. To automate the algorithm, the regularization term is incorporated using a multiplicative cost function. This PBI approach has demonstrated its ability to retrieve reasonably good conductivity images. However, the reconstructed boundaries and conductivity values of the imaged anomalies are usually not quantitatively resolved. Nevertheless, the PBI approach can provide useful information on the location, the shape and the conductivity of the hydrocarbon reservoir. The second method is the so-called model-based inversion (MBI) algorithm, which uses a priori information on the geometry to reduce the number of unknown parameters and to improve the quality of the reconstructed conductivity image. This MBI approach can

Strategic arms limitation

Science.gov (United States)

Allen Greb, G.; Johnson, Gerald W.

1983-10-01

Following World War II, American scientists and politicians proposed in the Baruch plan a radical solution to the problem of nuclear weapons: to eliminate them forever under the auspices of an international nuclear development authority. The Soviets, who as yet did not possess the bomb, rejected this plan. Another approach suggested by Secretary of War Henry Stimson to negotiate directly with the Soviet Union was not accepted by the American leadership. These initial arms limitation failures both reflected and exacerbated the hostile political relationship of the superpowers in the 1950s and 1960s. Since 1969, the more modest focus of the Soviet-American arms control process has been on limiting the numbers and sizes of both defensive and offensive strategic systems. The format for this effort has been the Strategic Arms Limitatins Talks (Salt) and more recently the Strategic Arms Reduction Talks (START). Both sides came to these negotiations convinced that nuclear arsenals had grown so large that some for of mutual restraint was needed. Although the SALT/START process has been slow and ponderous, it has produced several concrete the agreements and collateral benefits. The 1972 ABM Treaty restricts the deployment of ballistic missile defense systems, the 1972 Interim Agreement places a quantitative freeze on each side's land based and sea based strategic launchers, and the as yet unratified 1979 SALT II Treaty sets numerical limits on all offensive strategic systems and sublimits on MIRVed systems. Collateral benefits include improved verification procedures, working definitions and counting rules, and permanent bureaucratic apparatus which enhance stability and increase the chances for achieving additional agreements.

Inversion Approach For Thermal Data From A Convecting Hydrothermal System

Energy Technology Data Exchange (ETDEWEB)

Kasameyer, P.; Younker, L.; Hanson, J.

1985-01-01

Hydrothermal systems are often studied by collecting thermal gradient data and temperature depth curves. These data contain important information about the flow field, the evolution of the hydrothermal system, and the location and nature of the ultimate heat sources. Thermal data are conventionally interpreted by the ''forward'' method; the thermal field is calculated based on selected initial conditions and boundary conditions such as temperature and permeability distributions. If the calculated thermal field matches the data, the chosen conditions are inferred to be possibly correct. Because many sets of initial conditions may produce similar thermal fields, users of the ''forward'' method may inadvertently miss the correct set of initial conditions. Analytical methods for ''inverting'' data also allow the determination of all the possible solutions consistent with the definition of the problem. In this paper we suggest an approach for inverting thermal data from a hydrothermal system, and compare it to the more conventional approach. We illustrate the difference in the methods by comparing their application to the Salton Sea Geothermal Field by Lau (1980a) and Kasameyer, et al. (1984). In this particular example, the inverse method was used to draw conclusions about the age and total rate of fluid flow into the hydrothermal system.

Centered Differential Waveform Inversion with Minimum Support Regularization

KAUST Repository

Kazei, Vladimir; Alkhalifah, Tariq Ali

2017-01-01

Time-lapse full-waveform inversion has two major challenges. The first one is the reconstruction of a reference model (baseline model for most of approaches). The second is inversion for the time-lapse changes in the parameters. Common model

Forecasting wind-driven wildfires using an inverse modelling approach

Directory of Open Access Journals (Sweden)

O. Rios

2014-06-01

Full Text Available A technology able to rapidly forecast wildfire dynamics would lead to a paradigm shift in the response to emergencies, providing the Fire Service with essential information about the ongoing fire. This paper presents and explores a novel methodology to forecast wildfire dynamics in wind-driven conditions, using real-time data assimilation and inverse modelling. The forecasting algorithm combines Rothermel's rate of spread theory with a perimeter expansion model based on Huygens principle and solves the optimisation problem with a tangent linear approach and forward automatic differentiation. Its potential is investigated using synthetic data and evaluated in different wildfire scenarios. The results show the capacity of the method to quickly predict the location of the fire front with a positive lead time (ahead of the event in the order of 10 min for a spatial scale of 100 m. The greatest strengths of our method are lightness, speed and flexibility. We specifically tailor the forecast to be efficient and computationally cheap so it can be used in mobile systems for field deployment and operativeness. Thus, we put emphasis on producing a positive lead time and the means to maximise it.

Family paracentric inversion of the short arm of chromosome X (Xp21.2p11.23 and connection with autism spectrum disorders

Directory of Open Access Journals (Sweden)

Pejović-Milovančević Milica

2012-01-01

Full Text Available Introduction. Autism spectrum disorders (ASDs are a group of complex pervasive developmental disorders characterized by impairments in communication, social interaction and behavior. In most cases autism is caused by a combination of genetic factors and environmental risk factors. In 10% to 20% of cases it has been shown that the cause of ASD is genetic. Case Outline. We are describing a 2-year-old boy who was referred to genetic counseling because of speech delay and certain autism-like behavior. By cytogenetic analysis the karyotype 46, inv(X,Y was obtained. The boy was a carrier of a paracentric inversion of the short arm of the chromosome X. After cytogenetic analysis of parental blood, it was detected that mother was a carrier of identical aberration, but had no clinical signs. The method of fluorescent in situ hybridization (FISH yielded the precise breakpoint in the region (p21.2p11.23. Mother and son were carriers of identical X chromosome. Conclusion. Breakpoints are located in the regions that have already been linked to autism, which indicates that the positional effect of the gene could have been a possible cause of the patient’s genotype. In addition to positional effects, in order to better understand the etiology of autism other genetic and environmental factors should be always taken into consideration. [Projekat Ministarstva nauke Republike Srbije, br. ON175013

Silhouette-based approach of 3D image reconstruction for automated image acquisition using robotic arm

Science.gov (United States)

Azhar, N.; Saad, W. H. M.; Manap, N. A.; Saad, N. M.; Syafeeza, A. R.

2017-06-01

This study presents the approach of 3D image reconstruction using an autonomous robotic arm for the image acquisition process. A low cost of the automated imaging platform is created using a pair of G15 servo motor connected in series to an Arduino UNO as a main microcontroller. Two sets of sequential images were obtained using different projection angle of the camera. The silhouette-based approach is used in this study for 3D reconstruction from the sequential images captured from several different angles of the object. Other than that, an analysis based on the effect of different number of sequential images on the accuracy of 3D model reconstruction was also carried out with a fixed projection angle of the camera. The effecting elements in the 3D reconstruction are discussed and the overall result of the analysis is concluded according to the prototype of imaging platform.

Improved extraction of hydrologic information from geophysical data through coupled hydrogeophysical inversion

Energy Technology Data Exchange (ETDEWEB)

Hinnell, A.C.; Ferre, T.P.A.; Vrugt, J.A.; Huisman, J.A.; Moysey, S.; Rings, J.; Kowalsky, M.B.

2009-11-01

There is increasing interest in the use of multiple measurement types, including indirect (geophysical) methods, to constrain hydrologic interpretations. To date, most examples integrating geophysical measurements in hydrology have followed a three-step, uncoupled inverse approach. This approach begins with independent geophysical inversion to infer the spatial and/or temporal distribution of a geophysical property (e.g. electrical conductivity). The geophysical property is then converted to a hydrologic property (e.g. water content) through a petrophysical relation. The inferred hydrologic property is then used either independently or together with direct hydrologic observations to constrain a hydrologic inversion. We present an alternative approach, coupled inversion, which relies on direct coupling of hydrologic models and geophysical models during inversion. We compare the abilities of coupled and uncoupled inversion using a synthetic example where surface-based electrical conductivity surveys are used to monitor one-dimensional infiltration and redistribution.

Arm reduced robotic-assisted laparoscopic hysterectomy with transvaginal cuff closure.

Science.gov (United States)

Bodur, Serkan; Dede, Murat; Fidan, Ulas; Firatligil, Burcin F; Ulubay, Mustafa; Ozturk, Mustafa; Yenen, Mufit C

2017-09-01

The use of robotics for benign etiology in gynecology has not proven to be more beneficial when compared to traditional laparoscopy. The major concern regarding robotic hysterectomy stems from its high cost. To evaluate the clinical utility and effectiveness of one-arm reduced robotic-assisted laparoscopic hysterectomy as a cost-effective surgical option for total robotic hysterectomy. A sample population of 54 women who underwent robotic-assisted laparoscopic surgery for benign gynecologic indications was evaluated, and two groups were identified: (1) the two-armed robotic-assisted laparoscopic surgery group (n = 38 patients), and (2) the three-armed robotic-assisted laparoscopic surgery group (n = 16 patients). An increased cost was observed when three-armed robotic surgery was employed for benign gynecologic surgery (p < 0.001). The cost reduction observed in the study group was primarily derived from one robotic arm reduction and vaginal closure of the cuff. This cost reduction was achieved without an increase in complication rates or undesirable postoperative outcomes. An estimated profit between $399.5 and $421.5 was made for each patient depending on the suture material chosen for cuff closure. Two-armed surgery resulted in an 18.6% reduction in procedure-specific costs for robotic hysterectomy. Two-armed robotic-assisted laparoscopic hysterectomy appears to be a cost-effective solution for robotic gynecologic surgery. This surgical solution can be performed as effectively as classical three-armed robotic hysterectomies for benign indications without the risk of increased surgical-related morbidities. This approach has the potential to be a widely preferred surgical approach in medical communities where cost reduction is one of the primary determinants of surgery type.

Semiautomatic and Automatic Cooperative Inversion of Seismic and Magnetotelluric Data

Science.gov (United States)

Le, Cuong V. A.; Harris, Brett D.; Pethick, Andrew M.; Takam Takougang, Eric M.; Howe, Brendan

2016-09-01

Natural source electromagnetic methods have the potential to recover rock property distributions from the surface to great depths. Unfortunately, results in complex 3D geo-electrical settings can be disappointing, especially where significant near-surface conductivity variations exist. In such settings, unconstrained inversion of magnetotelluric data is inexorably non-unique. We believe that: (1) correctly introduced information from seismic reflection can substantially improve MT inversion, (2) a cooperative inversion approach can be automated, and (3) massively parallel computing can make such a process viable. Nine inversion strategies including baseline unconstrained inversion and new automated/semiautomated cooperative inversion approaches are applied to industry-scale co-located 3D seismic and magnetotelluric data sets. These data sets were acquired in one of the Carlin gold deposit districts in north-central Nevada, USA. In our approach, seismic information feeds directly into the creation of sets of prior conductivity model and covariance coefficient distributions. We demonstrate how statistical analysis of the distribution of selected seismic attributes can be used to automatically extract subvolumes that form the framework for prior model 3D conductivity distribution. Our cooperative inversion strategies result in detailed subsurface conductivity distributions that are consistent with seismic, electrical logs and geochemical analysis of cores. Such 3D conductivity distributions would be expected to provide clues to 3D velocity structures that could feed back into full seismic inversion for an iterative practical and truly cooperative inversion process. We anticipate that, with the aid of parallel computing, cooperative inversion of seismic and magnetotelluric data can be fully automated, and we hold confidence that significant and practical advances in this direction have been accomplished.

Full Waveform Inversion Using Oriented Time Migration Method

KAUST Repository

Zhang, Zhendong

2016-04-12

Full waveform inversion (FWI) for reflection events is limited by its linearized update requirements given by a process equivalent to migration. Unless the background velocity model is reasonably accurate the resulting gradient can have an inaccurate update direction leading the inversion to converge into what we refer to as local minima of the objective function. In this thesis, I first look into the subject of full model wavenumber to analysis the root of local minima and suggest the possible ways to avoid this problem. And then I analysis the possibility of recovering the corresponding wavenumber components through the existing inversion and migration algorithms. Migration can be taken as a generalized inversion method which mainly retrieves the high wavenumber part of the model. Conventional impedance inversion method gives a mapping relationship between the migration image (high wavenumber) and model parameters (full wavenumber) and thus provides a possible cascade inversion strategy to retrieve the full wavenumber components from seismic data. In the proposed approach, consider a mild lateral variation in the model, I find an analytical Frechet derivation corresponding to the new objective function. In the proposed approach, the gradient is given by the oriented time-domain imaging method. This is independent of the background velocity. Specifically, I apply the oriented time-domain imaging (which depends on the reflection slope instead of a background velocity) on the data residual to obtain the geometrical features of the velocity perturbation. Assuming that density is constant, the conventional 1D impedance inversion method is also applicable for 2D or 3D velocity inversion within the process of FWI. This method is not only capable of inverting for velocity, but it is also capable of retrieving anisotropic parameters relying on linearized representations of the reflection response. To eliminate the cross-talk artifacts between different parameters, I

Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator

OpenAIRE

Ikhsan Eka Prasetia; Trihastuti Agustinah

2015-01-01

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

Multiparameter Optimization for Electromagnetic Inversion Problem

Directory of Open Access Journals (Sweden)

M. Elkattan

2017-10-01

Full Text Available Electromagnetic (EM methods have been extensively used in geophysical investigations such as mineral and hydrocarbon exploration as well as in geological mapping and structural studies. In this paper, we developed an inversion methodology for Electromagnetic data to determine physical parameters of a set of horizontal layers. We conducted Forward model using transmission line method. In the inversion part, we solved multi parameter optimization problem where, the parameters are conductivity, dielectric constant, and permeability of each layer. The optimization problem was solved by simulated annealing approach. The inversion methodology was tested using a set of models representing common geological formations.

Large-scale inverse model analyses employing fast randomized data reduction

Science.gov (United States)

Lin, Youzuo; Le, Ellen B.; O'Malley, Daniel; Vesselinov, Velimir V.; Bui-Thanh, Tan

2017-08-01

When the number of observations is large, it is computationally challenging to apply classical inverse modeling techniques. We have developed a new computationally efficient technique for solving inverse problems with a large number of observations (e.g., on the order of 107 or greater). Our method, which we call the randomized geostatistical approach (RGA), is built upon the principal component geostatistical approach (PCGA). We employ a data reduction technique combined with the PCGA to improve the computational efficiency and reduce the memory usage. Specifically, we employ a randomized numerical linear algebra technique based on a so-called "sketching" matrix to effectively reduce the dimension of the observations without losing the information content needed for the inverse analysis. In this way, the computational and memory costs for RGA scale with the information content rather than the size of the calibration data. Our algorithm is coded in Julia and implemented in the MADS open-source high-performance computational framework (http://mads.lanl.gov). We apply our new inverse modeling method to invert for a synthetic transmissivity field. Compared to a standard geostatistical approach (GA), our method is more efficient when the number of observations is large. Most importantly, our method is capable of solving larger inverse problems than the standard GA and PCGA approaches. Therefore, our new model inversion method is a powerful tool for solving large-scale inverse problems. The method can be applied in any field and is not limited to hydrogeological applications such as the characterization of aquifer heterogeneity.

Inverse Kinematic Analysis and Evaluation of a Robot for Nondestructive Testing Application

Directory of Open Access Journals (Sweden)

Zongxing Lu

2015-01-01

Full Text Available The robot system has been utilized in the nondestructive testing field in recent years. However, only a few studies have focused on the application of ultrasonic testing for complex work pieces with the robot system. The inverse kinematics problem of the 6-DOF robot should be resolved before the ultrasonic testing task. A new effective solution for curved-surface scanning with a 6-DOF robot system is proposed in this study. A new arm-wrist separateness method is adopted to solve the inverse problem of the robot system. Eight solutions of the joint angles can be acquired with the proposed inverse kinematics method. The shortest distance rule is adopted to optimize the inverse kinematics solutions. The best joint-angle solution is identified. Furthermore, a 3D-application software is developed to simulate ultrasonic trajectory planning for complex-shape work pieces with a 6-DOF robot. Finally, the validity of the scanning method is verified based on the C-scan results of a work piece with a curved surface. The developed robot ultrasonic testing system is validated. The proposed method provides an effective solution to this problem and would greatly benefit the development of industrial nondestructive testing.

The spiral arms of the Milky Way: The relative location of each different arm tracer within a typical spiral arm width

Energy Technology Data Exchange (ETDEWEB)

Vallée, Jacques P., E-mail: jacques.vallee@nrc-cnrc.gc.ca [National Research Council Canada, National Science Infrastructure portfolio, Herzberg Astronomy and Astrophysics, 5071 West Saanich Road, Victoria, B.C., V9E 2E7 (Canada)

2014-07-01

From the Sun's location in the Galactic disk, different arm tracers (CO, H I, hot dust, etc.) have been employed to locate a tangent to each spiral arm. Using all various and different observed spiral arm tracers (as published elsewhere), we embark on a new goal, namely the statistical analysis of these published data (data mining) to statistically compute the mean location of each spiral arm tracer. We show for a typical arm cross-cut, a separation of 400 pc between the mid-arm and the dust lane (at the inner edge of the arm, toward the Galactic center). Are some arms major and others minor? Separating arms into two sets, as suggested by some, we find the same arm widths between the two sets. Our interpretation is that we live in a multiple (four-arm) spiral (logarithmic) pattern (around a pitch angle of 12°) for the stars and gas in the Milky Way, with a sizable interarm separation (around 3 kpc) at the Sun's location and the same arm width for each arm (near 400 pc from mid-arm to dust lane).

The spiral arms of the Milky Way: The relative location of each different arm tracer within a typical spiral arm width

International Nuclear Information System (INIS)

Vallée, Jacques P.

2014-01-01

From the Sun's location in the Galactic disk, different arm tracers (CO, H I, hot dust, etc.) have been employed to locate a tangent to each spiral arm. Using all various and different observed spiral arm tracers (as published elsewhere), we embark on a new goal, namely the statistical analysis of these published data (data mining) to statistically compute the mean location of each spiral arm tracer. We show for a typical arm cross-cut, a separation of 400 pc between the mid-arm and the dust lane (at the inner edge of the arm, toward the Galactic center). Are some arms major and others minor? Separating arms into two sets, as suggested by some, we find the same arm widths between the two sets. Our interpretation is that we live in a multiple (four-arm) spiral (logarithmic) pattern (around a pitch angle of 12°) for the stars and gas in the Milky Way, with a sizable interarm separation (around 3 kpc) at the Sun's location and the same arm width for each arm (near 400 pc from mid-arm to dust lane).

Acoustic 2D full waveform inversion to solve gas cloud challenges

Directory of Open Access Journals (Sweden)

Srichand Prajapati

2015-09-01

Full Text Available The existing conventional inversion algorithm does not provide satisfactory results due to the complexity of propagated wavefield though the gas cloud. Acoustic full waveform inversion has been developed and applied to a realistic synthetic offshore shallow gas cloud feature with Student-t approach, with and without simultaneous sources encoding. As a modeling operator, we implemented the grid based finite-difference method in frequency domain using second order elastic wave equation. Jacobin operator and its adjoint provide a necessary platform for solving full waveform inversion problem in a reduced Hessian matrix. We invert gas cloud model in 5 frequency band selected from 1 to 12 Hz, each band contains 3 frequencies. The inversion results are highly sensitive to the misfit. The model allows better convergence and recovery of amplitude losses. This approach gives better resolution then the existing least-squares approach. In this paper, we implement the full waveform inversion for low frequency model with minimum number of iteration providing a better resolution of inversion results.

Coefficient estimates of negative powers and inverse coefficients for ...

Indian Academy of Sciences (India)

and the inequality is sharp for the inverse of the Koebe function k(z) = z/(1 − z)2. An alternative approach to the inverse coefficient problem for functions in the class S has been investigated by Schaeffer and Spencer [27] and FitzGerald [6]. Although, the inverse coefficient problem for the class S has been completely solved ...

Set-based Tasks within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework: General Formulation, Stability Analysis and Experimental Results

Directory of Open Access Journals (Sweden)

Signe eMoe

2016-04-01

Full Text Available Inverse kinematics algorithms are commonly used in robotic systems to transform tasks to joint references, and several methods exist to ensure the achievement of several tasks simultaneously. The multiple task-priority inverse kinematicsframework allows tasks to be considered in a prioritized order by projecting task velocities through the nullspaces of higherpriority tasks. This paper extends this framework to handle setbased tasks, i.e. tasks with a range of valid values, in addition to equality tasks, which have a specific desired value. Examples of set-based tasks are joint limit and obstacle avoidance. The proposed method is proven to ensure asymptotic convergence of the equality task errors and the satisfaction of all high-priority set-based tasks. The practical implementation of the proposed algorithm is discussed, and experimental results are presented where a number of both set-based and equality tasks have been implemented on a 6 degree of freedom UR5 which is an industrial robotic arm from Universal Robots. The experiments validate thetheoretical results and confirm the effectiveness of the proposed approach.

A Closed Loop Inverse Kinematics Solver Intended for Offline Calculation Optimized with GA

Directory of Open Access Journals (Sweden)

Emil Dale Bjoerlykhaug

2018-01-01

Full Text Available This paper presents a simple approach to building a robotic control system. Instead of a conventional control system which solves the inverse kinematics in real-time as the robot moves, an alternative approach where the inverse kinematics is calculated ahead of time is presented. This approach reduces the complexity and code necessary for the control system. Robot control systems are usually implemented in low level programming language. This new approach enables the use of high level programming for the complex inverse kinematics problem. For our approach, we implement a program to solve the inverse kinematics, called the Inverse Kinematics Solver (IKS, in Java, with a simple graphical user interface (GUI to load a file with desired end effector poses and edit the configuration of the robot using the Denavit-Hartenberg (DH convention. The program uses the closed-loop inverse kinematics (CLIK algorithm to solve the inverse kinematics problem. As an example, the IKS was set up to solve the kinematics for a custom built serial link robot. The kinematics for the custom robot is presented, and an example of input and output files is also presented. Additionally, the gain of the loop in the IKS is optimized using a GA, resulting in almost a 50% decrease in computational time.

Tectonic forward modelling of positive inversion structures

Energy Technology Data Exchange (ETDEWEB)

Brandes, C. [Leibniz Univ. Hannover (Germany). Inst. fuer Geologie; Schmidt, C. [Landesamt fuer Bergbau, Energie und Geologie (LBEG), Hannover (Germany)

2013-08-01

Positive tectonic inversion structures are common features that were recognized in many deformed sedimentary basins (Lowell, 1995). They are characterized by a two phase fault evolution, where initial normal faulting was followed by reverse faulting along the same fault, accompanied by the development of hanging wall deformation. Analysing the evolution of such inversion structures is important for understanding the tectonics of sedimentary basins and the formation of hydrocarbon traps. We used a 2D tectonic forward modelling approach to simulate the stepwise structural evolution of inversion structures in cross-section. The modelling was performed with the software FaultFold Forward v. 6, which is based on trishear kinematics (Zehnder and Allmendinger, 2000). Key aspect of the study was to derive the controlling factors for the geometry of inversion structures. The simulation results show, that the trishear approach is able to reproduce the geometry of tectonic inversion structures in a realistic way. This implies that inversion structures are simply fault-related folds that initiated as extensional fault-propagation folds, which were subsequently transformed into compressional fault-propagation folds when the stress field changed. The hanging wall deformation is a consequence of the decrease in slip towards the tip line of the fault. Trishear angle and propagation-to-slip ratio are the key controlling factors for the geometry of the fault-related deformation. We tested trishear angles in the range of 30 - 60 and propagation-to-slip ratios between 1 and 2 in increments of 0.1. Small trishear angles and low propagation-to-slip ratios produced tight folds, whereas large trishear angles and high propagation-to-slip ratios led to more open folds with concentric shapes. This has a direct effect on the size and geometry of potential hydrocarbon traps. The 2D simulations can be extended to a pseudo 3D approach, where a set of parallel cross-sections is used to describe

Fast wavelet based sparse approximate inverse preconditioner

Energy Technology Data Exchange (ETDEWEB)

Wan, W.L. [Univ. of California, Los Angeles, CA (United States)

1996-12-31

Incomplete LU factorization is a robust preconditioner for both general and PDE problems but unfortunately not easy to parallelize. Recent study of Huckle and Grote and Chow and Saad showed that sparse approximate inverse could be a potential alternative while readily parallelizable. However, for special class of matrix A that comes from elliptic PDE problems, their preconditioners are not optimal in the sense that independent of mesh size. A reason may be that no good sparse approximate inverse exists for the dense inverse matrix. Our observation is that for this kind of matrices, its inverse entries typically have piecewise smooth changes. We can take advantage of this fact and use wavelet compression techniques to construct a better sparse approximate inverse preconditioner. We shall show numerically that our approach is effective for this kind of matrices.

A model reduction approach to numerical inversion for a parabolic partial differential equation

International Nuclear Information System (INIS)

Borcea, Liliana; Druskin, Vladimir; Zaslavsky, Mikhail; Mamonov, Alexander V

2014-01-01

We propose a novel numerical inversion algorithm for the coefficients of parabolic partial differential equations, based on model reduction. The study is motivated by the application of controlled source electromagnetic exploration, where the unknown is the subsurface electrical resistivity and the data are time resolved surface measurements of the magnetic field. The algorithm presented in this paper considers inversion in one and two dimensions. The reduced model is obtained with rational interpolation in the frequency (Laplace) domain and a rational Krylov subspace projection method. It amounts to a nonlinear mapping from the function space of the unknown resistivity to the small dimensional space of the parameters of the reduced model. We use this mapping as a nonlinear preconditioner for the Gauss–Newton iterative solution of the inverse problem. The advantage of the inversion algorithm is twofold. First, the nonlinear preconditioner resolves most of the nonlinearity of the problem. Thus the iterations are less likely to get stuck in local minima and the convergence is fast. Second, the inversion is computationally efficient because it avoids repeated accurate simulations of the time-domain response. We study the stability of the inversion algorithm for various rational Krylov subspaces, and assess its performance with numerical experiments. (paper)

A model reduction approach to numerical inversion for a parabolic partial differential equation

Science.gov (United States)

Borcea, Liliana; Druskin, Vladimir; Mamonov, Alexander V.; Zaslavsky, Mikhail

2014-12-01

We propose a novel numerical inversion algorithm for the coefficients of parabolic partial differential equations, based on model reduction. The study is motivated by the application of controlled source electromagnetic exploration, where the unknown is the subsurface electrical resistivity and the data are time resolved surface measurements of the magnetic field. The algorithm presented in this paper considers inversion in one and two dimensions. The reduced model is obtained with rational interpolation in the frequency (Laplace) domain and a rational Krylov subspace projection method. It amounts to a nonlinear mapping from the function space of the unknown resistivity to the small dimensional space of the parameters of the reduced model. We use this mapping as a nonlinear preconditioner for the Gauss-Newton iterative solution of the inverse problem. The advantage of the inversion algorithm is twofold. First, the nonlinear preconditioner resolves most of the nonlinearity of the problem. Thus the iterations are less likely to get stuck in local minima and the convergence is fast. Second, the inversion is computationally efficient because it avoids repeated accurate simulations of the time-domain response. We study the stability of the inversion algorithm for various rational Krylov subspaces, and assess its performance with numerical experiments.

Software Development for the Kinematic Analysis of a Lynx 6 Robot Arm

OpenAIRE

Baki Koyuncu; Mehmet Güzel

2007-01-01

The kinematics of manipulators is a central problem in the automatic control of robot manipulators. Theoretical background for the analysis of the 5 Dof Lynx-6 educational Robot Arm kinematics is presented in this paper. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. The Denavit-Harbenterg (D-H) model of representation is used to model robot links and joints in this study. Both forward and inverse kinematics solutions for th...

Force adaptation transfers to untrained workspace regions in children: evidence for developing inverse dynamic motor models.

Science.gov (United States)

Jansen-Osmann, Petra; Richter, Stefanie; Konczak, Jürgen; Kalveram, Karl-Theodor

2002-03-01

When humans perform goal-directed arm movements under the influence of an external damping force, they learn to adapt to these external dynamics. After removal of the external force field, they reveal kinematic aftereffects that are indicative of a neural controller that still compensates the no longer existing force. Such behavior suggests that the adult human nervous system uses a neural representation of inverse arm dynamics to control upper-extremity motion. Central to the notion of an inverse dynamic model (IDM) is that learning generalizes. Consequently, aftereffects should be observable even in untrained workspace regions. Adults have shown such behavior, but the ontogenetic development of this process remains unclear. This study examines the adaptive behavior of children and investigates whether learning a force field in one hemifield of the right arm workspace has an effect on force adaptation in the other hemifield. Thirty children (aged 6-10 years) and ten adults performed 30 degrees elbow flexion movements under two conditions of external damping (negative and null). We found that learning to compensate an external damping force transferred to the opposite hemifield, which indicates that a model of the limb dynamics rather than an association of visited space and experienced force was acquired. Aftereffects were more pronounced in the younger children and readaptation to a null-force condition was prolonged. This finding is consistent with the view that IDMs in children are imprecise neural representations of the actual arm dynamics. It indicates that the acquisition of IDMs is a developmental achievement and that the human motor system is inherently flexible enough to adapt to any novel force within the limits of the organism's biomechanics.

Ensemble Kalman methods for inverse problems

International Nuclear Information System (INIS)

Iglesias, Marco A; Law, Kody J H; Stuart, Andrew M

2013-01-01

The ensemble Kalman filter (EnKF) was introduced by Evensen in 1994 (Evensen 1994 J. Geophys. Res. 99 10143–62) as a novel method for data assimilation: state estimation for noisily observed time-dependent problems. Since that time it has had enormous impact in many application domains because of its robustness and ease of implementation, and numerical evidence of its accuracy. In this paper we propose the application of an iterative ensemble Kalman method for the solution of a wide class of inverse problems. In this context we show that the estimate of the unknown function that we obtain with the ensemble Kalman method lies in a subspace A spanned by the initial ensemble. Hence the resulting error may be bounded above by the error found from the best approximation in this subspace. We provide numerical experiments which compare the error incurred by the ensemble Kalman method for inverse problems with the error of the best approximation in A, and with variants on traditional least-squares approaches, restricted to the subspace A. In so doing we demonstrate that the ensemble Kalman method for inverse problems provides a derivative-free optimization method with comparable accuracy to that achieved by traditional least-squares approaches. Furthermore, we also demonstrate that the accuracy is of the same order of magnitude as that achieved by the best approximation. Three examples are used to demonstrate these assertions: inversion of a compact linear operator; inversion of piezometric head to determine hydraulic conductivity in a Darcy model of groundwater flow; and inversion of Eulerian velocity measurements at positive times to determine the initial condition in an incompressible fluid. (paper)

3D stochastic inversion and joint inversion of potential fields for multi scale parameters

Science.gov (United States)

Shamsipour, Pejman

In this thesis we present the development of new techniques for the interpretation of potential field (gravity and magnetic data), which are the most widespread economic geophysical methods used for oil and mineral exploration. These new techniques help to address the long-standing issue with the interpretation of potential fields, namely the intrinsic non-uniqueness inversion of these types of data. The thesis takes the form of three papers (four including Appendix), which have been published, or soon to be published, in respected international journals. The purpose of the thesis is to introduce new methods based on 3D stochastical approaches for: 1) Inversion of potential field data (magnetic), 2) Multiscale Inversion using surface and borehole data and 3) Joint inversion of geophysical potential field data. We first present a stochastic inversion method based on a geostatistical approach to recover 3D susceptibility models from magnetic data. The aim of applying geostatistics is to provide quantitative descriptions of natural variables distributed in space or in time and space. We evaluate the uncertainty on the parameter model by using geostatistical unconditional simulations. The realizations are post-conditioned by cokriging to observation data. In order to avoid the natural tendency of the estimated structure to lay near the surface, depth weighting is included in the cokriging system. Then, we introduce algorithm for multiscale inversion, the presented algorithm has the capability of inverting data on multiple supports. The method involves four main steps: i. upscaling of borehole parameters (It could be density or susceptibility) to block parameters, ii. selection of block to use as constraints based on a threshold on kriging variance, iii. inversion of observation data with selected block densities as constraints, and iv. downscaling of inverted parameters to small prisms. Two modes of application are presented: estimation and simulation. Finally, a novel

Evolution of robotic arms.

Science.gov (United States)

Moran, Michael E

2007-01-01

The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board controller supplying power and programmability. von Kemplen's chess-playing automaton left arm was quite sophisticated. Unimate introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm was designed; Minsky's Tentacle arm appeared in 1968, Scheinman's Stanford arm in 1969, and MIT's Silver arm in 1974. Aird became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man-machine capacity in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance. The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master-slave system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of current robotic surgical systems.

Physical Mapping of Bread Wheat Chromosome 5A: An Integrated Approach

Directory of Open Access Journals (Sweden)

Delfina Barabaschi

2015-11-01

Full Text Available The huge size, redundancy, and highly repetitive nature of the bread wheat [ (L.] genome, makes it among the most difficult species to be sequenced. To overcome these limitations, a strategy based on the separation of individual chromosomes or chromosome arms and the subsequent production of physical maps was established within the frame of the International Wheat Genome Sequence Consortium (IWGSC. A total of 95,812 bacterial artificial chromosome (BAC clones of short-arm chromosome 5A (5AS and long-arm chromosome 5A (5AL arm-specific BAC libraries were fingerprinted and assembled into contigs by complementary analytical approaches based on the FingerPrinted Contig (FPC and Linear Topological Contig (LTC tools. Combined anchoring approaches based on polymerase chain reaction (PCR marker screening, microarray, and sequence homology searches applied to several genomic tools (i.e., genetic maps, deletion bin map, neighbor maps, BAC end sequences (BESs, genome zipper, and chromosome survey sequences allowed the development of a high-quality physical map with an anchored physical coverage of 75% for 5AS and 53% for 5AL with high portions (64 and 48%, respectively of contigs ordered along the chromosome. In the genome of grasses, [ (L. Beauv.], rice ( L., and sorghum [ (L. Moench] homologs of genes on wheat chromosome 5A were separated into syntenic blocks on different chromosomes as a result of translocations and inversions during evolution. The physical map presented represents an essential resource for fine genetic mapping and map-based cloning of agronomically relevant traits and a reference for the 5A sequencing projects.

Visual servo simulation of EAST articulated maintenance arm robot

Energy Technology Data Exchange (ETDEWEB)

Yang, Yang, E-mail: yangyang@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

2016-03-15

For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

Visual servo simulation of EAST articulated maintenance arm robot

International Nuclear Information System (INIS)

Yang, Yang; Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng; Wu, Huapeng

2016-01-01

For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

Displacement Parameter Inversion for a Novel Electromagnetic Underground Displacement Sensor

Directory of Open Access Journals (Sweden)

Nanying Shentu

2014-05-01

Full Text Available Underground displacement monitoring is an effective method to explore deep into rock and soil masses for execution of subsurface displacement measurements. It is not only an important means of geological hazards prediction and forecasting, but also a forefront, hot and sophisticated subject in current geological disaster monitoring. In previous research, the authors had designed a novel electromagnetic underground horizontal displacement sensor (called the H-type sensor by combining basic electromagnetic induction principles with modern sensing techniques and established a mutual voltage measurement theoretical model called the Equation-based Equivalent Loop Approach (EELA. Based on that work, this paper presents an underground displacement inversion approach named “EELA forward modeling-approximate inversion method”. Combining the EELA forward simulation approach with the approximate optimization inversion theory, it can deduce the underground horizontal displacement through parameter inversion of the H-type sensor. Comprehensive and comparative studies have been conducted between the experimentally measured and theoretically inversed values of horizontal displacement under counterpart conditions. The results show when the measured horizontal displacements are in the 0–100 mm range, the horizontal displacement inversion discrepancy is generally tested to be less than 3 mm under varied tilt angles and initial axial distances conditions, which indicates that our proposed parameter inversion method can predict underground horizontal displacement measurements effectively and robustly for the H-type sensor and the technique is applicable for practical geo-engineering applications.

An approximate inversion method of geoelectrical sounding data using linear and bayesian statistical approaches. Examples of Tritrivakely volcanic lake and Mahitsy area (central part of Madagascar)

International Nuclear Information System (INIS)

Ranaivo Nomenjanahary, F.; Rakoto, H.; Ratsimbazafy, J.B.

1994-08-01

This paper is concerned with resistivity sounding measurements performed from single site (vertical sounding) or from several sites (profiles) within a bounded area. The objective is to present an accurate information about the study area and to estimate the likelihood of the produced quantitative models. The achievement of this objective obviously requires quite relevant data and processing methods. It also requires interpretation methods which should take into account the probable effect of an heterogeneous structure. In front of such difficulties, the interpretation of resistivity sounding data inevitably involves the use of inversion methods. We suggest starting the interpretation in simple situation (1-D approximation), and using the rough but correct model obtained as an a-priori model for any more refined interpretation. Related to this point of view, special attention should be paid for the inverse problem applied to the resistivity sounding data. This inverse problem is nonlinear, while linearity inherent in the functional response used to describe the physical experiment. Two different approaches are used to build an approximate but higher dimensional inversion of geoelectrical data: the linear approach and the bayesian statistical approach. Some illustrations of their application in resistivity sounding data acquired at Tritrivakely volcanic lake (single site) and at Mahitsy area (several sites) will be given. (author). 28 refs, 7 figs

Direct and inverse scattering for viscoelastic media

International Nuclear Information System (INIS)

Ammicht, E.; Corones, J.P.; Krueger, R.J.

1987-01-01

A time domain approach to direct and inverse scattering problems for one-dimensional viscoelastic media is presented. Such media can be characterized as having a constitutive relation between stress and strain which involves the past history of the strain through a memory function, the relaxation modulus. In the approach in this article, the relaxation modulus of a material is shown to be related to the reflection properties of the material. This relation provides a constructive algorithm for direct and inverse scattering problems. A numerical implementation of this algorithm is tested on several problems involving realistic relaxation moduli

Coupled thermo-geophysical inversion for permafrost monitoring

DEFF Research Database (Denmark)

Tomaskovicova, Sona

temperature dataset within ±0.55 ◦C, provided that the freeze-thaw water content hysteresis was accounted for. The calibrated model predicted the temperature variation in two testing datasets within ±0.32 to ±0.62 ◦C, depending on length of the testing timeseries. The coupled inversion approach showed...... on borehole temperatures. Thermal parameters optimized in coupled inversion predicted the temperature variation in the two testing datasets within ±0 ◦C to 0 ◦C. A number of possibilities and paths for improvement of both coupled and uncoupled optimization approaches has been identified and identification...

A combined impedance-PD approach for controlling a dual-arm space manipulator in the capture of a non-cooperative target

Science.gov (United States)

Stolfi, A.; Gasbarri, P.; Sabatini, M.

2017-10-01

In the near future robotic systems will be playing an increasingly important role in space applications such as repairing, refueling, re-orbiting spacecraft and cleaning up the increasing amount of space debris. Space Manipulator Systems (SMSs) are robotic systems made of a platform (which has its own actuators such as thrusters and reaction wheels) equipped with one or more deployable arms. The present paper focuses on the issue of maintaining a stable first contact between the arms terminal parts (i.e. the end-effectors) and a target satellite, before the actual grasp is performed. The selected approach is a modified version of the Impedance Control algorithm, in which the end-effector is controlled in order to make it behave like a mass-spring-damper system regardless of the reaction motion of the base, so to absorb the impact energy. The usual approach consists in considering a point mass target and one-dimensional contact dynamics; however, the contact between the chaser and the target could generate a perturbation on the attitude of the target. On account of this, in the present work a more realistic scenario, consisting in a 2D rigid target and a relevant 2D contact dynamics, is considered. A two-arm configuration of the SMS is modelled and its effectiveness analyzed. The performance of the proposed control architecture is evaluated by means of a co-simulation involving the MSC Adams multibody code (for describing the dynamics of the space robot and target) together with Simulink (for the determination of the control actions). The co-simulation is a particularly useful tool to implement robust control applied to detailed dynamic systems. Several numerical results complete the work.

A finite-difference contrast source inversion method

International Nuclear Information System (INIS)

Abubakar, A; Hu, W; Habashy, T M; Van den Berg, P M

2008-01-01

We present a contrast source inversion (CSI) algorithm using a finite-difference (FD) approach as its backbone for reconstructing the unknown material properties of inhomogeneous objects embedded in a known inhomogeneous background medium. Unlike the CSI method using the integral equation (IE) approach, the FD-CSI method can readily employ an arbitrary inhomogeneous medium as its background. The ability to use an inhomogeneous background medium has made this algorithm very suitable to be used in through-wall imaging and time-lapse inversion applications. Similar to the IE-CSI algorithm the unknown contrast sources and contrast function are updated alternately to reconstruct the unknown objects without requiring the solution of the full forward problem at each iteration step in the optimization process. The FD solver is formulated in the frequency domain and it is equipped with a perfectly matched layer (PML) absorbing boundary condition. The FD operator used in the FD-CSI method is only dependent on the background medium and the frequency of operation, thus it does not change throughout the inversion process. Therefore, at least for the two-dimensional (2D) configurations, where the size of the stiffness matrix is manageable, the FD stiffness matrix can be inverted using a non-iterative inversion matrix approach such as a Gauss elimination method for the sparse matrix. In this case, an LU decomposition needs to be done only once and can then be reused for multiple source positions and in successive iterations of the inversion. Numerical experiments show that this FD-CSI algorithm has an excellent performance for inverting inhomogeneous objects embedded in an inhomogeneous background medium

Constructing inverse probability weights for continuous exposures: a comparison of methods.

Science.gov (United States)

Naimi, Ashley I; Moodie, Erica E M; Auger, Nathalie; Kaufman, Jay S

2014-03-01

Inverse probability-weighted marginal structural models with binary exposures are common in epidemiology. Constructing inverse probability weights for a continuous exposure can be complicated by the presence of outliers, and the need to identify a parametric form for the exposure and account for nonconstant exposure variance. We explored the performance of various methods to construct inverse probability weights for continuous exposures using Monte Carlo simulation. We generated two continuous exposures and binary outcomes using data sampled from a large empirical cohort. The first exposure followed a normal distribution with homoscedastic variance. The second exposure followed a contaminated Poisson distribution, with heteroscedastic variance equal to the conditional mean. We assessed six methods to construct inverse probability weights using: a normal distribution, a normal distribution with heteroscedastic variance, a truncated normal distribution with heteroscedastic variance, a gamma distribution, a t distribution (1, 3, and 5 degrees of freedom), and a quantile binning approach (based on 10, 15, and 20 exposure categories). We estimated the marginal odds ratio for a single-unit increase in each simulated exposure in a regression model weighted by the inverse probability weights constructed using each approach, and then computed the bias and mean squared error for each method. For the homoscedastic exposure, the standard normal, gamma, and quantile binning approaches performed best. For the heteroscedastic exposure, the quantile binning, gamma, and heteroscedastic normal approaches performed best. Our results suggest that the quantile binning approach is a simple and versatile way to construct inverse probability weights for continuous exposures.

Data inversion in coupled subsurface flow and geomechanics models

International Nuclear Information System (INIS)

Iglesias, Marco A; McLaughlin, Dennis

2012-01-01

We present an inverse modeling approach to estimate petrophysical and elastic properties of the subsurface. The aim is to use the fully coupled geomechanics-flow model of Girault et al (2011 Math. Models Methods Appl. Sci. 21 169–213) to jointly invert surface deformation and pressure data from wells. We use a functional-analytic framework to construct a forward operator (parameter-to-output map) that arises from the geomechanics-flow model of Girault et al. Then, we follow a deterministic approach to pose the inverse problem of finding parameter estimates from measurements of the output of the forward operator. We prove that this inverse problem is ill-posed in the sense of stability. The inverse problem is then regularized with the implementation of the Newton-conjugate gradient (CG) algorithm of Hanke (1997 Numer. Funct. Anal. Optim. 18 18–971). For a consistent application of the Newton-CG scheme, we establish the differentiability of the forward map and characterize the adjoint of its linearization. We provide assumptions under which the theory of Hanke ensures convergence and regularizing properties of the Newton-CG scheme. These properties are verified in our numerical experiments. In addition, our synthetic experiments display the capabilities of the proposed inverse approach to estimate parameters of the subsurface by means of data inversion. In particular, the added value of measurements of surface deformation in the estimation of absolute permeability is quantified with respect to the standard history matching approach of inverting production data with flow models. The proposed methodology can be potentially used to invert satellite geodetic data (e.g. InSAR and GPS) in combination with production data for optimal monitoring and characterization of the subsurface. (paper)

A coupled thermo-mechanical pseudo inverse approach for preform design in forging

Science.gov (United States)

Thomas, Anoop Ebey; Abbes, Boussad; Li, Yu Ming; Abbes, Fazilay; Guo, Ying-Qiao; Duval, Jean-Louis

2017-10-01

Hot forging is a process used to form difficult to form materials as well as to achieve complex geometries. This is possible due to the reduction of yield stress at high temperatures and a subsequent increase in formability. Numerical methods have been used to predict the material yield and the stress/strain states of the final product. Pseudo Inverse Approach (PIA) developed in the context of cold forming provides a quick estimate of the stress and strain fields in the final product for a given initial shape. In this paper, PIA is extended to include the thermal effects on the forging process. A Johnson-Cook thermo-viscoplastic material law is considered and a staggered scheme is employed for the coupling between the mechanical and thermal problems. The results are compared with available commercial codes to show the efficiency and the limitations of PIA.

Cohesive phase-field fracture and a PDE constrained optimization approach to fracture inverse problems

Energy Technology Data Exchange (ETDEWEB)

Tupek, Michael R. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

2016-06-30

In recent years there has been a proliferation of modeling techniques for forward predictions of crack propagation in brittle materials, including: phase-field/gradient damage models, peridynamics, cohesive-zone models, and G/XFEM enrichment techniques. However, progress on the corresponding inverse problems has been relatively lacking. Taking advantage of key features of existing modeling approaches, we propose a parabolic regularization of Barenblatt cohesive models which borrows extensively from previous phase-field and gradient damage formulations. An efficient explicit time integration strategy for this type of nonlocal fracture model is then proposed and justified. In addition, we present a C++ computational framework for computing in- put parameter sensitivities efficiently for explicit dynamic problems using the adjoint method. This capability allows for solving inverse problems involving crack propagation to answer interesting engineering questions such as: 1) what is the optimal design topology and material placement for a heterogeneous structure to maximize fracture resistance, 2) what loads must have been applied to a structure for it to have failed in an observed way, 3) what are the existing cracks in a structure given various experimental observations, etc. In this work, we focus on the first of these engineering questions and demonstrate a capability to automatically and efficiently compute optimal designs intended to minimize crack propagation in structures.

Identification of polymorphic inversions from genotypes

Directory of Open Access Journals (Sweden)

Cáceres Alejandro

2012-02-01

Full Text Available Abstract Background Polymorphic inversions are a source of genetic variability with a direct impact on recombination frequencies. Given the difficulty of their experimental study, computational methods have been developed to infer their existence in a large number of individuals using genome-wide data of nucleotide variation. Methods based on haplotype tagging of known inversions attempt to classify individuals as having a normal or inverted allele. Other methods that measure differences between linkage disequilibrium attempt to identify regions with inversions but unable to classify subjects accurately, an essential requirement for association studies. Results We present a novel method to both identify polymorphic inversions from genome-wide genotype data and classify individuals as containing a normal or inverted allele. Our method, a generalization of a published method for haplotype data 1, utilizes linkage between groups of SNPs to partition a set of individuals into normal and inverted subpopulations. We employ a sliding window scan to identify regions likely to have an inversion, and accumulation of evidence from neighboring SNPs is used to accurately determine the inversion status of each subject. Further, our approach detects inversions directly from genotype data, thus increasing its usability to current genome-wide association studies (GWAS. Conclusions We demonstrate the accuracy of our method to detect inversions and classify individuals on principled-simulated genotypes, produced by the evolution of an inversion event within a coalescent model 2. We applied our method to real genotype data from HapMap Phase III to characterize the inversion status of two known inversions within the regions 17q21 and 8p23 across 1184 individuals. Finally, we scan the full genomes of the European Origin (CEU and Yoruba (YRI HapMap samples. We find population-based evidence for 9 out of 15 well-established autosomic inversions, and for 52 regions

Robust flight control using incremental nonlinear dynamic inversion and angular acceleration prediction

NARCIS (Netherlands)

Sieberling, S.; Chu, Q.P.; Mulder, J.A.

2010-01-01

This paper presents a flight control strategy based on nonlinear dynamic inversion. The approach presented, called incremental nonlinear dynamic inversion, uses properties of general mechanical systems and nonlinear dynamic inversion by feeding back angular accelerations. Theoretically, feedback of

Isolated effects of peripheral arm and central body cooling on arm performance.

Science.gov (United States)

Giesbrecht, G G; Wu, M P; White, M D; Johnston, C E; Bristow, G K

1995-10-01

Whole body cooling impairs manual arm performance. The independent contributions of local (peripheral) and/or whole body (central) cooling are not known. Therefore, a protocol was developed in which the arm and the rest of the body could be independently cooled. Biceps temperature (Tmus), at a depth of 20 mm, and esophageal temperature (Tes) were measured. Six subjects were immersed to the clavicles in a tank (body tank) of water under 3 conditions: 1) cold body-cold arm (CB-CA); 2) warm body-cold arm (WB-CA); and 3) cold body-warm arm (CB-WA). In the latter two conditions, subjects placed their dominant arm in a separate (arm) tank. Water temperature (Tw) in each tank was independently controlled. In conditions requiring cold body and/or cold arm, Tw in the appropriate tanks was 8 degrees C. In conditions requiring warm body and/or warm arm, Tw in the appropriate tanks was adjusted between 29 and 38 degrees C to maintain body/arm temperature at baseline values. A battery of 6 tests, requiring fine or gross motor movements, were performed immediately before immersion and after 15, 45, and 70 minutes of immersion. In CB-CA, Tes decreased from an average of 37.2 to 35.6 degrees C and Tmus decreased from 34.6 to 22.0 degrees C. In WB-CA, Tmus decreased to 18.1 degrees C (Tes = 37.1 degrees C), and in CB-WA, Tes decreased to 35.8 degrees C (Tmus = 34.5 degrees C). By the end of immersion, there were significant decrements (43-85%) in the performance of all tests in CB-CA and WB-CA (p body and/or the arm elicits large decrements in finger, hand and arm performance. The decrements are due almost entirely to the local effects of arm tissue cooling.

Kinematic feedback control laws for generating natural arm movements

International Nuclear Information System (INIS)

Kim, Donghyun; Jang, Cheongjae; Park, Frank C

2014-01-01

We propose a stochastic optimal feedback control law for generating natural robot arm motions. Our approach, inspired by the minimum variance principle of Harris and Wolpert (1998 Nature 394 780–4) and the optimal feedback control principles put forth by Todorov and Jordan (2002 Nature Neurosci. 5 1226–35) for explaining human movements, differs in two crucial respects: (i) the endpoint variance is minimized in joint space rather than Cartesian hand space, and (ii) we ignore the dynamics and instead consider only the second-order differential kinematics. The feedback control law generating the motions can be straightforwardly obtained by backward integration of a set of ordinary differential equations; these equations are obtained exactly, without any linear–quadratic approximations. The only parameters to be determined a priori are the variance scale factors, and for both the two-DOF planar arm and the seven-DOF spatial arm, a table of values is constructed based on the given initial and final arm configurations; these values are determined via an optimal fitting procedure, and consistent with existing findings about neuromuscular motor noise levels of human arm muscles. Experiments conducted with a two-link planar arm and a seven-DOF spatial arm verify that the trajectories generated by our feedback control law closely resemble human arm motions, in the sense of producing nearly straight-line hand trajectories, having bell-shaped velocity profiles, and satisfying Fitts Law. (paper)

Inverse Ising problem in continuous time: A latent variable approach

Science.gov (United States)

Donner, Christian; Opper, Manfred

2017-12-01

We consider the inverse Ising problem: the inference of network couplings from observed spin trajectories for a model with continuous time Glauber dynamics. By introducing two sets of auxiliary latent random variables we render the likelihood into a form which allows for simple iterative inference algorithms with analytical updates. The variables are (1) Poisson variables to linearize an exponential term which is typical for point process likelihoods and (2) Pólya-Gamma variables, which make the likelihood quadratic in the coupling parameters. Using the augmented likelihood, we derive an expectation-maximization (EM) algorithm to obtain the maximum likelihood estimate of network parameters. Using a third set of latent variables we extend the EM algorithm to sparse couplings via L1 regularization. Finally, we develop an efficient approximate Bayesian inference algorithm using a variational approach. We demonstrate the performance of our algorithms on data simulated from an Ising model. For data which are simulated from a more biologically plausible network with spiking neurons, we show that the Ising model captures well the low order statistics of the data and how the Ising couplings are related to the underlying synaptic structure of the simulated network.

Inverse source problems in elastodynamics

Science.gov (United States)

Bao, Gang; Hu, Guanghui; Kian, Yavar; Yin, Tao

2018-04-01

We are concerned with time-dependent inverse source problems in elastodynamics. The source term is supposed to be the product of a spatial function and a temporal function with compact support. We present frequency-domain and time-domain approaches to show uniqueness in determining the spatial function from wave fields on a large sphere over a finite time interval. The stability estimate of the temporal function from the data of one receiver and the uniqueness result using partial boundary data are proved. Our arguments rely heavily on the use of the Fourier transform, which motivates inversion schemes that can be easily implemented. A Landweber iterative algorithm for recovering the spatial function and a non-iterative inversion scheme based on the uniqueness proof for recovering the temporal function are proposed. Numerical examples are demonstrated in both two and three dimensions.

A novel and generalized approach in the inversion of geoelectrical ...

Indian Academy of Sciences (India)

can automate this process and substantially reduce development .... In this network, the information moves in only ..... inversion scheme for deep resistivity sounding data using artificial ... Tiwari 2013 Delineation of shallow resistivity structure.

Implantación de un Controlador para la Cinemática Inversa del Brazo Robot Mitsubishi RV-2AJ a través de una Tarjeta ARM y MatLab

OpenAIRE

Cajamarca Peñafiel, Jorge Andres; Portilla Vargas, Alexis David

2016-01-01

The project involves the design and construction of a controller for handling the inverse and forward kinematics of the robot Mitsubishi RV-2AJ arm, it is located in the laboratories of the Salesian University in order to create a direct communication through an external card ARM and MatLab software. This driver allows the user to manipulate the robot arm Mitsubishi RV-2AJ in two categories, by joints and coordinates, with a compact hardware and easy to use interface, the autonomy is given...

Forward and inverse solutions for Risley prism based on the Denavit-Hartenberg methodology

Science.gov (United States)

Beltran-Gonzalez, A.; Garcia-Torales, G.; Strojnik, M.; Flores, J. L.; Garcia-Luna, J. L.

2017-08-01

In this work forward and inverse solutions for two-element Risley prism for pointing and scanning beam systems are developed. A more efficient and faster algorithm is proposed to make an analogy of the Risley prism system compared with a robotic system with two degrees of freedom. This system of equations controls each Risley prism individually as a planar manipulator arm of two links. In order to evaluate the algorithm we implement it in a pointing system. We perform popular routines such as the linear, spiral and loops traces. Using forward and inverse solutions for two-element Risley prism it is also possible to point at coordinates specified by the user, provided they are within the pointer area of work area. Experimental results are showed as a validation of our proposal.

Searching for the Perseus arm in the anticenter direction

Directory of Open Access Journals (Sweden)

Figueras F.

2012-02-01

Full Text Available Here we propose a two step approach to provide new insights on the outer spiral arm pattern of the Milky Way: 1 a Strömgren photometric survey to map the stellar space density of moderate young type stars tracing the Perseus arm, and 2 a spectroscopic survey to determine the velocity perturbation due to the density wave through accurate Radial Velocity (RV, hereafter. First reduced preliminary data suggest an overdensity around 1.5–2 kpc, probably associated with the Perseus arm. Results from this project will present a significant step towards mapping the spiral structure between the second and the third galactic quadrant, where the determination of kinematic distances is not possible.

Application of the unwrapped phase inversion to land data without source estimation

KAUST Repository

Choi, Yun Seok

2015-08-19

Unwrapped phase inversion with a strong damping was developed to solve the phase wrapping problem in frequency-domain waveform inversion. In this study, we apply the unwrapped phase inversion to band-limited real land data, for which the available minimum frequency is quite high. An important issue of the data is a strong ambiguity of source-ignition time (or source shift) shown in a seismogram. A source-estimation approach does not fully address the issue of source shift, since the velocity model and the source wavelet are updated simultaneously and interact with each other. We suggest a source-independent unwrapped phase inversion approach instead of relying on source-estimation from this land data. In the source-independent approach, the phase of the modeled data converges not to the exact phase value of the observed data, but to the relative phase value (or the trend of phases); thus it has the potential to solve the ambiguity of source-ignition time in a seismogram and work better than the source-estimation approach. Numerical examples show the validation of the source-independent unwrapped phase inversion, especially for land field data having an ambiguity in the source-ignition time.

Have Third-World Arms Industries Reduced Arms Imports?

OpenAIRE

Looney, R.E.

1989-01-01

Current Research on Peace and Violence, no. 1, 1989. Refereed Journal Article In 1945 only Argentina, Brazil, India and South Africa in the Third World possessed domestic arms industries which produced weapons systems other than small arms and ammunition (SIPRI, 1987, 76).

Inverse scattering problems with multi-frequencies

International Nuclear Information System (INIS)

Bao, Gang; Li, Peijun; Lin, Junshan; Triki, Faouzi

2015-01-01

This paper is concerned with computational approaches and mathematical analysis for solving inverse scattering problems in the frequency domain. The problems arise in a diverse set of scientific areas with significant industrial, medical, and military applications. In addition to nonlinearity, there are two common difficulties associated with the inverse problems: ill-posedness and limited resolution (diffraction limit). Due to the diffraction limit, for a given frequency, only a low spatial frequency part of the desired parameter can be observed from measurements in the far field. The main idea developed here is that if the reconstruction is restricted to only the observable part, then the inversion will become stable. The challenging task is how to design stable numerical methods for solving these inverse scattering problems inspired by the diffraction limit. Recently, novel recursive linearization based algorithms have been presented in an attempt to answer the above question. These methods require multi-frequency scattering data and proceed via a continuation procedure with respect to the frequency from low to high. The objective of this paper is to give a brief review of these methods, their error estimates, and the related mathematical analysis. More attention is paid to the inverse medium and inverse source problems. Numerical experiments are included to illustrate the effectiveness of these methods. (topical review)

A new approach to the inverse problem for current mapping in thin-film superconductors

Science.gov (United States)

Zuber, J. W.; Wells, F. S.; Fedoseev, S. A.; Johansen, T. H.; Rosenfeld, A. B.; Pan, A. V.

2018-03-01

A novel mathematical approach has been developed to complete the inversion of the Biot-Savart law in one- and two-dimensional cases from measurements of the perpendicular component of the magnetic field using the well-developed Magneto-Optical Imaging technique. Our approach, especially in the 2D case, is provided in great detail to allow a straightforward implementation as opposed to those found in the literature. Our new approach also refines our previous results for the 1D case [Johansen et al., Phys. Rev. B 54, 16264 (1996)], and streamlines the method developed by Jooss et al. [Physica C 299, 215 (1998)] deemed as the most accurate if compared to that of Roth et al. [J. Appl. Phys. 65, 361 (1989)]. We also verify and streamline the iterative technique, which was developed following Laviano et al. [Supercond. Sci. Technol. 16, 71 (2002)] to account for in-plane magnetic fields caused by the bending of the applied magnetic field due to the demagnetising effect. After testing on magneto-optical images of a high quality YBa2Cu3O7 superconducting thin film, we show that the procedure employed is effective.

Continuum robot arms inspired by cephalopods

Science.gov (United States)

Walker, Ian D.; Dawson, Darren M.; Flash, Tamar; Grasso, Frank W.; Hanlon, Roger T.; Hochner, Binyamin; Kier, William M.; Pagano, Christopher C.; Rahn, Christopher D.; Zhang, Qiming M.

2005-05-01

In this paper, we describe our recent results in the development of a new class of soft, continuous backbone ("continuum") robot manipulators. Our work is strongly motivated by the dexterous appendages found in cephalopods, particularly the arms and suckers of octopus, and the arms and tentacles of squid. Our ongoing investigation of these animals reveals interesting and unexpected functional aspects of their structure and behavior. The arrangement and dynamic operation of muscles and connective tissue observed in the arms of a variety of octopus species motivate the underlying design approach for our soft manipulators. These artificial manipulators feature biomimetic actuators, including artificial muscles based on both electro-active polymers (EAP) and pneumatic (McKibben) muscles. They feature a "clean" continuous backbone design, redundant degrees of freedom, and exhibit significant compliance that provides novel operational capacities during environmental interaction and object manipulation. The unusual compliance and redundant degrees of freedom provide strong potential for application to delicate tasks in cluttered and/or unstructured environments. Our aim is to endow these compliant robotic mechanisms with the diverse and dexterous grasping behavior observed in octopuses. To this end, we are conducting fundamental research into the manipulation tactics, sensory biology, and neural control of octopuses. This work in turn leads to novel approaches to motion planning and operator interfaces for the robots. The paper describes the above efforts, along with the results of our development of a series of continuum tentacle-like robots, demonstrating the unique abilities of biologically-inspired design.

Arm Pain

Science.gov (United States)

... be a sign of a heart attack. Seek emergency treatment if you have: Arm, shoulder or back ... http://www.mayoclinic.org/symptoms/arm-pain/basics/definition/SYM-20050870 . Mayo Clinic Footer Legal Conditions and ...

Intra-operative adjustment of standard planes in C-arm CT image data.

Science.gov (United States)

Brehler, Michael; Görres, Joseph; Franke, Jochen; Barth, Karl; Vetter, Sven Y; Grützner, Paul A; Meinzer, Hans-Peter; Wolf, Ivo; Nabers, Diana

2016-03-01

With the help of an intra-operative mobile C-arm CT, medical interventions can be verified and corrected, avoiding the need for a post-operative CT and a second intervention. An exact adjustment of standard plane positions is necessary for the best possible assessment of the anatomical regions of interest but the mobility of the C-arm causes the need for a time-consuming manual adjustment. In this article, we present an automatic plane adjustment at the example of calcaneal fractures. We developed two feature detection methods (2D and pseudo-3D) based on SURF key points and also transferred the SURF approach to 3D. Combined with an atlas-based registration, our algorithm adjusts the standard planes of the calcaneal C-arm images automatically. The robustness of the algorithms is evaluated using a clinical data set. Additionally, we tested the algorithm's performance for two registration approaches, two resolutions of C-arm images and two methods for metal artifact reduction. For the feature extraction, the novel 3D-SURF approach performs best. As expected, a higher resolution ([Formula: see text] voxel) leads also to more robust feature points and is therefore slightly better than the [Formula: see text] voxel images (standard setting of device). Our comparison of two different artifact reduction methods and the complete removal of metal in the images shows that our approach is highly robust against artifacts and the number and position of metal implants. By introducing our fast algorithmic processing pipeline, we developed the first steps for a fully automatic assistance system for the assessment of C-arm CT images.

Measures for regional security and arms control in the South-East Asian area

International Nuclear Information System (INIS)

Uren, R.T.

1992-01-01

The subject of regional security and arms control in the South-East Asia raises some new and difficult issues. No approach to ensuring regional security could be complete without military dimension including the following categories: regional arms control; global arms control measure; confidence building measures that are designed to enhance the transparency of defense policies; confidence building measures that encourage cooperation among the military forces in the region

Theory of the inverse Faraday effect in metals

International Nuclear Information System (INIS)

Hertel, Riccardo

2006-01-01

An analytic expression is given for the inverse Faraday effect, i.e., for the magnetization occurring in a transparent medium exposed to a circularly polarized high-frequency electromagnetic wave. Using a microscopic approach based on the Drude approximation of a free-electron gas, the magnetization of the medium due to the inverse Faraday effect is identified as the result of microscopic solenoidal currents generated by the electromagnetic wave. In contrast to the better known phenomenological derivation, this microscopic treatment provides important information on the frequency dependence of the inverse Faraday effect

Improvement of arm solutions via step width self-tuning algorithm

International Nuclear Information System (INIS)

Sasaki, Shinobu

1993-09-01

This paper is concerned with the significant numerical problems encountered in solving the manipulator inverse kinematics. That is, essential difficulties occurred in linearized calculations such as dependence on initial guess or narrow search region are improved with great success by means of a step width self-tuning algorithm. In a practical optimization model based on the reduction of dimensionality and linearized approximation, it is shown that the desired arm solutions are found out at a faster rate over a wider application range. Also, the capability of finding solutions via a traditional Newton method is enhanced to a large extent by combined application of the proposed idea and simplex method. (author)

Applications of inverse and algebraic scattering theories

Energy Technology Data Exchange (ETDEWEB)

Amos, K. [Qinghua Univ., Beijing, BJ (China). Dept. of Physics

1997-06-01

Inverse scattering theories, algebraic scattering theory and exactly solvable scattering potentials are diverse ways by which scattering potentials can be defined from S-functions specified by fits to fixed energy, quantal scattering data. Applications have been made in nuclear (heavy ion and nucleon-nucleus scattering), atomic and molecular (electron scattering from simple molecules) systems. Three inverse scattering approaches are considered in detail; the semiclassical WKB and fully quantal Lipperheide-Fiedeldey method, than algebraic scattering theory is applied to heavy ion scattering and finally the exactly solvable Ginocchio potentials. Some nuclear results are ambiguous but the atomic and molecular inversion potentials are in good agreement with postulated forms. 21 refs., 12 figs.

The Source Inversion Validation (SIV) Initiative: A Collaborative Study on Uncertainty Quantification in Earthquake Source Inversions

Science.gov (United States)

Mai, P. M.; Schorlemmer, D.; Page, M.

2012-04-01

Earthquake source inversions image the spatio-temporal rupture evolution on one or more fault planes using seismic and/or geodetic data. Such studies are critically important for earthquake seismology in general, and for advancing seismic hazard analysis in particular, as they reveal earthquake source complexity and help (i) to investigate earthquake mechanics; (ii) to develop spontaneous dynamic rupture models; (iii) to build models for generating rupture realizations for ground-motion simulations. In applications (i - iii), the underlying finite-fault source models are regarded as "data" (input information), but their uncertainties are essentially unknown. After all, source models are obtained from solving an inherently ill-posed inverse problem to which many a priori assumptions and uncertain observations are applied. The Source Inversion Validation (SIV) project is a collaborative effort to better understand the variability between rupture models for a single earthquake (as manifested in the finite-source rupture model database) and to develop robust uncertainty quantification for earthquake source inversions. The SIV project highlights the need to develop a long-standing and rigorous testing platform to examine the current state-of-the-art in earthquake source inversion, and to develop and test novel source inversion approaches. We will review the current status of the SIV project, and report the findings and conclusions of the recent workshops. We will briefly discuss several source-inversion methods, how they treat uncertainties in data, and assess the posterior model uncertainty. Case studies include initial forward-modeling tests on Green's function calculations, and inversion results for synthetic data from spontaneous dynamic crack-like strike-slip earthquake on steeply dipping fault, embedded in a layered crustal velocity-density structure.

An innovative approach for modeling and simulation of an automated industrial robotic arm operated electro-pneumatically

Science.gov (United States)

Popa, L.; Popa, V.

2017-08-01

The article is focused on modeling an automated industrial robotic arm operated electro-pneumatically and to simulate the robotic arm operation. It is used the graphic language FBD (Function Block Diagram) to program the robotic arm on Zelio Logic automation. The innovative modeling and simulation procedures are considered specific problems regarding the development of a new type of technical products in the field of robotics. Thus, were identified new applications of a Programmable Logic Controller (PLC) as a specialized computer performing control functions with a variety of high levels of complexit.

Planktonic food webs revisited: Reanalysis of results from the linear inverse approach

Science.gov (United States)

Hlaili, Asma Sakka; Niquil, Nathalie; Legendre, Louis

2014-01-01

Identification of the trophic pathway that dominates a given planktonic assemblage is generally based on the distribution of biomasses among food-web compartments, or better, the flows of materials or energy among compartments. These flows are obtained by field observations and a posteriori analyses, including the linear inverse approach. In the present study, we re-analysed carbon flows obtained by inverse analysis at 32 stations in the global ocean and one large lake. Our results do not support two "classical" views of plankton ecology, i.e. that the herbivorous food web is dominated by mesozooplankton grazing on large phytoplankton, and the microbial food web is based on microzooplankton significantly consuming bacteria; our results suggest instead that phytoplankton are generally grazed by microzooplankton, of which they are the main food source. Furthermore, we identified the "phyto-microbial food web", where microzooplankton largely feed on phytoplankton, in addition to the already known "poly-microbial food web", where microzooplankton consume more or less equally various types of food. These unexpected results led to a (re)definition of the conceptual models corresponding to the four trophic pathways we found to exist in plankton, i.e. the herbivorous, multivorous, and two types of microbial food web. We illustrated the conceptual trophic pathways using carbon flows that were actually observed at representative stations. The latter can be calibrated to correspond to any field situation. Our study also provides researchers and managers with operational criteria for identifying the dominant trophic pathway in a planktonic assemblage, these criteria being based on the values of two carbon ratios that could be calculated from flow values that are relatively easy to estimate in the field.

Investigation of inversion polymorphisms in the human genome using principal components analysis.

Science.gov (United States)

Ma, Jianzhong; Amos, Christopher I

2012-01-01

Despite the significant advances made over the last few years in mapping inversions with the advent of paired-end sequencing approaches, our understanding of the prevalence and spectrum of inversions in the human genome has lagged behind other types of structural variants, mainly due to the lack of a cost-efficient method applicable to large-scale samples. We propose a novel method based on principal components analysis (PCA) to characterize inversion polymorphisms using high-density SNP genotype data. Our method applies to non-recurrent inversions for which recombination between the inverted and non-inverted segments in inversion heterozygotes is suppressed due to the loss of unbalanced gametes. Inside such an inversion region, an effect similar to population substructure is thus created: two distinct "populations" of inversion homozygotes of different orientations and their 1:1 admixture, namely the inversion heterozygotes. This kind of substructure can be readily detected by performing PCA locally in the inversion regions. Using simulations, we demonstrated that the proposed method can be used to detect and genotype inversion polymorphisms using unphased genotype data. We applied our method to the phase III HapMap data and inferred the inversion genotypes of known inversion polymorphisms at 8p23.1 and 17q21.31. These inversion genotypes were validated by comparing with literature results and by checking Mendelian consistency using the family data whenever available. Based on the PCA-approach, we also performed a preliminary genome-wide scan for inversions using the HapMap data, which resulted in 2040 candidate inversions, 169 of which overlapped with previously reported inversions. Our method can be readily applied to the abundant SNP data, and is expected to play an important role in developing human genome maps of inversions and exploring associations between inversions and susceptibility of diseases.

Two siblings with alternate unbalanced recombinants derived from a large cryptic maternal pericentric inversion of chromosome 20.

Science.gov (United States)

Descipio, Cheryl; Morrissette, Jennifer D; Conlin, Laura K; Clark, Dinah; Kaur, Maninder; Coplan, James; Riethman, Harold; Spinner, Nancy B; Krantz, Ian D

2010-02-01

Two brothers, with dissimilar clinical features, were each found to have different abnormalities of chromosome 20 by subtelomere fluorescence in situ hybridization (FISH). The proband had deletion of 20p subtelomere and duplication of 20q subtelomere, while his brother was found to have a duplication of 20p subtelomere and deletion of 20q subtelomere. Parental cytogenetic studies were initially thought to be normal, both by G-banding and by subtelomere FISH analysis. Since chromosome 20 is a metacentric chromosome and an inversion was suspected, we used anchored FISH to assist in identifying a possible inversion. This approach employed concomitant hybridization of a FISH probe to the short (p) arm of chromosome 20 with the 20q subtelomere probe. We identified a cytogenetically non-visible, mosaic pericentric inversion of one of the maternal chromosome 20 homologs, providing a mechanistic explanation for the chromosomal abnormalities present in these brothers. Array comparative genomic hybridization (CGH) with both a custom-made BAC and cosmid-based subtelomere specific array (TEL array) and a commercially available SNP-based array confirmed and further characterized these rearrangements, identifying this as the largest pericentric inversion of chromosome 20 described to date. TEL array data indicate that the 20p breakpoint is defined by BAC RP11-978M13, approximately 900 kb from the pter; SNP array data reveal this breakpoint to occur within BAC RP11-978M13. The 20q breakpoint is defined by BAC RP11-93B14, approximately 1.7 Mb from the qter, by TEL array; SNP array data refine this breakpoint to within a gap between BACs on the TEL array (i.e., between RP11-93B14 and proximal BAC RP11-765G16). Copyright 2010 Wiley-Liss, Inc.

Intersections, ideals, and inversion

International Nuclear Information System (INIS)

Vasco, D.W.

1998-01-01

Techniques from computational algebra provide a framework for treating large classes of inverse problems. In particular, the discretization of many types of integral equations and of partial differential equations with undetermined coefficients lead to systems of polynomial equations. The structure of the solution set of such equations may be examined using algebraic techniques.. For example, the existence and dimensionality of the solution set may be determined. Furthermore, it is possible to bound the total number of solutions. The approach is illustrated by a numerical application to the inverse problem associated with the Helmholtz equation. The algebraic methods are used in the inversion of a set of transverse electric (TE) mode magnetotelluric data from Antarctica. The existence of solutions is demonstrated and the number of solutions is found to be finite, bounded from above at 50. The best fitting structure is dominantly one dimensional with a low crustal resistivity of about 2 ohm-m. Such a low value is compatible with studies suggesting lower surface wave velocities than found in typical stable cratons

Intersections, ideals, and inversion

Energy Technology Data Exchange (ETDEWEB)

Vasco, D.W.

1998-10-01

Techniques from computational algebra provide a framework for treating large classes of inverse problems. In particular, the discretization of many types of integral equations and of partial differential equations with undetermined coefficients lead to systems of polynomial equations. The structure of the solution set of such equations may be examined using algebraic techniques.. For example, the existence and dimensionality of the solution set may be determined. Furthermore, it is possible to bound the total number of solutions. The approach is illustrated by a numerical application to the inverse problem associated with the Helmholtz equation. The algebraic methods are used in the inversion of a set of transverse electric (TE) mode magnetotelluric data from Antarctica. The existence of solutions is demonstrated and the number of solutions is found to be finite, bounded from above at 50. The best fitting structure is dominantly onedimensional with a low crustal resistivity of about 2 ohm-m. Such a low value is compatible with studies suggesting lower surface wave velocities than found in typical stable cratons.

Comparison of Inversion (“flipping”) Rates Among Different Port Designs: A Single-Center Experience

International Nuclear Information System (INIS)

Etezadi, Vahid; Trerotola, Scott O.

2017-01-01

PurposeTo compare incidence of port inversion among different types of implantable venous access devices.Materials and Methods Records of patients who underwent imaging-guided subcutaneous port placement without port fixation between July 2001 and April 2015 were reviewed with use of a quality assurance database. 1930 patients with complete follow-up (death or explant) were included in the study. Collected data included date and indication for port placement, port type, venous access site, immediate and long-term complications, indication for removal, and total number of catheter days. BMI of patients with inverted ports was also calculated.Results Port inversion within the pocket was observed in 18 patients (0.9%) including 7/82 (9%) of Dignity ports, 4/126 (3%) of Vaxcel plastic arm ports, 3/142 (2%) of Smartports, 2/100 (2%) of Powerports, 1/14 (7%) of Vaccess ports, and 1/1421 (0.07%) of Vortex LP ports. Among these designs, the inversion rate was significantly lower in Vortex LP ports (0.1%) (P < 0.05). There was a trend toward higher inversion rate of Dignity ports, which have a rectangular design with a relatively narrow base. Mean dwell in inverted ports was 114 days (7–580).Conclusion The incidence of port inversion without suture fixation of the port base to the pocket is extremely low. The present study shows differences in inversion incidence based on port design.Level of Evidence: Case Series, Level IV.

Comparison of Inversion (“flipping”) Rates Among Different Port Designs: A Single-Center Experience

Energy Technology Data Exchange (ETDEWEB)

Etezadi, Vahid, E-mail: vahid.etezadi@umm.edu; Trerotola, Scott O., E-mail: streroto@uphs.upenn.edu [University of Pennsylvania Medical Center, Division of Interventional Radiology, Department of Radiology (United States)

2017-04-15

PurposeTo compare incidence of port inversion among different types of implantable venous access devices.Materials and Methods Records of patients who underwent imaging-guided subcutaneous port placement without port fixation between July 2001 and April 2015 were reviewed with use of a quality assurance database. 1930 patients with complete follow-up (death or explant) were included in the study. Collected data included date and indication for port placement, port type, venous access site, immediate and long-term complications, indication for removal, and total number of catheter days. BMI of patients with inverted ports was also calculated.Results Port inversion within the pocket was observed in 18 patients (0.9%) including 7/82 (9%) of Dignity ports, 4/126 (3%) of Vaxcel plastic arm ports, 3/142 (2%) of Smartports, 2/100 (2%) of Powerports, 1/14 (7%) of Vaccess ports, and 1/1421 (0.07%) of Vortex LP ports. Among these designs, the inversion rate was significantly lower in Vortex LP ports (0.1%) (P < 0.05). There was a trend toward higher inversion rate of Dignity ports, which have a rectangular design with a relatively narrow base. Mean dwell in inverted ports was 114 days (7–580).Conclusion The incidence of port inversion without suture fixation of the port base to the pocket is extremely low. The present study shows differences in inversion incidence based on port design.Level of Evidence: Case Series, Level IV.

Inverse photoemission

International Nuclear Information System (INIS)

Namatame, Hirofumi; Taniguchi, Masaki

1994-01-01

Photoelectron spectroscopy is regarded as the most powerful means since it can measure almost perfectly the occupied electron state. On the other hand, inverse photoelectron spectroscopy is the technique for measuring unoccupied electron state by using the inverse process of photoelectron spectroscopy, and in principle, the similar experiment to photoelectron spectroscopy becomes feasible. The development of the experimental technology for inverse photoelectron spectroscopy has been carried out energetically by many research groups so far. At present, the heightening of resolution of inverse photoelectron spectroscopy, the development of inverse photoelectron spectroscope in which light energy is variable and so on are carried out. But the inverse photoelectron spectroscope for vacuum ultraviolet region is not on the market. In this report, the principle of inverse photoelectron spectroscopy and the present state of the spectroscope are described, and the direction of the development hereafter is groped. As the experimental equipment, electron guns, light detectors and so on are explained. As the examples of the experiment, the inverse photoelectron spectroscopy of semimagnetic semiconductors and resonance inverse photoelectron spectroscopy are reported. (K.I.)

Efficient Inversion of Mult-frequency and Multi-Source Electromagnetic Data

Energy Technology Data Exchange (ETDEWEB)

Gary D. Egbert

2007-03-22

The project covered by this report focused on development of efficient but robust non-linear inversion algorithms for electromagnetic induction data, in particular for data collected with multiple receivers, and multiple transmitters, a situation extremely common in eophysical EM subsurface imaging methods. A key observation is that for such multi-transmitter problems each step in commonly used linearized iterative limited memory search schemes such as conjugate gradients (CG) requires solution of forward and adjoint EM problems for each of the N frequencies or sources, essentially generating data sensitivities for an N dimensional data-subspace. These multiple sensitivities allow a good approximation to the full Jacobian of the data mapping to be built up in many fewer search steps than would be required by application of textbook optimization methods, which take no account of the multiplicity of forward problems that must be solved for each search step. We have applied this idea to a develop a hybrid inversion scheme that combines features of the iterative limited memory type methods with a Newton-type approach using a partial calculation of the Jacobian. Initial tests on 2D problems show that the new approach produces results essentially identical to a Newton type Occam minimum structure inversion, while running more rapidly than an iterative (fixed regularization parameter) CG style inversion. Memory requirements, while greater than for something like CG, are modest enough that even in 3D the scheme should allow 3D inverse problems to be solved on a common desktop PC, at least for modest (~ 100 sites, 15-20 frequencies) data sets. A secondary focus of the research has been development of a modular system for EM inversion, using an object oriented approach. This system has proven useful for more rapid prototyping of inversion algorithms, in particular allowing initial development and testing to be conducted with two-dimensional example problems, before

Hybrid inverse design method for nonlifting bodies in incompressible flow

CSIR Research Space (South Africa)

Broughton, BA

2006-11-01

Full Text Available A methodology for the inverse design of non-lifting axisymmetric bodies in compressible flow is presented. In this method, an inverse design approach based on conformal mapping is used to design a set of airfoils in isolation. These airfoils...

Cerebellum-inspired neural network solution of the inverse kinematics problem.

Science.gov (United States)

Asadi-Eydivand, Mitra; Ebadzadeh, Mohammad Mehdi; Solati-Hashjin, Mehran; Darlot, Christian; Abu Osman, Noor Azuan

2015-12-01

The demand today for more complex robots that have manipulators with higher degrees of freedom is increasing because of technological advances. Obtaining the precise movement for a desired trajectory or a sequence of arm and positions requires the computation of the inverse kinematic (IK) function, which is a major problem in robotics. The solution of the IK problem leads robots to the precise position and orientation of their end-effector. We developed a bioinspired solution comparable with the cerebellar anatomy and function to solve the said problem. The proposed model is stable under all conditions merely by parameter determination, in contrast to recursive model-based solutions, which remain stable only under certain conditions. We modified the proposed model for the simple two-segmented arm to prove the feasibility of the model under a basic condition. A fuzzy neural network through its learning method was used to compute the parameters of the system. Simulation results show the practical feasibility and efficiency of the proposed model in robotics. The main advantage of the proposed model is its generalizability and potential use in any robot.

Human-like behavior of robot arms: general considerations and the handwriting task-part II: The robot arm in handwriting

NARCIS (Netherlands)

Potkonjak, V.; Kostic, D.; Tzafestas, S.; Popovic, M.; Lazarevic, M.; Djordjevic, G.

2001-01-01

This paper (Part II) investigates the motion of a redundant anthropomorphic arm during the writing task. Two approaches are applied. The first is based on the concept of distributed positioning which is suitable to model the "writing" task before the occurrence of fatigue symptoms. The second

The Fukushima releases: an inverse modelling approach to assess the source term by using gamma dose rate observations

Science.gov (United States)

Saunier, Olivier; Mathieu, Anne; Didier, Damien; Tombette, Marilyne; Quélo, Denis; Winiarek, Victor; Bocquet, Marc

2013-04-01

The Chernobyl nuclear accident and more recently the Fukushima accident highlighted that the largest source of error on consequences assessment is the source term estimation including the time evolution of the release rate and its distribution between radioisotopes. Inverse modelling methods have proved to be efficient to assess the source term due to accidental situation (Gudiksen, 1989, Krysta and Bocquet, 2007, Stohl et al 2011, Winiarek et al 2012). These methods combine environmental measurements and atmospheric dispersion models. They have been recently applied to the Fukushima accident. Most existing approaches are designed to use air sampling measurements (Winiarek et al, 2012) and some of them use also deposition measurements (Stohl et al, 2012, Winiarek et al, 2013). During the Fukushima accident, such measurements are far less numerous and not as well distributed within Japan than the dose rate measurements. To efficiently document the evolution of the contamination, gamma dose rate measurements were numerous, well distributed within Japan and they offered a high temporal frequency. However, dose rate data are not as easy to use as air sampling measurements and until now they were not used in inverse modelling approach. Indeed, dose rate data results from all the gamma emitters present in the ground and in the atmosphere in the vicinity of the receptor. They do not allow one to determine the isotopic composition or to distinguish the plume contribution from wet deposition. The presented approach proposes a way to use dose rate measurement in inverse modeling approach without the need of a-priori information on emissions. The method proved to be efficient and reliable when applied on the Fukushima accident. The emissions for the 8 main isotopes Xe-133, Cs-134, Cs-136, Cs-137, Ba-137m, I-131, I-132 and Te-132 have been assessed. The Daiichi power plant events (such as ventings, explosions…) known to have caused atmospheric releases are well identified in

Electromechanical and robot-assisted arm training for improving activities of daily living, arm function, and arm muscle strength after stroke.

Science.gov (United States)

Mehrholz, Jan; Pohl, Marcus; Platz, Thomas; Kugler, Joachim; Elsner, Bernhard

2015-11-07

Electromechanical and robot-assisted arm training devices are used in rehabilitation, and may help to improve arm function after stroke. To assess the effectiveness of electromechanical and robot-assisted arm training for improving activities of daily living, arm function, and arm muscle strength in people after stroke. We also assessed the acceptability and safety of the therapy. We searched the Cochrane Stroke Group's Trials Register (last searched February 2015), the Cochrane Central Register of Controlled Trials (CENTRAL) (the Cochrane Library 2015, Issue 3), MEDLINE (1950 to March 2015), EMBASE (1980 to March 2015), CINAHL (1982 to March 2015), AMED (1985 to March 2015), SPORTDiscus (1949 to March 2015), PEDro (searched April 2015), Compendex (1972 to March 2015), and Inspec (1969 to March 2015). We also handsearched relevant conference proceedings, searched trials and research registers, checked reference lists, and contacted trialists, experts, and researchers in our field, as well as manufacturers of commercial devices. Randomised controlled trials comparing electromechanical and robot-assisted arm training for recovery of arm function with other rehabilitation or placebo interventions, or no treatment, for people after stroke. Two review authors independently selected trials for inclusion, assessed trial quality and risk of bias, and extracted data. We contacted trialists for additional information. We analysed the results as standardised mean differences (SMDs) for continuous variables and risk differences (RDs) for dichotomous variables. We included 34 trials (involving 1160 participants) in this update of our review. Electromechanical and robot-assisted arm training improved activities of daily living scores (SMD 0.37, 95% confidence interval (CI) 0.11 to 0.64, P = 0.005, I² = 62%), arm function (SMD 0.35, 95% CI 0.18 to 0.51, P arm muscle strength (SMD 0.36, 95% CI 0.01 to 0.70, P = 0.04, I² = 72%), but the quality of the evidence was low to very low

A robust probabilistic approach for variational inversion in shallow water acoustic tomography

International Nuclear Information System (INIS)

Berrada, M; Badran, F; Crépon, M; Thiria, S; Hermand, J-P

2009-01-01

This paper presents a variational methodology for inverting shallow water acoustic tomography (SWAT) measurements. The aim is to determine the vertical profile of the speed of sound c(z), knowing the acoustic pressures generated by a frequency source and collected by a sparse vertical hydrophone array (VRA). A variational approach that minimizes a cost function measuring the distance between observations and their modeled equivalents is used. A regularization term in the form of a quadratic restoring term to a background is also added. To avoid inverting the variance–covariance matrix associated with the above-weighted quadratic background, this work proposes to model the sound speed vector using probabilistic principal component analysis (PPCA). The PPCA introduces an optimum reduced number of non-correlated latent variables η, which determine a new control vector and a new regularization term, expressed as η T η. The PPCA represents a rigorous formalism for the use of a priori information and allows an efficient implementation of the variational inverse method

The lure of disarmament and arms reduction

International Nuclear Information System (INIS)

Paris, H.

2011-01-01

Nuclear disarmament and arms reduction do not have the same aims. Confusing their definitions means misunderstanding the logic which currently drives the power calculations of yesterday's Great Powers, and their associated approaches to the new strategic actor: China. The author knows the subject well from personal experience. (author)

A genetic meta-algorithm-assisted inversion approach: hydrogeological study for the determination of volumetric rock properties and matrix and fluid parameters in unsaturated formations

Science.gov (United States)

Szabó, Norbert Péter

2018-03-01

An evolutionary inversion approach is suggested for the interpretation of nuclear and resistivity logs measured by direct-push tools in shallow unsaturated sediments. The efficiency of formation evaluation is improved by estimating simultaneously (1) the petrophysical properties that vary rapidly along a drill hole with depth and (2) the zone parameters that can be treated as constant, in one inversion procedure. In the workflow, the fractional volumes of water, air, matrix and clay are estimated in adjacent depths by linearized inversion, whereas the clay and matrix properties are updated using a float-encoded genetic meta-algorithm. The proposed inversion method provides an objective estimate of the zone parameters that appear in the tool response equations applied to solve the forward problem, which can significantly increase the reliability of the petrophysical model as opposed to setting these parameters arbitrarily. The global optimization meta-algorithm not only assures the best fit between the measured and calculated data but also gives a reliable solution, practically independent of the initial model, as laboratory data are unnecessary in the inversion procedure. The feasibility test uses engineering geophysical sounding logs observed in an unsaturated loessy-sandy formation in Hungary. The multi-borehole extension of the inversion technique is developed to determine the petrophysical properties and their estimation errors along a profile of drill holes. The genetic meta-algorithmic inversion method is recommended for hydrogeophysical logging applications of various kinds to automatically extract the volumetric ratios of rock and fluid constituents as well as the most important zone parameters in a reliable inversion procedure.

PCR-based karyotyping of Anopheles gambiae inversion 2Rj identifies the BAMAKO chromosomal form

Directory of Open Access Journals (Sweden)

Conway David J

2007-10-01

Full Text Available Abstract Background The malaria vector Anopheles gambiae is polymorphic for chromosomal inversions on the right arm of chromosome 2 that segregate nonrandomly between assortatively mating populations in West Africa. One such inversion, 2Rj, is associated with the BAMAKO chromosomal form endemic to southern Mali and northern Guinea Conakry near the Niger River. Although it exploits a unique ecology and both molecular and chromosomal data suggest reduced gene flow between BAMAKO and other A. gambiae populations, no molecular markers exist to identify this form. Methods To facilitate study of the BAMAKO form, a PCR assay for molecular karyotyping of 2Rj was developed based on sequences at the breakpoint junctions. The assay was extensively validated using more than 700 field specimens whose karyotypes were determined in parallel by cytogenetic and molecular methods. As inversion 2Rj also occurs in SAVANNA populations outside the geographic range of BAMAKO, samples were tested from Senegal, Cameroon and western Guinea Conakry as well as from Mali. Results In southern Mali, where 2Rj polymorphism in SAVANNA populations was very low and most of the 2Rj homozygotes were found in BAMAKO karyotypes, the molecular and cytogenetic methods were almost perfectly congruent. Elsewhere agreement between the methods was much poorer, as the molecular assay frequently misclassified 2Rj heterozygotes as 2R+j standard homozygotes. Conclusion Molecular karyotyping of 2Rj is robust and accurate on 2R+j standard and 2Rj inverted homozygotes. Therefore, the proposed approach overcomes the lack of a rapid tool for identifying the BAMAKO form across developmental stages and sexes, and opens new perspectives for the study of BAMAKO ecology and behaviour. On the other hand, the method should not be applied for molecular karyotyping of j-carriers within the SAVANNA chromosomal form.

Elastic reflection based waveform inversion with a nonlinear approach

KAUST Repository

Guo, Qiang

2017-08-16

Full waveform inversion (FWI) is a highly nonlinear problem due to the complex reflectivity of the Earth, and this nonlinearity only increases under the more expensive elastic assumption. In elastic media, we need a good initial P-wave velocity and even a better initial S-wave velocity models with accurate representation of the low model wavenumbers for FWI to converge. However, inverting for the low wavenumber components of P- and S-wave velocities using reflection waveform inversion (RWI) with an objective to fit the reflection shape, rather than produce reflections, may mitigate the limitations of FWI. Because FWI, performing as a migration operator, is in preference of the high wavenumber updates along reflectors. We propose a nonlinear elastic RWI that inverts for both the low wavenumber and perturbation components of the P- and S-wave velocities. To generate the full elastic reflection wavefields, we derive an equivalent stress source made up by the inverted model perturbations and incident wavefields. We update both the perturbation and propagation parts of the velocity models in a nested fashion. Applications on synthetic isotropic models and field data show that our method can efficiently update the low and high wavenumber parts of the models.

Elastic reflection based waveform inversion with a nonlinear approach

KAUST Repository

Guo, Qiang; Alkhalifah, Tariq Ali

2017-01-01

Full waveform inversion (FWI) is a highly nonlinear problem due to the complex reflectivity of the Earth, and this nonlinearity only increases under the more expensive elastic assumption. In elastic media, we need a good initial P-wave velocity and even a better initial S-wave velocity models with accurate representation of the low model wavenumbers for FWI to converge. However, inverting for the low wavenumber components of P- and S-wave velocities using reflection waveform inversion (RWI) with an objective to fit the reflection shape, rather than produce reflections, may mitigate the limitations of FWI. Because FWI, performing as a migration operator, is in preference of the high wavenumber updates along reflectors. We propose a nonlinear elastic RWI that inverts for both the low wavenumber and perturbation components of the P- and S-wave velocities. To generate the full elastic reflection wavefields, we derive an equivalent stress source made up by the inverted model perturbations and incident wavefields. We update both the perturbation and propagation parts of the velocity models in a nested fashion. Applications on synthetic isotropic models and field data show that our method can efficiently update the low and high wavenumber parts of the models.

Space Objects Maneuvering Detection and Prediction via Inverse Reinforcement Learning

Science.gov (United States)

Linares, R.; Furfaro, R.

This paper determines the behavior of Space Objects (SOs) using inverse Reinforcement Learning (RL) to estimate the reward function that each SO is using for control. The approach discussed in this work can be used to analyze maneuvering of SOs from observational data. The inverse RL problem is solved using the Feature Matching approach. This approach determines the optimal reward function that a SO is using while maneuvering by assuming that the observed trajectories are optimal with respect to the SO's own reward function. This paper uses estimated orbital elements data to determine the behavior of SOs in a data-driven fashion.

Recurrent Neural Network Approach Based on the Integral Representation of the Drazin Inverse.

Science.gov (United States)

Stanimirović, Predrag S; Živković, Ivan S; Wei, Yimin

2015-10-01

In this letter, we present the dynamical equation and corresponding artificial recurrent neural network for computing the Drazin inverse for arbitrary square real matrix, without any restriction on its eigenvalues. Conditions that ensure the stability of the defined recurrent neural network as well as its convergence toward the Drazin inverse are considered. Several illustrative examples present the results of computer simulations.

ARM Airborne Carbon Measurements (ARM-ACME) and ARM-ACME 2.5 Final Campaign Reports

Energy Technology Data Exchange (ETDEWEB)

Biraud, S. C. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Tom, M. S. [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States); Sweeney, C. [NOAA Earth Systems Research Lab., Boulder, CO (United States)

2016-01-01

We report on a 5-year multi-institution and multi-agency airborne study of atmospheric composition and carbon cycling at the Atmospheric Radiation Measurement (ARM) Climate Research Facility’s Southern Great Plains (SGP) site, with scientific objectives that are central to the carbon-cycle and radiative-forcing goals of the U.S. Global Change Research Program and the North American Carbon Program (NACP). The goal of these measurements is to improve understanding of 1) the carbon exchange of the Atmospheric Radiation Measurement (ARM) SGP region; 2) how CO₂ and associated water and energy fluxes influence radiative-forcing, convective processes, and CO₂ concentrations over the ARM SGP region, and 3) how greenhouse gases are transported on continental scales.

Etude sur la prédiction de l'inversion de phase Phase Inversion Behavior for Liquid Dispersions

Directory of Open Access Journals (Sweden)

Decarre S.

2006-12-01

Full Text Available En écoulement diphasique eau-huile dans lequel une des phases est dispersée dans l'autre, il peut se produire sous certaine condition d'écoulement une inversion de phase, la phase continue devenant dispersée. Ce phénomène, qui contrôle la nature de la phase mouillant la paroi de la conduite dans laquelle s'écoulent les phases, a des conséquences importantes sur la corrosion et sur la perte de charge. Nous présentons un modèle d'inversion, basé sur une approche thermodynamique, valable pour tous les régimes d'écoulement. Les données expérimentales utilisées pour la validation du modèle sont issues d'une étude bibliographique. En écoulement laminaire, cette approche conduit à des résultats similaires à ceux du modèle de Yeh. Pour la plupart des données disponibles, ce modèle prédit bien la fraction critique pour laquelle l'inversion de phase se produit. In two phase oil-water dispersed flow, a phase inversion may occur whereby the continuous phase becomes dispersed. This phenomenon which controls the nature of the phase in contact with the pipe has a great importance on the corrosion and on the pressure drop. A model for the phase inversion is presented, it is based on a thermodynamic approach, and it is valid for all flow regimes. Experimental data from the litterature are used to validate the model. In laminar flow, this approach gives similar results to those obtained by Yeh. For most data, the model agrees well with the experimental data.

Targeted Capture and High-Throughput Sequencing Using Molecular Inversion Probes (MIPs).

Science.gov (United States)

Cantsilieris, Stuart; Stessman, Holly A; Shendure, Jay; Eichler, Evan E

2017-01-01

Molecular inversion probes (MIPs) in combination with massively parallel DNA sequencing represent a versatile, yet economical tool for targeted sequencing of genomic DNA. Several thousand genomic targets can be selectively captured using long oligonucleotides containing unique targeting arms and universal linkers. The ability to append sequencing adaptors and sample-specific barcodes allows large-scale pooling and subsequent high-throughput sequencing at relatively low cost per sample. Here, we describe a "wet bench" protocol detailing the capture and subsequent sequencing of >2000 genomic targets from 192 samples, representative of a single lane on the Illumina HiSeq 2000 platform.

DDR and the Internal Organization of Non-State Armed Groups

Directory of Open Access Journals (Sweden)

Brian McQuinn

2016-03-01

Full Text Available This paper argues that demobilization, disarmament and reintegration (DDR trajectories of non-state armed groups are shaped by a group’s internal organization. Extensive research by political scientists has demonstrated a correlation between internal features of armed groups and their behaviour (e.g. extent of violence used against local communities. I extend this analysis to DDR outcomes by illustrating how two features of an armed group’s internal organization – command profile and financing architecture – influence post-conflict DDR trajectories. To substantiate the theory, four case studies from Colombia, Nepal and Libya are reviewed. The article concludes with the limitations and opportunities of this approach, including the potential of predicting DDR challenges.

Genomic evidence for role of inversion 3RP of Drosophila melanogaster in facilitating climate change adaptation.

Science.gov (United States)

Rane, Rahul V; Rako, Lea; Kapun, Martin; Lee, Siu F; Hoffmann, Ary A

2015-05-01

Chromosomal inversion polymorphisms are common in animals and plants, and recent models suggest that alternative arrangements spread by capturing different combinations of alleles acting additively or epistatically to favour local adaptation. It is also thought that inversions typically maintain favoured combinations for a long time by suppressing recombination between alternative chromosomal arrangements. Here, we consider patterns of linkage disequilibrium and genetic divergence in an old inversion polymorphism in Drosophila melanogaster (In(3R)Payne) known to be associated with climate change adaptation and a recent invasion event into Australia. We extracted, karyotyped and sequenced whole chromosomes from two Australian populations, so that changes in the arrangement of the alleles between geographically separated tropical and temperate areas could be compared. Chromosome-wide linkage disequilibrium (LD) analysis revealed strong LD within the region spanned by In(3R)Payne. This genomic region also showed strong differentiation between the tropical and the temperate populations, but no differentiation between different karyotypes from the same population, after controlling for chromosomal arrangement. Patterns of differentiation across the chromosome arm and in gene ontologies were enhanced by the presence of the inversion. These data support the notion that inversions are strongly selected by bringing together combinations of genes, but it is still not clear if such combinations act additively or epistatically. Our data suggest that climatic adaptation through inversions can be dynamic, reflecting changes in the relative abundance of different forms of an inversion and ongoing evolution of allelic content within an inversion. © 2015 John Wiley & Sons Ltd.

New real space correlated-basis-functions approach for the electron correlations of the semiconductor inversion layer

International Nuclear Information System (INIS)

Feng Weiguo; Wang Hongwei; Wu Xiang

1989-12-01

Based on the real space Correlated-Basis-Functions theory and the collective oscillation behaviour of the electron gas with effective Coulomb interaction, the many body wave function is obtained for the quasi-two-dimensional electron system in the semiconductor inversion layer. The pair-correlation function and the correlation energy of the system have been calculated by the integro-differential method in this paper. The comparison with the other previous theoretical results is also made. The new theoretical approach and its numerical results show that the pair-correlation functions are definitely positive and satisfy the normalization condition. (author). 10 refs, 2 figs

Multisource waveform inversion of marine streamer data using normalized wavefield

KAUST Repository

Choi, Yun Seok

2013-09-01

Multisource full-waveform inversion based on the L1- and L2-norm objective functions cannot be applied to marine streamer data because it does not take into account the unmatched acquisition geometries between the observed and modeled data. To apply multisource full-waveform inversion to marine streamer data, we construct the L1- and L2-norm objective functions using the normalized wavefield. The new residual seismograms obtained from the L1- and L2-norms using the normalized wavefield mitigate the problem of unmatched acquisition geometries, which enables multisource full-waveform inversion to work with marine streamer data. In the new approaches using the normalized wavefield, we used the back-propagation algorithm based on the adjoint-state technique to efficiently calculate the gradients of the objective functions. Numerical examples showed that multisource full-waveform inversion using the normalized wavefield yields much better convergence for marine streamer data than conventional approaches. © 2013 Society of Exploration Geophysicists.

Biophysical characterization of a swimmer with a unilateral arm amputation: a case study.

Science.gov (United States)

Figueiredo, Pedro; Willig, Renata; Alves, Francisco; Vilas-Boas, João Paulo; Fernandes, Ricardo J

2014-11-01

To examine the effect of swimming speed (v) on the biomechanical and physiological responses of a trained front-crawl swimmer with a unilateral arm amputation. A 13-y-old girl with a unilateral arm amputation (level of the elbow) was tested for stroke length (SL, horizontal displacement cover with each stroke cycle), stroke frequency (SF, inverse of the time to complete each stroke cycle), adapted index of coordination (IdCadapt, lag time between propulsive phases), intracycle velocity variation (IVV, coefficient of variation of the instantaneous velocity-time data), active drag (D, hydrodynamic resistance), and energy cost (C, ratio of metabolic power to speed) during trials of increasing v. Swimmer data showed a positive relationship between v and SF (R² = 1, P swimmers, mainly on interarm coordination, maintaining the lag time between propulsive phases, which influence the magnitude of the other parameters. These results might be useful to develop specific training and enhance swimming performance in swimmers with amputations.

Resolving spectral information from time domain induced polarization data through 2-D inversion

DEFF Research Database (Denmark)

Fiandaca, Gianluca; Ramm, James; Binley, A.

2013-01-01

these limitations of conventional approaches, a new 2-D inversion algorithm has been developed using the full voltage decay of the IP response, together with an accurate description of the transmitter waveform and receiver transfer function. This allows reconstruction of the spectral information contained in the TD...... sampling necessary in the fast Hankel transform. These features, together with parallel computation, ensure inversion times comparable with those of direct current algorithms. The algorithm has been developed in a laterally constrained inversion scheme, and handles both smooth and layered inversions......; the latter being helpful in sedimentary environments, where quasi-layered models often represent the actual geology more accurately than smooth minimum-structure models. In the layered inversion approach, a general method to derive the thickness derivative from the complex conductivity Jacobian is also...

Powered manipulator control arm

International Nuclear Information System (INIS)

Le Mouee, Theodore; Vertut, Jean; Marchal, Paul; Germon, J.C.; Petit, Michel

1975-01-01

A remote operated control arm for powered manipulators is described. It includes an assembly allowing several movements with position sensors for each movement. The number of possible arm movements equals the number of possible manipulator movements. The control systems may be interrupted as required. One part of the arm is fitted with a system to lock it with respect to another part of the arm without affecting the other movements, so long as the positions of the manipulator and the arm have not been brought into complete coincidence. With this system the locking can be ended when complete concordance is achieved [fr

Improving the reliability of POD curves in NDI methods using a Bayesian inversion approach for uncertainty quantification

Science.gov (United States)

Ben Abdessalem, A.; Jenson, F.; Calmon, P.

2016-02-01

This contribution provides an example of the possible advantages of adopting a Bayesian inversion approach to uncertainty quantification in nondestructive inspection methods. In such problem, the uncertainty associated to the random parameters is not always known and needs to be characterised from scattering signal measurements. The uncertainties may then correctly propagated in order to determine a reliable probability of detection curve. To this end, we establish a general Bayesian framework based on a non-parametric maximum likelihood function formulation and some priors from expert knowledge. However, the presented inverse problem is time-consuming and computationally intensive. To cope with this difficulty, we replace the real model by a surrogate one in order to speed-up the model evaluation and to make the problem to be computationally feasible for implementation. The least squares support vector regression is adopted as metamodelling technique due to its robustness to deal with non-linear problems. We illustrate the usefulness of this methodology through the control of tube with enclosed defect using ultrasonic inspection method.

Dynamic Inversion of Global Surface Microwave Emissivity Using a 1DVAR Approach

Directory of Open Access Journals (Sweden)

Sid-Ahmed Boukabara

2018-04-01

Full Text Available A variational inversion scheme is used to extract microwave emissivity spectra from brightness temperatures over a multitude of surface types. The scheme is called the Microwave Integrated Retrieval System and has been implemented operationally since 2007 at NOAA. This study focuses on the Advance Microwave Sounding Unit (AMSU/MHS pair onboard the NOAA-18 platform, but the algorithm is applied routinely to multiple microwave sensors, including the Advanced Technology Microwave Sounder (ATMS on Suomi-National Polar-orbiting Partnership (SNPP, Special Sensor Microwave Imager/Sounder (SSMI/S on the Defense Meteorological Satellite Program (DMSP flight units, as well as to the Global Precipitation Mission (GPM Microwave Imager (GMI, to name a few. The emissivity spectrum retrieval is entirely based on a physical approach. To optimize the use of information content from the measurements, the emissivity is extracted simultaneously with other parameters impacting the measurements, namely, the vertical profiles of temperature, moisture and cloud, as well as the skin temperature and hydrometeor parameters when rain or ice are present. The final solution is therefore a consistent set of parameters that fit the measured brightness temperatures within the instrument noise level. No ancillary data are needed to perform this dynamic emissivity inversion. By allowing the emissivity to be part of the retrieved state vector, it becomes easy to handle the pixel-to-pixel variation in the emissivity over non-oceanic surfaces. This is particularly important in highly variable surface backgrounds. The retrieved emissivity spectrum by itself is of value (as a wetness index for instance, but it is also post-processed to determine surface geophysical parameters. Among the parameters retrieved from the emissivity using this approach are snow cover, snow water equivalent and effective grain size over snow-covered surfaces, sea-ice concentration and age from ice

Geostatistical regularization operators for geophysical inverse problems on irregular meshes

Science.gov (United States)

Jordi, C.; Doetsch, J.; Günther, T.; Schmelzbach, C.; Robertsson, J. OA

2018-05-01

Irregular meshes allow to include complicated subsurface structures into geophysical modelling and inverse problems. The non-uniqueness of these inverse problems requires appropriate regularization that can incorporate a priori information. However, defining regularization operators for irregular discretizations is not trivial. Different schemes for calculating smoothness operators on irregular meshes have been proposed. In contrast to classical regularization constraints that are only defined using the nearest neighbours of a cell, geostatistical operators include a larger neighbourhood around a particular cell. A correlation model defines the extent of the neighbourhood and allows to incorporate information about geological structures. We propose an approach to calculate geostatistical operators for inverse problems on irregular meshes by eigendecomposition of a covariance matrix that contains the a priori geological information. Using our approach, the calculation of the operator matrix becomes tractable for 3-D inverse problems on irregular meshes. We tested the performance of the geostatistical regularization operators and compared them against the results of anisotropic smoothing in inversions of 2-D surface synthetic electrical resistivity tomography (ERT) data as well as in the inversion of a realistic 3-D cross-well synthetic ERT scenario. The inversions of 2-D ERT and seismic traveltime field data with geostatistical regularization provide results that are in good accordance with the expected geology and thus facilitate their interpretation. In particular, for layered structures the geostatistical regularization provides geologically more plausible results compared to the anisotropic smoothness constraints.

ARM Airborne Carbon Measurements VI (ARM-ACME VI) Field Campaign Report

Energy Technology Data Exchange (ETDEWEB)

Biraud, Sebastien [Lawrence Berkeley National Lab. (LBNL), Berkeley, CA (United States)

2017-05-01

From October 1, 2015 through September 30, 2016, AAF deployed a Cessna 206 aircraft over the Southern Great Plains, collecting observations of trace gas mixing ratios over the ARM/SGP Central Facility. The aircraft payload included two Atmospheric Observing Systems (AOS Inc.) analyzers for continuous measurements of CO2, and a 12-flask sampler for analysis of carbon cycle gases (CO2, CO, CH4, N2O, 13CO2). The aircraft payload also includes solar/infrared radiation measurements. This research (supported by DOE ARM and TES programs) builds upon previous ARM-ACME missions. The goal of these measurements is to improve understanding of: (a) the carbon exchange of the ARM region; (b) how CO2 and associated water and energy fluxes influence radiative forcing, convective processes, and CO2 concentrations over the ARM region, and (c) how greenhouse gases are transported on continental scales.

The development of computational algorithms for manipulator inverse kinematics

International Nuclear Information System (INIS)

Sasaki, Shinobu

1989-10-01

A solution technique of the inverse kinematics for multi-joint robot manipulators has been considered to be one of the most cumbersome treatment due to non-linearity properties inclusive of trigonometric functions. The most traditional approach is to use the Jacobian matrix on linearization assumptions. This iterative technique, however, is attended with numerical problems having significant influences on the solution characteristics such as initial guess dependence and singularities. Taking these facts into consideration, new approaches have been proposed from different standpoints, which are based on polynomial transformation of kinematic model, the minimization technique in mathematical programming, vector-geometrical concept, and the separation of joint variables associated with the optimization problem. In terms of computer simulations, each approach was identified to be a useful algorithm which leads to theoretically accurate solutions to complicated inverse problems. In this way, the short-term goal of our studies on manipulator inverse problem in the R and D project of remote handling technology was accomplished with success, and consequently the present report sums up the results of basic studies on this matter. (author)

Risk evaluation of uranium mining: A geochemical inverse modelling approach

Science.gov (United States)

Rillard, J.; Zuddas, P.; Scislewski, A.

2011-12-01

It is well known that uranium extraction operations can increase risks linked to radiation exposure. The toxicity of uranium and associated heavy metals is the main environmental concern regarding exploitation and processing of U-ore. In areas where U mining is planned, a careful assessment of toxic and radioactive element concentrations is recommended before the start of mining activities. A background evaluation of harmful elements is important in order to prevent and/or quantify future water contamination resulting from possible migration of toxic metals coming from ore and waste water interaction. Controlled leaching experiments were carried out to investigate processes of ore and waste (leached ore) degradation, using samples from the uranium exploitation site located in Caetité-Bahia, Brazil. In experiments in which the reaction of waste with water was tested, we found that the water had low pH and high levels of sulphates and aluminium. On the other hand, in experiments in which ore was tested, the water had a chemical composition comparable to natural water found in the region of Caetité. On the basis of our experiments, we suggest that waste resulting from sulphuric acid treatment can induce acidification and salinization of surface and ground water. For this reason proper storage of waste is imperative. As a tool to evaluate the risks, a geochemical inverse modelling approach was developed to estimate the water-mineral interaction involving the presence of toxic elements. We used a method earlier described by Scislewski and Zuddas 2010 (Geochim. Cosmochim. Acta 74, 6996-7007) in which the reactive surface area of mineral dissolution can be estimated. We found that the reactive surface area of rock parent minerals is not constant during time but varies according to several orders of magnitude in only two months of interaction. We propose that parent mineral heterogeneity and particularly, neogenic phase formation may explain the observed variation of the

Rapid fabrication of 2D and 3D photonic crystals and their inversed structures

International Nuclear Information System (INIS)

Huang, C-K; Chan, C-H; Chen, C-Y; Tsai, Y-L; Chen, C-C; Han, J-L; Hsieh, K-H

2007-01-01

In this paper a new technique is proposed for the fabrication of two-dimensional (2D) and three-dimensional (3D) photonic crystals using monodisperse polystyrene microspheres as the templates. In addition, the approaches toward the creation of their corresponding inversed structures are described. The inversed structures were prepared by subjecting an introduced silica source to a sol-gel process; programmed heating was then performed to remove the template without spoiling the inversed structures. Utilizing these approaches, 2D and 3D photonic crystals and their highly ordered inversed hexagonal multilayer or monolayer structures were obtained on the substrate

An inverse heat transfer problem for optimization of the thermal ...

Indian Academy of Sciences (India)

This paper takes a different approach towards identification of the thermal process in machining, using inverse heat transfer problem. Inverse heat transfer method allows the closest possible experimental and analytical approximation of thermal state for a machining process. Based on a temperature measured at any point ...

A Dynamic BI–Orthogonal Field Equation Approach to Efficient Bayesian Inversion

Directory of Open Access Journals (Sweden)

Tagade Piyush M.

2017-06-01

Full Text Available This paper proposes a novel computationally efficient stochastic spectral projection based approach to Bayesian inversion of a computer simulator with high dimensional parametric and model structure uncertainty. The proposed method is based on the decomposition of the solution into its mean and a random field using a generic Karhunen-Loève expansion. The random field is represented as a convolution of separable Hilbert spaces in stochastic and spatial dimensions that are spectrally represented using respective orthogonal bases. In particular, the present paper investigates generalized polynomial chaos bases for the stochastic dimension and eigenfunction bases for the spatial dimension. Dynamic orthogonality is used to derive closed-form equations for the time evolution of mean, spatial and the stochastic fields. The resultant system of equations consists of a partial differential equation (PDE that defines the dynamic evolution of the mean, a set of PDEs to define the time evolution of eigenfunction bases, while a set of ordinary differential equations (ODEs define dynamics of the stochastic field. This system of dynamic evolution equations efficiently propagates the prior parametric uncertainty to the system response. The resulting bi-orthogonal expansion of the system response is used to reformulate the Bayesian inference for efficient exploration of the posterior distribution. The efficacy of the proposed method is investigated for calibration of a 2D transient diffusion simulator with an uncertain source location and diffusivity. The computational efficiency of the method is demonstrated against a Monte Carlo method and a generalized polynomial chaos approach.

A New Wave Equation Based Source Location Method with Full-waveform Inversion

KAUST Repository

Wu, Zedong

2017-05-26

Locating the source of a passively recorded seismic event is still a challenging problem, especially when the velocity is unknown. Many imaging approaches to focus the image do not address the velocity issue and result in images plagued with illumination artifacts. We develop a waveform inversion approach with an additional penalty term in the objective function to reward the focusing of the source image. This penalty term is relaxed early to allow for data fitting, and avoid cycle skipping, using an extended source. At the later stages the focusing of the image dominates the inversion allowing for high resolution source and velocity inversion. We also compute the source location explicitly and numerical tests show that we obtain good estimates of the source locations with this approach.

Minimization of required model runs in the Random Mixing approach to inverse groundwater flow and transport modeling

Science.gov (United States)

Hoerning, Sebastian; Bardossy, Andras; du Plessis, Jaco

2017-04-01

Most geostatistical inverse groundwater flow and transport modelling approaches utilize a numerical solver to minimize the discrepancy between observed and simulated hydraulic heads and/or hydraulic concentration values. The optimization procedure often requires many model runs, which for complex models lead to long run times. Random Mixing is a promising new geostatistical technique for inverse modelling. The method is an extension of the gradual deformation approach. It works by finding a field which preserves the covariance structure and maintains observed hydraulic conductivities. This field is perturbed by mixing it with new fields that fulfill the homogeneous conditions. This mixing is expressed as an optimization problem which aims to minimize the difference between the observed and simulated hydraulic heads and/or concentration values. To preserve the spatial structure, the mixing weights must lie on the unit hyper-sphere. We present a modification to the Random Mixing algorithm which significantly reduces the number of model runs required. The approach involves taking n equally spaced points on the unit circle as weights for mixing conditional random fields. Each of these mixtures provides a solution to the forward model at the conditioning locations. For each of the locations the solutions are then interpolated around the circle to provide solutions for additional mixing weights at very low computational cost. The interpolated solutions are used to search for a mixture which maximally reduces the objective function. This is in contrast to other approaches which evaluate the objective function for the n mixtures and then interpolate the obtained values. Keeping the mixture on the unit circle makes it easy to generate equidistant sampling points in the space; however, this means that only two fields are mixed at a time. Once the optimal mixture for two fields has been found, they are combined to form the input to the next iteration of the algorithm. This

The arms race control

International Nuclear Information System (INIS)

Nemo, J.

2010-01-01

Written in 1961, this paper presents the content of a book entitled 'The arms race control' where the author outlined the difference between disarmament and arms control, described the economic and moral role of arms race, the importance of force balance for international security. He wandered whether arms control could ensure this balance and whether nuclear balance meant force balance. Force balance then appears to be a precarious and unsteady component of international security. He commented the challenges of disarmament, recalled some arguments for a nuclear disarmament. Then he discussed what would be an arms control with or without disarmament (either nuclear or conventional)

A general approach to posterior contraction in nonparametric inverse problems

NARCIS (Netherlands)

Knapik, Bartek; Salomond, Jean Bernard

In this paper, we propose a general method to derive an upper bound for the contraction rate of the posterior distribution for nonparametric inverse problems. We present a general theorem that allows us to derive contraction rates for the parameter of interest from contraction rates of the related

How do octopuses use their arms?

Science.gov (United States)

Mather, J A

1998-09-01

A taxonomy of the movement patterns of the 8 flexible arms of octopuses is constructed. Components consist of movements of the arm itself, the ventral suckers and their stalks, as well as the relative position of arms and the skin web between them. Within 1 arm, combinations of components result in a variety of behaviors. At the level of all arms, 1 group of behaviors is described as postures, on the basis of the spread of all arms and the web to make a 2-dimensional surface whose position differs in the 3rd dimension. Another group of arm behaviors is actions, more or less coordinated and involving several to all arms. Arm control appears to be based on radial symmetry, relative equipotentiality of all arms, relative independence of each arm, and separability of components within the arm. The types and coordination of arm behaviors are discussed with relationship to biomechanical limits, muscle structures, and neuronal programming.

FAST INVERSION OF SOLAR Ca II SPECTRA

International Nuclear Information System (INIS)

Beck, C.; Choudhary, D. P.; Rezaei, R.; Louis, R. E.

2015-01-01

We present a fast (<<1 s per profile) inversion code for solar Ca II lines. The code uses an archive of spectra that are synthesized prior to the inversion under the assumption of local thermodynamic equilibrium (LTE). We show that it can be successfully applied to spectrograph data or more sparsely sampled spectra from two-dimensional spectrometers. From a comparison to a non-LTE inversion of the same set of spectra, we derive a first-order non-LTE correction to the temperature stratifications derived in the LTE approach. The correction factor is close to unity up to log τ ∼ –3 and increases to values of 2.5 and 4 at log τ = –6 in the quiet Sun and the umbra, respectively

Bayesian Estimation of the Kumaraswamy InverseWeibull Distribution

Directory of Open Access Journals (Sweden)

Felipe R.S. de Gusmao

2017-05-01

Full Text Available The Kumaraswamy InverseWeibull distribution has the ability to model failure rates that have unimodal shapes and are quite common in reliability and biological studies. The three-parameter Kumaraswamy InverseWeibull distribution with decreasing and unimodal failure rate is introduced. We provide a comprehensive treatment of the mathematical properties of the Kumaraswany Inverse Weibull distribution and derive expressions for its moment generating function and the ligrl/ig-th generalized moment. Some properties of the model with some graphs of density and hazard function are discussed. We also discuss a Bayesian approach for this distribution and an application was made for a real data set.

Plastid and mitochondrion genomic sequences from Arctic Chlorella sp. ArM0029B

Science.gov (United States)

2014-01-01

Background Chorella is the representative taxon of Chlorellales in Trebouxiophyceae, and its chloroplast (cp) genomic information has been thought to depend only on studies concerning Chlorella vulgaris and GenBank information of C. variablis. Mitochondrial (mt) genomic information regarding Chlorella is currently unavailable. To elucidate the evolution of organelle genomes and genetic information of Chlorella, we have sequenced and characterized the cp and mt genomes of Arctic Chlorella sp. ArM0029B. Results The 119,989-bp cp genome lacking inverted repeats and 65,049-bp mt genome were sequenced. The ArM0029B cp genome contains 114 conserved genes, including 32 tRNA genes, 3 rRNA genes, and 79 genes encoding proteins. Chlorella cp genomes are highly rearranged except for a Chlorella-specific six-gene cluster, and the ArM0029B plastid resembles that of Chlorella variabilis except for a 15-kb gene cluster inversion. In the mt genome, 62 conserved genes, including 27 tRNA genes, 3 rRNA genes, and 32 genes encoding proteins were determined. The mt genome of ArM0029B is similar to that of the non-photosynthetic species Prototheca and Heicosporidium. The ArM0029B mt genome contains a group I intron, with an ORF containing two LAGLIDADG motifs, in cox1. The intronic ORF is shared by C. vulgaris and Prototheca. The phylogeny of the plastid genome reveals that ArM0029B showed a close relationship of Chlorella to Parachlorella and Oocystis within Chlorellales. The distribution of the cox1 intron at 721 support membership in the order Chlorellales. Mitochondrial phylogenomic analyses, however, indicated that ArM0029B shows a greater affinity to MX-AZ01 and Coccomyxa than to the Helicosporidium-Prototheca clade, although the detailed phylogenetic relationships among the three taxa remain to be resolved. Conclusions The plastid genome of ArM0029B is similar to that of C. variabilis. The mt sequence of ArM0029B is the first genome to be reported for Chlorella. Chloroplast

Visco-elastic controlled-source full waveform inversion without surface waves

Science.gov (United States)

Paschke, Marco; Krause, Martin; Bleibinhaus, Florian

2016-04-01

We developed a frequency-domain visco-elastic full waveform inversion for onshore seismic experiments with topography. The forward modeling is based on a finite-difference time-domain algorithm by Robertsson that uses the image-method to ensure a stress-free condition at the surface. The time-domain data is Fourier-transformed at every point in the model space during the forward modeling for a given set of frequencies. The motivation for this approach is the reduced amount of memory when computing kernels, and the straightforward implementation of the multiscale approach. For the inversion, we calculate the Frechet derivative matrix explicitly, and we implement a Levenberg-Marquardt scheme that allows for computing the resolution matrix. To reduce the size of the Frechet derivative matrix, and to stabilize the inversion, an adapted inverse mesh is used. The node spacing is controlled by the velocity distribution and the chosen frequencies. To focus the inversion on body waves (P, P-coda, and S) we mute the surface waves from the data. Consistent spatiotemporal weighting factors are applied to the wavefields during the Fourier transform to obtain the corresponding kernels. We test our code with a synthetic study using the Marmousi model with arbitrary topography. This study also demonstrates the importance of topography and muting surface waves in controlled-source full waveform inversion.

Mantle conductivity obtained by 3-D inversion of magnetic satellite data

DEFF Research Database (Denmark)

Kuvshinov, A.; Olsen, Nils

distributed geomagnetic observatories. Due to the high computational load of a 3-D inversion (requiring thousands of forward calculations), a comprehensive numerical framework is developed to increase the efficiency of the inversion.In particular, we take an advantage of specific features of the IE approach...... and perform the most consuming-time part of the IE forward simulations (the calculation of electric and magnetic tensor Green’s functions) only once. Approximate calculation of the data sensitivities also gives essential speed up of the inversion. We validate our inversion scheme using synthetic induction...

CyARM: Haptic Sensing Device for Spatial Localization on Basis of Exploration by Arms

Directory of Open Access Journals (Sweden)

Junichi Akita

2009-01-01

Full Text Available We introduce a new type of perception aid device based on user's exploration action, which is named as CyARM (acronym of “Cyber Arm”. The user holds this device in her/his arm, the extension of the arm is controlled by tension in wires, which are attached to her/his body according to the distance to the object. This user interface has unique characteristics that give users the illusion of an imaginary arm that extends to existing objects. The implementations of CyARM and our two experiments to investigate the efficiency and effectiveness of CyARM are described. The results show that we could confirm that CyARM can be used to recognize the presence of an object in front of the user and to measure the relative distance to the object.

Human-Like Behavior of Robot Arms: General Considerations and the Handwriting Task-Part I: Mathematical Description of Human-Like Motion: Distributed Positioning and Virtual Fatigue

NARCIS (Netherlands)

Potkonjak, V.; Tzafestas, S.; Kostic, D.; Djordjevic, G.

2001-01-01

This two-part paper is concerned with the analysis and achievement of human-like behavior by robot arms (manipulators). The analysis involves three issues: (i) the resolution of the inverse kinematics problem of redundant robots, (ii) the separation of the end-effector's motion into two components,

Directional genomic hybridization for chromosomal inversion discovery and detection.

Science.gov (United States)

Ray, F Andrew; Zimmerman, Erin; Robinson, Bruce; Cornforth, Michael N; Bedford, Joel S; Goodwin, Edwin H; Bailey, Susan M

2013-04-01

Chromosomal rearrangements are a source of structural variation within the genome that figure prominently in human disease, where the importance of translocations and deletions is well recognized. In principle, inversions-reversals in the orientation of DNA sequences within a chromosome-should have similar detrimental potential. However, the study of inversions has been hampered by traditional approaches used for their detection, which are not particularly robust. Even with significant advances in whole genome approaches, changes in the absolute orientation of DNA remain difficult to detect routinely. Consequently, our understanding of inversions is still surprisingly limited, as is our appreciation for their frequency and involvement in human disease. Here, we introduce the directional genomic hybridization methodology of chromatid painting-a whole new way of looking at structural features of the genome-that can be employed with high resolution on a cell-by-cell basis, and demonstrate its basic capabilities for genome-wide discovery and targeted detection of inversions. Bioinformatics enabled development of sequence- and strand-specific directional probe sets, which when coupled with single-stranded hybridization, greatly improved the resolution and ease of inversion detection. We highlight examples of the far-ranging applicability of this cytogenomics-based approach, which include confirmation of the alignment of the human genome database and evidence that individuals themselves share similar sequence directionality, as well as use in comparative and evolutionary studies for any species whose genome has been sequenced. In addition to applications related to basic mechanistic studies, the information obtainable with strand-specific hybridization strategies may ultimately enable novel gene discovery, thereby benefitting the diagnosis and treatment of a variety of human disease states and disorders including cancer, autism, and idiopathic infertility.

Transient Inverse Calibration of the Site-Wide Groundwater Flow Model (ACM-2): FY03 Progress Report

International Nuclear Information System (INIS)

Vermeul, Vince R.; Bergeron, Marcel P.; Cole, C R.; Murray, Christopher J.; Nichols, William E.; Scheibe, Timothy D.; Thorne, Paul D.; Waichler, Scott R.; Xie, YuLong

2003-01-01

DOE and PNNL are working to strengthen the technical defensibility of the groundwater flow and transport model at the Hanford Site and to incorporate uncertainty into the model. One aspect of the initiative is developing and using a three-dimensional transient inverse model to estimate the hydraulic conductivities, specific yields, and other parameters using data from Hanford since 1943. The focus of the alternative conceptual model (ACM-2) inverse modeling initiative documented in this report was to address limitations identified in the ACM-1 model, complete the facies-based approach for representing the hydraulic conductivity distribution in the Hanford and middle Ringold Formations, develop the approach and implementation methodology for generating multiple ACMs based on geostatistical data analysis, and develop an approach for inverse modeling of these stochastic ACMs. The primary modifications to ACM-2 transient inverse model include facies-based zonation of Units 1 (Hanford ) and 5 (middle Ringold); an improved approach for handling run-on recharge from upland areas based on watershed modeling results; an improved approach for representing artificial discharges from site operations; and minor changes to the geologic conceptual model. ACM-2 is the first attempt to fully incorporate the facies-based approach to represent the hydrogeologic structure. Further refinement and additional improvements to overall model fit will be realized during future inverse simulations of groundwater flow and transport. In addition, preliminary work was completed on an approach and implementation for generating an inverse modeling of stochastic ACMs. These techniques were applied to assess the uncertainty in the facies-based zonation of the Hanford formation and the geological structure of Ringold mud units. The geostatistical analysis used a preliminary interpretation of the facies-based zonation that was not consistent with that used in ACM-2. Although the overall objective of

Chromatid Painting for Chromosomal Inversion Detection, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — We propose the continued development of a novel approach to the detection of chromosomal inversions. Transmissible chromosome aberrations (translocations and...

Inverse reasoning processes in obsessive-compulsive disorder.

Science.gov (United States)

Wong, Shiu F; Grisham, Jessica R

2017-04-01

The inference-based approach (IBA) is one cognitive model that aims to explain the aetiology and maintenance of obsessive-compulsive disorder (OCD). The model proposes that certain reasoning processes lead an individual with OCD to confuse an imagined possibility with an actual probability, a state termed inferential confusion. One such reasoning process is inverse reasoning, in which hypothetical causes form the basis of conclusions about reality. Although previous research has found associations between a self-report measure of inferential confusion and OCD symptoms, evidence of a specific association between inverse reasoning and OCD symptoms is lacking. In the present study, we developed a task-based measure of inverse reasoning in order to investigate whether performance on this task is associated with OCD symptoms in an online sample. The results provide some evidence for the IBA assertion: greater endorsement of inverse reasoning was significantly associated with OCD symptoms, even when controlling for general distress and OCD-related beliefs. Future research is needed to replicate this result in a clinical sample and to investigate a potential causal role for inverse reasoning in OCD. Copyright © 2016 Elsevier Ltd. All rights reserved.

AI-guided parameter optimization in inverse treatment planning

International Nuclear Information System (INIS)

Yan Hui; Yin Fangfang; Guan Huaiqun; Kim, Jae Ho

2003-01-01

An artificial intelligence (AI)-guided inverse planning system was developed to optimize the combination of parameters in the objective function for intensity-modulated radiation therapy (IMRT). In this system, the empirical knowledge of inverse planning was formulated with fuzzy if-then rules, which then guide the parameter modification based on the on-line calculated dose. Three kinds of parameters (weighting factor, dose specification, and dose prescription) were automatically modified using the fuzzy inference system (FIS). The performance of the AI-guided inverse planning system (AIGIPS) was examined using the simulated and clinical examples. Preliminary results indicate that the expected dose distribution was automatically achieved using the AI-guided inverse planning system, with the complicated compromising between different parameters accomplished by the fuzzy inference technique. The AIGIPS provides a highly promising method to replace the current trial-and-error approach

Introduction on performance analysis and profiling methodologies for KVM on ARM virtualization

Science.gov (United States)

Motakis, Antonios; Spyridakis, Alexander; Raho, Daniel

2013-05-01

The introduction of hardware virtualization extensions on ARM Cortex-A15 processors has enabled the implementation of full virtualization solutions for this architecture, such as KVM on ARM. This trend motivates the need to quantify and understand the performance impact, emerged by the application of this technology. In this work we start looking into some interesting performance metrics on KVM for ARM processors, which can provide us with useful insight that may lead to potential improvements in the future. This includes measurements such as interrupt latency and guest exit cost, performed on ARM Versatile Express and Samsung Exynos 5250 hardware platforms. Furthermore, we discuss additional methodologies that can provide us with a deeper understanding in the future of the performance footprint of KVM. We identify some of the most interesting approaches in this field, and perform a tentative analysis on how these may be implemented in the KVM on ARM port. These take into consideration hardware and software based counters for profiling, and issues related to the limitations of the simulators which are often used, such as the ARM Fast Models platform.

Multi-muscle FES force control of the human arm for arbitrary goals.

Science.gov (United States)

Schearer, Eric M; Liao, Yu-Wei; Perreault, Eric J; Tresch, Matthew C; Memberg, William D; Kirsch, Robert F; Lynch, Kevin M

2014-05-01

We present a method for controlling a neuroprosthesis for a paralyzed human arm using functional electrical stimulation (FES) and characterize the errors of the controller. The subject has surgically implanted electrodes for stimulating muscles in her shoulder and arm. Using input/output data, a model mapping muscle stimulations to isometric endpoint forces measured at the subject's hand was identified. We inverted the model of this redundant and coupled multiple-input multiple-output system by minimizing muscle activations and used this inverse for feedforward control. The magnitude of the total root mean square error over a grid in the volume of achievable isometric endpoint force targets was 11% of the total range of achievable forces. Major sources of error were random error due to trial-to-trial variability and model bias due to nonstationary system properties. Because the muscles working collectively are the actuators of the skeletal system, the quantification of errors in force control guides designs of motion controllers for multi-joint, multi-muscle FES systems that can achieve arbitrary goals.

Computing Generalized Matrix Inverse on Spiking Neural Substrate

Directory of Open Access Journals (Sweden)

Rohit Shukla

2018-03-01

Full Text Available Emerging neural hardware substrates, such as IBM's TrueNorth Neurosynaptic System, can provide an appealing platform for deploying numerical algorithms. For example, a recurrent Hopfield neural network can be used to find the Moore-Penrose generalized inverse of a matrix, thus enabling a broad class of linear optimizations to be solved efficiently, at low energy cost. However, deploying numerical algorithms on hardware platforms that severely limit the range and precision of representation for numeric quantities can be quite challenging. This paper discusses these challenges and proposes a rigorous mathematical framework for reasoning about range and precision on such substrates. The paper derives techniques for normalizing inputs and properly quantizing synaptic weights originating from arbitrary systems of linear equations, so that solvers for those systems can be implemented in a provably correct manner on hardware-constrained neural substrates. The analytical model is empirically validated on the IBM TrueNorth platform, and results show that the guarantees provided by the framework for range and precision hold under experimental conditions. Experiments with optical flow demonstrate the energy benefits of deploying a reduced-precision and energy-efficient generalized matrix inverse engine on the IBM TrueNorth platform, reflecting 10× to 100× improvement over FPGA and ARM core baselines.

Computing Generalized Matrix Inverse on Spiking Neural Substrate

Science.gov (United States)

Shukla, Rohit; Khoram, Soroosh; Jorgensen, Erik; Li, Jing; Lipasti, Mikko; Wright, Stephen

2018-01-01

Emerging neural hardware substrates, such as IBM's TrueNorth Neurosynaptic System, can provide an appealing platform for deploying numerical algorithms. For example, a recurrent Hopfield neural network can be used to find the Moore-Penrose generalized inverse of a matrix, thus enabling a broad class of linear optimizations to be solved efficiently, at low energy cost. However, deploying numerical algorithms on hardware platforms that severely limit the range and precision of representation for numeric quantities can be quite challenging. This paper discusses these challenges and proposes a rigorous mathematical framework for reasoning about range and precision on such substrates. The paper derives techniques for normalizing inputs and properly quantizing synaptic weights originating from arbitrary systems of linear equations, so that solvers for those systems can be implemented in a provably correct manner on hardware-constrained neural substrates. The analytical model is empirically validated on the IBM TrueNorth platform, and results show that the guarantees provided by the framework for range and precision hold under experimental conditions. Experiments with optical flow demonstrate the energy benefits of deploying a reduced-precision and energy-efficient generalized matrix inverse engine on the IBM TrueNorth platform, reflecting 10× to 100× improvement over FPGA and ARM core baselines. PMID:29593483

Linkage Disequilibrium and Inversion-Typing of the Drosophila melanogaster Genome Reference Panel.

Science.gov (United States)

Houle, David; Márquez, Eladio J

2015-06-10

We calculated the linkage disequilibrium between all pairs of variants in the Drosophila Genome Reference Panel with minor allele count ≥5. We used r(2) ≥ 0.5 as the cutoff for a highly correlated SNP. We make available the list of all highly correlated SNPs for use in association studies. Seventy-six percent of variant SNPs are highly correlated with at least one other SNP, and the mean number of highly correlated SNPs per variant over the whole genome is 83.9. Disequilibrium between distant SNPs is also common when minor allele frequency (MAF) is low: 37% of SNPs with MAF inversions are highly correlated with somewhat larger numbers of SNPs, and these correlated SNPs are on average farther away, the probability that a SNP in such regions is highly correlated with at least one other SNP is very similar to SNPs outside inversions. Previous karyotyping of the DGRP lines has been inconsistent, and we used LD and genotype to investigate these discrepancies. When previous studies agreed on inversion karyotype, our analysis was almost perfectly concordant with those assignments. In discordant cases, and for inversion heterozygotes, our results suggest errors in two previous analyses or discordance between genotype and karyotype. Heterozygosities of chromosome arms are, in many cases, surprisingly highly correlated, suggesting strong epsistatic selection during the inbreeding and maintenance of the DGRP lines. Copyright © 2015 Houle and Márquez.

A robust spatial filtering technique for multisource localization and geoacoustic inversion.

Science.gov (United States)

Stotts, S A

2005-07-01

Geoacoustic inversion and source localization using beamformed data from a ship of opportunity has been demonstrated with a bottom-mounted array. An alternative approach, which lies within a class referred to as spatial filtering, transforms element level data into beam data, applies a bearing filter, and transforms back to element level data prior to performing inversions. Automation of this filtering approach is facilitated for broadband applications by restricting the inverse transform to the degrees of freedom of the array, i.e., the effective number of elements, for frequencies near or below the design frequency. A procedure is described for nonuniformly spaced elements that guarantees filter stability well above the design frequency. Monitoring energy conservation with respect to filter output confirms filter stability. Filter performance with both uniformly spaced and nonuniformly spaced array elements is discussed. Vertical (range and depth) and horizontal (range and bearing) ambiguity surfaces are constructed to examine filter performance. Examples that demonstrate this filtering technique with both synthetic data and real data are presented along with comparisons to inversion results using beamformed data. Examinations of cost functions calculated within a simulated annealing algorithm reveal the efficacy of the approach.

BOOK REVIEW: Inverse Problems. Activities for Undergraduates

Science.gov (United States)

Yamamoto, Masahiro

2003-06-01

This book is a valuable introduction to inverse problems. In particular, from the educational point of view, the author addresses the questions of what constitutes an inverse problem and how and why we should study them. Such an approach has been eagerly awaited for a long time. Professor Groetsch, of the University of Cincinnati, is a world-renowned specialist in inverse problems, in particular the theory of regularization. Moreover, he has made a remarkable contribution to educational activities in the field of inverse problems, which was the subject of his previous book (Groetsch C W 1993 Inverse Problems in the Mathematical Sciences (Braunschweig: Vieweg)). For this reason, he is one of the most qualified to write an introductory book on inverse problems. Without question, inverse problems are important, necessary and appear in various aspects. So it is crucial to introduce students to exercises in inverse problems. However, there are not many introductory books which are directly accessible by students in the first two undergraduate years. As a consequence, students often encounter diverse concrete inverse problems before becoming aware of their general principles. The main purpose of this book is to present activities to allow first-year undergraduates to learn inverse theory. To my knowledge, this book is a rare attempt to do this and, in my opinion, a great success. The author emphasizes that it is very important to teach inverse theory in the early years. He writes; `If students consider only the direct problem, they are not looking at the problem from all sides .... The habit of always looking at problems from the direct point of view is intellectually limiting ...' (page 21). The book is very carefully organized so that teachers will be able to use it as a textbook. After an introduction in chapter 1, sucessive chapters deal with inverse problems in precalculus, calculus, differential equations and linear algebra. In order to let one gain some insight

Voxel inversion of airborne electromagnetic data for improved model integration

Science.gov (United States)

Fiandaca, Gianluca; Auken, Esben; Kirkegaard, Casper; Vest Christiansen, Anders

2014-05-01

spatially constrained 1D models with 29 layers. For comparison, the SCI inversion models have been gridded on the same grid of the voxel inversion. The new voxel inversion and the classic SCI give similar data fit and inversion models. The voxel inversion decouples the geophysical model from the position of acquired data, and at the same time fits the data as well as the classic SCI inversion. Compared to the classic approach, the voxel inversion is better suited for informing directly (hydro)geological models and for sequential/Joint/Coupled (hydro)geological inversion. We believe that this new approach will facilitate the integration of geophysics, geology and hydrology for improved groundwater and environmental management.

Contributions to Large Covariance and Inverse Covariance Matrices Estimation

OpenAIRE

Kang, Xiaoning

2016-01-01

Estimation of covariance matrix and its inverse is of great importance in multivariate statistics with broad applications such as dimension reduction, portfolio optimization, linear discriminant analysis and gene expression analysis. However, accurate estimation of covariance or inverse covariance matrices is challenging due to the positive definiteness constraint and large number of parameters, especially in the high-dimensional cases. In this thesis, I develop several approaches for estimat...

Synthesis of Well-Defined Three-Arm Star-Branched Polystyrene through Arm-First Coupling Approach by Atom Transfer Radical Polymerization

OpenAIRE

Shahabuddin, Syed; Hamime Ismail, Fatem; Mohamad, Sharifah; Muhamad Sarih, Norazilawati

2015-01-01

Here we describe a simple route to synthesize three-arm star-branched polystyrene. Atom transfer radical polymerization technique has been utilized to yield branched polystyrene involving Williamson coupling strategy. Initially a linear polymeric chain of predetermined molecular weight has been synthesized which is further end-functionalized into a primary alkyl bromide moiety, a prime requisition for Williamson reaction. The end-functionalized polymer is then coupled using 1,1,1-tris(4-hydro...

Interactive inverse kinematics for human motion estimation

DEFF Research Database (Denmark)

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

2009-01-01

We present an application of a fast interactive inverse kinematics method as a dimensionality reduction for monocular human motion estimation. The inverse kinematics solver deals efficiently and robustly with box constraints and does not suffer from shaking artifacts. The presented motion...... to significantly speed up the particle filtering. It should be stressed that the observation part of the system has not been our focus, and as such is described only from a sense of completeness. With our approach it is possible to construct a robust and computationally efficient system for human motion estimation....

Bayesian seismic AVO inversion

Energy Technology Data Exchange (ETDEWEB)

Buland, Arild

2002-07-01

A new linearized AVO inversion technique is developed in a Bayesian framework. The objective is to obtain posterior distributions for P-wave velocity, S-wave velocity and density. Distributions for other elastic parameters can also be assessed, for example acoustic impedance, shear impedance and P-wave to S-wave velocity ratio. The inversion algorithm is based on the convolutional model and a linearized weak contrast approximation of the Zoeppritz equation. The solution is represented by a Gaussian posterior distribution with explicit expressions for the posterior expectation and covariance, hence exact prediction intervals for the inverted parameters can be computed under the specified model. The explicit analytical form of the posterior distribution provides a computationally fast inversion method. Tests on synthetic data show that all inverted parameters were almost perfectly retrieved when the noise approached zero. With realistic noise levels, acoustic impedance was the best determined parameter, while the inversion provided practically no information about the density. The inversion algorithm has also been tested on a real 3-D dataset from the Sleipner Field. The results show good agreement with well logs but the uncertainty is high. The stochastic model includes uncertainties of both the elastic parameters, the wavelet and the seismic and well log data. The posterior distribution is explored by Markov chain Monte Carlo simulation using the Gibbs sampler algorithm. The inversion algorithm has been tested on a seismic line from the Heidrun Field with two wells located on the line. The uncertainty of the estimated wavelet is low. In the Heidrun examples the effect of including uncertainty of the wavelet and the noise level was marginal with respect to the AVO inversion results. We have developed a 3-D linearized AVO inversion method with spatially coupled model parameters where the objective is to obtain posterior distributions for P-wave velocity, S

Efficient generalized Golub-Kahan based methods for dynamic inverse problems

Science.gov (United States)

Chung, Julianne; Saibaba, Arvind K.; Brown, Matthew; Westman, Erik

2018-02-01

We consider efficient methods for computing solutions to and estimating uncertainties in dynamic inverse problems, where the parameters of interest may change during the measurement procedure. Compared to static inverse problems, incorporating prior information in both space and time in a Bayesian framework can become computationally intensive, in part, due to the large number of unknown parameters. In these problems, explicit computation of the square root and/or inverse of the prior covariance matrix is not possible, so we consider efficient, iterative, matrix-free methods based on the generalized Golub-Kahan bidiagonalization that allow automatic regularization parameter and variance estimation. We demonstrate that these methods for dynamic inversion can be more flexible than standard methods and develop efficient implementations that can exploit structure in the prior, as well as possible structure in the forward model. Numerical examples from photoacoustic tomography, space-time deblurring, and passive seismic tomography demonstrate the range of applicability and effectiveness of the described approaches. Specifically, in passive seismic tomography, we demonstrate our approach on both synthetic and real data. To demonstrate the scalability of our algorithm, we solve a dynamic inverse problem with approximately 43 000 measurements and 7.8 million unknowns in under 40 s on a standard desktop.

Collision-free inverse kinematics of a 7 link cucumber picking robot

NARCIS (Netherlands)

Henten, van E.J.; Schenk, E.J.J.; Willigenburg, van L.G.; Meuleman, J.; Barreiro, P.

2008-01-01

The paper presents results of research on inverse kinematics algorithms to be used in a functional model of a cucumber harvesting robot consisting of a redundant manipulator with one prismatic and six rotational joints (P6R). Within a first generic approach, the inverse kinematics problem was

Inverse dynamic analysis of general n-link robot manipulators

International Nuclear Information System (INIS)

Yih, T.C.; Wang, T.Y.; Burks, B.L.; Babcock, S.M.

1996-01-01

In this paper, a generalized matrix approach is derived to analyze the dynamic forces and moments (torques) required by the joint actuators. This method is general enough to solve the problems of any n-link open-chain robot manipulators with joint combinations of R(revolute), P(prismatic), and S(spherical). On the other hand, the proposed matrix solution is applicable to both nonredundant and redundant robotic systems. The matrix notation is formulated based on the Newton-Euler equations under the condition of quasi-static equilibrium. The 4 x 4 homogeneous cylindrical coordinates-Bryant angles (C-B) notation is applied to model the robotic systems. Displacements, velocities, and accelerations of each joint and link center of gravity (CG) are calculated through kinematic analysis. The resultant external forces and moments exerted on the CG of each link are considered as known inputs. Subsequently, a 6n x 6n displacement coefficient matrix and a 6n x 1 external force/moment vector can be established. At last, the joint forces and moments needed for the joint actuators to control the robotic system are determined through matrix inversion. Numerical examples will be illustrated for the nonredundant industrial robots: Bendix AA/CNC (RRP/RRR) and Unimate 2000 spherical (SP/RRR) robots; and the redundant light duty utility arm (LDUA), modified LDUA, and tank waste retrieval manipulator system

Quantification of branching in model three-arm star polyethylene

KAUST Repository

Ramachandran, Ramnath; Beaucage, Gregory B.; Rai, Durgesh K.; Lohse, David J.; Sun, Thomas; Tsou, Andy; Norman, Alexander Iain; Hadjichristidis, Nikolaos

2012-01-01

The versatility of a novel scaling approach in quantifying the structure of model well-defined 3-arm star polyethylene molecules is presented. Many commercial polyethylenes have long side branches, and the nature and quantity of these branches varies widely among the various forms. For instance, low-density polyethylene (LDPE) is typically a highly branched structure with broad distributions in branch content, branch lengths and branch generation (in hyperbranched structures). This makes it difficult to accurately quantify the structure and the inherent structure-property relationships. To overcome this drawback, model well-defined hydrogenated polybutadiene (HPB) structures have been synthesized via anionic polymerization and hydrogenation to serve as model analogues to long-chain branched polyethylene. In this article, model 3-arm star polyethylene molecules are quantified using the scaling approach. Along with the long-chain branch content in polyethylene, the approach also provides unique measurements of long-chain branch length and hyperbranch content. Such detailed description facilitates better understanding of the effect of branching on the physical properties of polyethylene. © 2012 American Chemical Society.

Quantification of branching in model three-arm star polyethylene

KAUST Repository

Ramachandran, Ramnath

2012-01-24

The versatility of a novel scaling approach in quantifying the structure of model well-defined 3-arm star polyethylene molecules is presented. Many commercial polyethylenes have long side branches, and the nature and quantity of these branches varies widely among the various forms. For instance, low-density polyethylene (LDPE) is typically a highly branched structure with broad distributions in branch content, branch lengths and branch generation (in hyperbranched structures). This makes it difficult to accurately quantify the structure and the inherent structure-property relationships. To overcome this drawback, model well-defined hydrogenated polybutadiene (HPB) structures have been synthesized via anionic polymerization and hydrogenation to serve as model analogues to long-chain branched polyethylene. In this article, model 3-arm star polyethylene molecules are quantified using the scaling approach. Along with the long-chain branch content in polyethylene, the approach also provides unique measurements of long-chain branch length and hyperbranch content. Such detailed description facilitates better understanding of the effect of branching on the physical properties of polyethylene. © 2012 American Chemical Society.

Armed conflict and child health.

Science.gov (United States)

Rieder, Michael; Choonara, Imti

2012-01-01

Armed conflict has a major impact on child health throughout the world. One in six children worldwide lives in an area of armed conflict and civilians are more likely to die than soldiers as a result of the conflict. In stark contrast to the effect on children, the international arms trade results in huge profits for the large corporations involved in producing arms, weapons and munitions. Armed conflict is not inevitable but is an important health issue that should be prevented.

A model reduction approach for the variational estimation of vascular compliance by solving an inverse fluid–structure interaction problem

International Nuclear Information System (INIS)

Bertagna, Luca; Veneziani, Alessandro

2014-01-01

Scientific computing has progressively become an important tool for research in cardiovascular diseases. The role of quantitative analyses based on numerical simulations has moved from ‘proofs of concept’ to patient-specific investigations, thanks to a strong integration between imaging and computational tools. However, beyond individual geometries, numerical models require the knowledge of parameters that are barely retrieved from measurements, especially in vivo. For this reason, recently cardiovascular mathematics considered data assimilation procedures for extracting the knowledge of patient-specific parameters from measures and images. In this paper, we consider specifically the quantification of vascular compliance, i.e. the parameter quantifying the tendency of arterial walls to deform under blood stress. Following up a previous paper, where a variational data assimilation procedure was proposed, based on solving an inverse fluid–structure interaction problem, here we consider model reduction techniques based on a proper orthogonal decomposition approach to accomplish the solution of the inverse problem in a computationally efficient way. (paper)

Optimized nonlinear inversion of surface-wave dispersion data

International Nuclear Information System (INIS)

Raykova, Reneta B.

2014-01-01

A new code for inversion of surface wave dispersion data is developed to obtain Earth’s crustal and upper mantle velocity structure. The author developed Optimized Non–Linear Inversion ( ONLI ) software, based on Monte-Carlo search. The values of S–wave velocity VS and thickness h for a number of horizontal homogeneous layers are parameterized. Velocity of P–wave VP and density ρ of relevant layers are calculated by empirical or theoretical relations. ONLI explores parameters space in two modes, selective and full search, and the main innovation of software is evaluation of tested models. Theoretical dispersion curves are calculated if tested model satisfied specific conditions only, reducing considerably the computation time. A number of tests explored impact of parameterization and proved the ability of ONLI approach to deal successfully with non–uniqueness of inversion problem. Key words: Earth’s structure, surface–wave dispersion, non–linear inversion, software

Hello to Arms

Science.gov (United States)

2005-01-01

This image highlights the hidden spiral arms (blue) that were discovered around the nearby galaxy NGC 4625 by the ultraviolet eyes of NASA's Galaxy Evolution Explorer. The image is composed of ultraviolet and visible-light data, from the Galaxy Evolution Explorer and the California Institute of Technology's Digitized Sky Survey, respectively. Near-ultraviolet light is colored green; far-ultraviolet light is colored blue; and optical light is colored red. As the image demonstrates, the lengthy spiral arms are nearly invisible when viewed in optical light while bright in ultraviolet. This is because they are bustling with hot, newborn stars that radiate primarily ultraviolet light. The youthful arms are also very long, stretching out to a distance four times the size of the galaxy's core. They are part of the largest ultraviolet galactic disk discovered so far. Located 31 million light-years away in the constellation Canes Venatici, NGC 4625 is the closest galaxy ever seen with such a young halo of arms. It is slightly smaller than our Milky Way, both in size and mass. However, the fact that this galaxy's disk is forming stars very actively suggests that it might evolve into a more massive and mature galaxy resembling our own. The armless companion galaxy seen below NGC 4625 is called NGC 4618. Astronomers do not know why it lacks arms but speculate that it may have triggered the development of arms in NGC 4625.

Visual Display of 5p-arm and 3p-arm miRNA Expression with a Mobile Application.

Science.gov (United States)

Pan, Chao-Yu; Kuo, Wei-Ting; Chiu, Chien-Yuan; Lin, Wen-Chang

2017-01-01

MicroRNAs (miRNAs) play important roles in human cancers. In previous studies, we have demonstrated that both 5p-arm and 3p-arm of mature miRNAs could be expressed from the same precursor and we further interrogated the 5p-arm and 3p-arm miRNA expression with a comprehensive arm feature annotation list. To assist biologists to visualize the differential 5p-arm and 3p-arm miRNA expression patterns, we utilized a user-friendly mobile App to display. The Cancer Genome Atlas (TCGA) miRNA-Seq expression information. We have collected over 4,500 miRNA-Seq datasets from 15 TCGA cancer types and further processed them with the 5p-arm and 3p-arm annotation analysis pipeline. In order to be displayed with the RNA-Seq Viewer App, annotated 5p-arm and 3p-arm miRNA expression information and miRNA gene loci information were converted into SQLite tables. In this distinct application, for any given miRNA gene, 5p-arm miRNA is illustrated on the top of chromosome ideogram and 3p-arm miRNA is illustrated on the bottom of chromosome ideogram. Users can then easily interrogate the differentially 5p-arm/3p-arm expressed miRNAs with their mobile devices. This study demonstrates the feasibility and utility of RNA-Seq Viewer App in addition to mRNA-Seq data visualization.

Visual Display of 5p-arm and 3p-arm miRNA Expression with a Mobile Application

Directory of Open Access Journals (Sweden)

Chao-Yu Pan

2017-01-01

Full Text Available MicroRNAs (miRNAs play important roles in human cancers. In previous studies, we have demonstrated that both 5p-arm and 3p-arm of mature miRNAs could be expressed from the same precursor and we further interrogated the 5p-arm and 3p-arm miRNA expression with a comprehensive arm feature annotation list. To assist biologists to visualize the differential 5p-arm and 3p-arm miRNA expression patterns, we utilized a user-friendly mobile App to display. The Cancer Genome Atlas (TCGA miRNA-Seq expression information. We have collected over 4,500 miRNA-Seq datasets from 15 TCGA cancer types and further processed them with the 5p-arm and 3p-arm annotation analysis pipeline. In order to be displayed with the RNA-Seq Viewer App, annotated 5p-arm and 3p-arm miRNA expression information and miRNA gene loci information were converted into SQLite tables. In this distinct application, for any given miRNA gene, 5p-arm miRNA is illustrated on the top of chromosome ideogram and 3p-arm miRNA is illustrated on the bottom of chromosome ideogram. Users can then easily interrogate the differentially 5p-arm/3p-arm expressed miRNAs with their mobile devices. This study demonstrates the feasibility and utility of RNA-Seq Viewer App in addition to mRNA-Seq data visualization.

Sensory-Feedback Exoskeletal Arm Controller

Science.gov (United States)

An, Bin; Massie, Thomas H.; Vayner, Vladimir

2004-01-01

An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment

Inverse Kinematics of a Humanoid Robot with Non-Spherical Hip: A Hybrid Algorithm Approach

Directory of Open Access Journals (Sweden)

Rafael Cisneros Limón

2013-04-01

Full Text Available This paper describes an approach to solve the inverse kinematics problem of humanoid robots whose construction shows a small but non negligible offset at the hip which prevents any purely analytical solution to be developed. Knowing that a purely numerical solution is not feasible due to variable efficiency problems, the proposed one first neglects the offset presence in order to obtain an approximate “solution” by means of an analytical algorithm based on screw theory, and then uses it as the initial condition of a numerical refining procedure based on the Levenberg-Marquardt algorithm. In this way, few iterations are needed for any specified attitude, making it possible to implement the algorithm for real-time applications. As a way to show the algorithm's implementation, one case of study is considered throughout the paper, represented by the SILO2 humanoid robot.

Unequal-Arms Michelson Interferometers

Science.gov (United States)

Tinto, Massimo; Armstrong, J. W.

2000-01-01

Michelson interferometers allow phase measurements many orders of magnitude below the phase stability of the laser light injected into their two almost equal-length arms. If, however, the two arms are unequal, the laser fluctuations can not be removed by simply recombining the two beams. This is because the laser jitters experience different time delays in the two arms, and therefore can not cancel at the photo detector. We present here a method for achieving exact laser noise cancellation, even in an unequal-arm interferometer. The method presented in this paper requires a separate readout of the relative phase in each arm, made by interfering the returning beam in each arm with a fraction of the outgoing beam. By linearly combining the two data sets with themselves, after they have been properly time shifted, we show that it is possible to construct a new data set that is free of laser fluctuations. An application of this technique to future planned space-based laser interferometer detector3 of gravitational radiation is discussed.

Finite-fault source inversion using adjoint methods in 3D heterogeneous media

Science.gov (United States)

Somala, Surendra Nadh; Ampuero, Jean-Paul; Lapusta, Nadia

2018-04-01

Accounting for lateral heterogeneities in the 3D velocity structure of the crust is known to improve earthquake source inversion, compared to results based on 1D velocity models which are routinely assumed to derive finite-fault slip models. The conventional approach to include known 3D heterogeneity in source inversion involves pre-computing 3D Green's functions, which requires a number of 3D wave propagation simulations proportional to the number of stations or to the number of fault cells. The computational cost of such an approach is prohibitive for the dense datasets that could be provided by future earthquake observation systems. Here, we propose an adjoint-based optimization technique to invert for the spatio-temporal evolution of slip velocity. The approach does not require pre-computed Green's functions. The adjoint method provides the gradient of the cost function, which is used to improve the model iteratively employing an iterative gradient-based minimization method. The adjoint approach is shown to be computationally more efficient than the conventional approach based on pre-computed Green's functions in a broad range of situations. We consider data up to 1 Hz from a Haskell source scenario (a steady pulse-like rupture) on a vertical strike-slip fault embedded in an elastic 3D heterogeneous velocity model. The velocity model comprises a uniform background and a 3D stochastic perturbation with the von Karman correlation function. Source inversions based on the 3D velocity model are performed for two different station configurations, a dense and a sparse network with 1 km and 20 km station spacing, respectively. These reference inversions show that our inversion scheme adequately retrieves the rise time when the velocity model is exactly known, and illustrates how dense coverage improves the inference of peak slip velocities. We investigate the effects of uncertainties in the velocity model by performing source inversions based on an incorrect

Kan die kernwapenwedloop deur kern-wapenbeheer beëindig word?

Directory of Open Access Journals (Sweden)

A. W. van Tonder

1983-03-01

Full Text Available The slogans of the "walkers for peace " in the Uniled Slates of America anti in Western Europe (and also in South Africa against the proliferation of nuclear weapons and nuclear technology as well as the growing probability of a nuclear war in the light of president Reagan's rearmament plan, arc born of the numerous failures of nuclear disarmament and arms control. The ever- increasing danger that goes along with nuclear proliferation in the sense of weapon production and the handling of radioactive waste urges us to look more seriously than ever at nuclear technology. The article deals with some of the efforts to control the proliferation process as well as efforts to limit or reduce nuclear arms. Some essential  factors that negatively influence the discussions are pointed out and finally it is concluded that because of the sin-induced brokenness of man’s heart, control over nuclear arms proliferation has just partial success. The abolition of weapon production and total disarm­ ament are ideals that will, in this era that precedes the second coming of Christ, not be fulfilled. Thus, the nuclear arms race will inevitably continue.

Angle-domain inverse scattering migration/inversion in isotropic media

Science.gov (United States)

Li, Wuqun; Mao, Weijian; Li, Xuelei; Ouyang, Wei; Liang, Quan

2018-07-01

The classical seismic asymptotic inversion can be transformed into a problem of inversion of generalized Radon transform (GRT). In such methods, the combined parameters are linearly attached to the scattered wave-field by Born approximation and recovered by applying an inverse GRT operator to the scattered wave-field data. Typical GRT-style true-amplitude inversion procedure contains an amplitude compensation process after the weighted migration via dividing an illumination associated matrix whose elements are integrals of scattering angles. It is intuitional to some extent that performs the generalized linear inversion and the inversion of GRT together by this process for direct inversion. However, it is imprecise to carry out such operation when the illumination at the image point is limited, which easily leads to the inaccuracy and instability of the matrix. This paper formulates the GRT true-amplitude inversion framework in an angle-domain version, which naturally degrades the external integral term related to the illumination in the conventional case. We solve the linearized integral equation for combined parameters of different fixed scattering angle values. With this step, we obtain high-quality angle-domain common-image gathers (CIGs) in the migration loop which provide correct amplitude-versus-angle (AVA) behavior and reasonable illumination range for subsurface image points. Then we deal with the over-determined problem to solve each parameter in the combination by a standard optimization operation. The angle-domain GRT inversion method keeps away from calculating the inaccurate and unstable illumination matrix. Compared with the conventional method, the angle-domain method can obtain more accurate amplitude information and wider amplitude-preserved range. Several model tests demonstrate the effectiveness and practicability.

A Novel Approach to Fast SOLIS Stokes Inversion for Photospheric Vector Magnetography.

Science.gov (United States)

Harker, Brian; Mighell, K.

2009-05-01

The SOLIS (Synoptic Optical Long-term Investigations of the Sun) Vector Spectromagnetograph (VSM) is a full-disc spectropolarimeter, located at Kitt Peak National Observatory, which records Zeeman-induced polarization in the magnetically-sensitive FeI spectral lines at 630.15 nm and 630.25 nm. A SOLIS VSM full-disc dataset consists of 2048 scanlines, with each scanline containing the Stokes I, Q, U, and V spectral line profiles in 128 unique wavelength bins for all 2048 pixels in the scanline. These Stokes polarization profiles are inverted to obtain the magnetic and thermodynamic structure of the observations, based on a model Milne-Eddington plane-parallel atmosphere. Until recently, this has been a compute-intensive, relatively slow process. This poster presents a novel method of producing such model-based characterizations of the photospheric magnetic field by utilizing an inversion engine based on a genetic algorithm. The algorithm executes in a heterogeneous compute environment composed of both a CPU and a graphics processing unit (GPU). Using the cutting-edge NVIDIA CUDA platform, we are able to offload the compute-intensive portions of the inversion code to the GPU, which results in significant speedup. This speedup provides the impetus which has driven the development of this strategy. Currently, SOLIS vector magnetic field products are generated with a modified version of the HAO ASP inversion code developed by Skumanich & Lites (1987), and these data products are made available to the scientific community 24 hours after the actual observation(s). With this work, we aim to drastically reduce this waiting period to allow near real-time characterizations of the photospheric vector magnetic field. Here, we here detail the inversion method we have pioneered, present preliminary results on the derived full-disc magnetic field as well as timing/speedup considerations, and finally offer some outlooks on the future direction of this work.

Armed conflict and child health

OpenAIRE

Rieder, Michael; Choonara, Imti

2012-01-01

Armed conflict has a major impact on child health\\ud throughout the world. One in six children worldwide lives\\ud in an area of armed conflict and civilians are more likely\\ud to die than soldiers as a result of the conflict. In stark\\ud contrast to the effect on children, the international arms\\ud trade results in huge profits for the large corporations\\ud involved in producing arms, weapons and munitions.\\ud Armed conflict is not inevitable but is an important\\ud health issue that should be...

Kinematic source inversions of teleseismic data based on the QUESO library for uncertainty quantification and prediction

Science.gov (United States)

Zielke, O.; McDougall, D.; Mai, P. M.; Babuska, I.

2014-12-01

One fundamental aspect of seismic hazard mitigation is gaining a better understanding of the rupture process. Because direct observation of the relevant parameters and properties is not possible, other means such as kinematic source inversions are used instead. By constraining the spatial and temporal evolution of fault slip during an earthquake, those inversion approaches may enable valuable insights in the physics of the rupture process. However, due to the underdetermined nature of this inversion problem (i.e., inverting a kinematic source model for an extended fault based on seismic data), the provided solutions are generally non-unique. Here we present a statistical (Bayesian) inversion approach based on an open-source library for uncertainty quantification (UQ) called QUESO that was developed at ICES (UT Austin). The approach has advantages with respect to deterministic inversion approaches as it provides not only a single (non-unique) solution but also provides uncertainty bounds with it. Those uncertainty bounds help to qualitatively and quantitatively judge how well constrained an inversion solution is and how much rupture complexity the data reliably resolve. The presented inversion scheme uses only tele-seismically recorded body waves but future developments may lead us towards joint inversion schemes. After giving an insight in the inversion scheme ifself (based on delayed rejection adaptive metropolis, DRAM) we explore the method's resolution potential. For that, we synthetically generate tele-seismic data, add for example different levels of noise and/or change fault plane parameterization and then apply our inversion scheme in the attempt to extract the (known) kinematic rupture model. We conclude with exemplary inverting real tele-seismic data of a recent large earthquake and compare those results with deterministically derived kinematic source models provided by other research groups.

Parametric optimization of inverse trapezoid oleophobic surfaces

DEFF Research Database (Denmark)

Cavalli, Andrea; Bøggild, Peter; Okkels, Fridolin

2012-01-01

In this paper, we introduce a comprehensive and versatile approach to the parametric shape optimization of oleophobic surfaces. We evaluate the performance of inverse trapezoid microstructures in terms of three objective parameters: apparent contact angle, maximum sustainable hydrostatic pressure...

Development of a residency program in radiation oncology physics: an inverse planning approach.

Science.gov (United States)

Khan, Rao F H; Dunscombe, Peter B

2016-03-08

Over the last two decades, there has been a concerted effort in North America to organize medical physicists' clinical training programs along more structured and formal lines. This effort has been prompted by the Commission on Accreditation of Medical Physics Education Programs (CAMPEP) which has now accredited about 90 residency programs. Initially the accreditation focused on standardized and higher quality clinical physics training; the development of rounded professionals who can function at a high level in a multidisciplinary environment was recognized as a priority of a radiation oncology physics residency only lately. In this report, we identify and discuss the implementation of, and the essential components of, a radiation oncology physics residency designed to produce knowledgeable and effective clinical physicists for today's safety-conscious and collaborative work environment. Our approach is that of inverse planning, by now familiar to all radiation oncology physicists, in which objectives and constraints are identified prior to the design of the program. Our inverse planning objectives not only include those associated with traditional residencies (i.e., clinical physics knowledge and critical clinical skills), but also encompass those other attributes essential for success in a modern radiation therapy clinic. These attributes include formal training in management skills and leadership, teaching and communication skills, and knowledge of error management techniques and patient safety. The constraints in our optimization exercise are associated with the limited duration of a residency and the training resources available. Without compromising the knowledge and skills needed for clinical tasks, we have successfully applied the model to the University of Calgary's two-year residency program. The program requires 3840 hours of overall commitment from the trainee, of which 7%-10% is spent in obtaining formal training in nontechnical "soft skills".

Learning robotic eye-arm-hand coordination from human demonstration: a coupled dynamical systems approach.

Science.gov (United States)

Lukic, Luka; Santos-Victor, José; Billard, Aude

2014-04-01

We investigate the role of obstacle avoidance in visually guided reaching and grasping movements. We report on a human study in which subjects performed prehensile motion with obstacle avoidance where the position of the obstacle was systematically varied across trials. These experiments suggest that reaching with obstacle avoidance is organized in a sequential manner, where the obstacle acts as an intermediary target. Furthermore, we demonstrate that the notion of workspace travelled by the hand is embedded explicitly in a forward planning scheme, which is actively involved in detecting obstacles on the way when performing reaching. We find that the gaze proactively coordinates the pattern of eye-arm motion during obstacle avoidance. This study provides also a quantitative assessment of the coupling between the eye-arm-hand motion. We show that the coupling follows regular phase dependencies and is unaltered during obstacle avoidance. These observations provide a basis for the design of a computational model. Our controller extends the coupled dynamical systems framework and provides fast and synchronous control of the eyes, the arm and the hand within a single and compact framework, mimicking similar control system found in humans. We validate our model for visuomotor control of a humanoid robot.

Constraining surface emissions of air pollutants using inverse modelling: method intercomparison and a new two-step two-scale regularization approach

Energy Technology Data Exchange (ETDEWEB)

Saide, Pablo (CGRER, Center for Global and Regional Environmental Research, Univ. of Iowa, Iowa City, IA (United States)), e-mail: pablo-saide@uiowa.edu; Bocquet, Marc (Universite Paris-Est, CEREA Joint Laboratory Ecole des Ponts ParisTech and EDF RandD, Champs-sur-Marne (France); INRIA, Paris Rocquencourt Research Center (France)); Osses, Axel (Departamento de Ingeniera Matematica, Universidad de Chile, Santiago (Chile); Centro de Modelamiento Matematico, UMI 2807/Universidad de Chile-CNRS, Santiago (Chile)); Gallardo, Laura (Centro de Modelamiento Matematico, UMI 2807/Universidad de Chile-CNRS, Santiago (Chile); Departamento de Geofisica, Universidad de Chile, Santiago (Chile))

2011-07-15

When constraining surface emissions of air pollutants using inverse modelling one often encounters spurious corrections to the inventory at places where emissions and observations are colocated, referred to here as the colocalization problem. Several approaches have been used to deal with this problem: coarsening the spatial resolution of emissions; adding spatial correlations to the covariance matrices; adding constraints on the spatial derivatives into the functional being minimized; and multiplying the emission error covariance matrix by weighting factors. Intercomparison of methods for a carbon monoxide inversion over a city shows that even though all methods diminish the colocalization problem and produce similar general patterns, detailed information can greatly change according to the method used ranging from smooth, isotropic and short range modifications to not so smooth, non-isotropic and long range modifications. Poisson (non-Gaussian) and Gaussian assumptions both show these patterns, but for the Poisson case the emissions are naturally restricted to be positive and changes are given by means of multiplicative correction factors, producing results closer to the true nature of emission errors. Finally, we propose and test a new two-step, two-scale, fully Bayesian approach that deals with the colocalization problem and can be implemented for any prior density distribution

Nonlinear Damping Identification in Nonlinear Dynamic System Based on Stochastic Inverse Approach

Directory of Open Access Journals (Sweden)

S. L. Han

2012-01-01

Full Text Available The nonlinear model is crucial to prepare, supervise, and analyze mechanical system. In this paper, a new nonparametric and output-only identification procedure for nonlinear damping is studied. By introducing the concept of the stochastic state space, we formulate a stochastic inverse problem for a nonlinear damping. The solution of the stochastic inverse problem is designed as probabilistic expression via the hierarchical Bayesian formulation by considering various uncertainties such as the information insufficiency in parameter of interests or errors in measurement. The probability space is estimated using Markov chain Monte Carlo (MCMC. The applicability of the proposed method is demonstrated through numerical experiment and particular application to a realistic problem related to ship roll motion.

Creation of targeted inversion mutations in plants using an RNA-guided endonuclease

Institute of Scientific and Technical Information of China (English)

Congsheng Zhang; Changlin Liu; Jianfeng Weng; Beijiu Cheng; Fang Liu; Xinhai Li; Chuanxiao Xie

2017-01-01

Inversions are DNA rearrangements that are essential for plant gene evolution and adaptation to environmental changes. We demonstrate the creation of targeted inversions and previously reported targeted deletion mutations via delivery of a pair of RNA-guided endonucleases (RGENs) of CRISPR/Cas9. The efficiencies of the targeted inversions were 2.6%and 2.2%in the Arabidopsis FLOWERING TIME (AtFT) and TERMINAL FLOWER 1 (AtTFL1) loci, respectively. Thus, we successfully established an approach that can potentially be used to introduce targeted DNA inversions of interest for functional studies and crop improvement.

Frequency-domain inversion using the amplitude of the derivative wavefield with respect to the angular frequency

KAUST Repository

Choi, Yun Seok

2012-01-01

The instantaneous traveltime based inversion was developed to solve the phase wrapping problem, thus generating long-wavelength structures even for a high single-frequency. However, it required aggressive damping to insure proper convergence. A reason for that is the potential for unstable division in the calculation of the instantaneous traveltime for low damping factors. Thus, we propose an inversion algorithm using the amplitude of the derivative wavefield to avoid the unstable division process. Since the amplitude of the derivative wavefield contains the unwrapped-phase information, its inversion has the potential to provide robust inversion results. On the other hand, the damping term rapidly diminishes the amplitude of the derivative wavefield at far source-receiver offsets. As an alternative, we suggest using the logarithmic amplitude of the derivative wavefield. The gradient of this inversion algorithm is obtained by the back-propagation approach, based on the adjoint-state technique. Numerical examples show that the logarithmic-amplitude approach yields better convergent results than the instantaneous traveltime inversion, whereas the pure-amplitude approach does not show much convergence.

Application of a two-and-a-half dimensional model-based algorithm to crosswell electromagnetic data inversion

International Nuclear Information System (INIS)

Li, Maokun; Abubakar, Aria; Habashy, Tarek M

2010-01-01

In this paper, we apply a model-based inversion scheme for the interpretation of the crosswell electromagnetic data. In this approach, we use open and closed polygons to parameterize the unknown configuration. The parameters that define these polygons are then inverted for by minimizing the data misfit cost function. Compared with the pixel-based inversion approach, the model-based inversion uses only a few number of parameters; hence, it is more efficient. Furthermore, with sufficient sensitivity in the data, the model-based approach can provide quantitative estimates of the inverted parameters such as the conductivity. The model-based inversion also provides a convenient way to incorporate a priori information from other independent measurements such as seismic, gravity and well logs

Refraction traveltime tomography with irregular topography using the unwrapped phase inversion

KAUST Repository

Choi, Yun Seok

2013-01-01

Traveltime tomography has long served as a stable and efficient tool for velocity estimation, especially for the near surface. It, however, suffers from some of limitations associated with ray tracing and high-frequency traveltime in velocity inversion zones and ray shadow regions. We develop a tomographic approach based on traveltime solutions obtained by tracking the phase (instantaneous traveltime) of the wavefield solution of the Helmholtz wave equation. Since the instantaneous-traveltime does not suffer from phase wrapping, the inversion algorithm using the instantaneous-traveltime has the potential to generate robust inversion results. With a high damping factor, the instantaneous-traveltime inversion provides refraction tomography similar results, but from a single frequency. Despite the Helmholtz-based solver implementation, the tomographic inversion handles irrgular topography. The numerical examples show that our inversion algorithm generates a convergent smooth velocity model, which looks very much like a tomographic result. Next, we plan to apply the instantaneous-traveltime inversion algorithm to real seismic data acquired from the near surface with irregular topography.

Cooperative Mmonitoring Center Occasional Paper/5: Propspects of Conventional Arms Control in South Asia

Energy Technology Data Exchange (ETDEWEB)

Gupta, Amit; Kamal, Nazir

1998-11-01

The intensely adversarial relationship between India and Pakistan is marked by military rivalry, mutual distrust, and suspicion. The most dividing disagreement has been over the Kashmir region. An inability to discuss the Kashmir issue has prevented discussion on other important issues. Since there is little prospect of detente, at least in the near-term, the question is whether this rivalry can be contained by other means, such as arms control approaches. Conventional arms control has been applied flexibly and successfully in some regions to reduce threat-perceptions and achieve reassuring military stability. Some lessons from other international models might be applied to the India/Pakistan context. This paper discusses the status of conventional arms control in South Asia, the dominant Indian and Pakistani perceptions about arms control, the benefits that could be derived from arms control, as well as the problems and prospects of arms control. It also discusses existing conventional arms control agreements at the regional and global levels as well as the potential role of cooperative monitoring technology.

Effects of age, sex and arm on the precision of arm position sense—left-arm superiority in healthy right-handers

OpenAIRE

Schmidt, Lena; Depper, Lena; Kerkhoff, Georg

2013-01-01

Position sense is an important proprioceptive ability. Disorders of arm position sense (APS) often occur after unilateral stroke, and are associated with a negative functional outcome. In the present study we assessed horizontal APS by measuring angular deviations from a visually defined target separately for each arm in a large group of healthy subjects. We analyzed the accuracy and instability of horizontal APS as a function of age, sex and arm. Subjects were required to specify verbally th...

Performance of arm locking in LISA

International Nuclear Information System (INIS)

McKenzie, Kirk; Spero, Robert E.; Shaddock, Daniel A.

2009-01-01

For the Laser Interferometer Space Antenna (LISA) to reach its design sensitivity, the coupling of the free-running laser frequency noise to the signal readout must be reduced by more than 14 orders of magnitude. One technique employed to reduce the laser frequency noise will be arm locking, where the laser frequency is locked to the LISA arm length. In this paper we detail an implementation of arm locking. We investigate orbital effects (changing arm lengths and Doppler frequencies), the impact of errors in the Doppler knowledge that can cause pulling of the laser frequency, and the noise limit of arm locking. Laser frequency pulling is examined in two regimes: at lock acquisition and in steady state. The noise performance of arm locking is calculated with the inclusion of the dominant expected noise sources: ultrastable oscillator (clock) noise, spacecraft motion, and shot noise. We find that clock noise and spacecraft motion limit the performance of dual arm locking in the LISA science band. Studying these issues reveals that although dual arm locking [A. Sutton and D. A. Shaddock, Phys. Rev. D 78, 082001 (2008)] has advantages over single (or common) arm locking in terms of allowing high gain, it has disadvantages in both laser frequency pulling and noise performance. We address this by proposing a modification to the dual arm-locking sensor, a hybrid of common and dual arm-locking sensors. This modified dual arm-locking sensor has the laser frequency pulling characteristics and low-frequency noise coupling of common arm locking, but retains the control system advantages of dual arm locking. We present a detailed design of an arm-locking controller and perform an analysis of the expected performance when used with and without laser prestabilization. We observe that the sensor phase changes beneficially near unity-gain frequencies of the arm-locking controller, allowing a factor of 10 more gain than previously believed, without degrading stability. With a time

Armed Conflict in the Chechen Republic in the French Historiography

Directory of Open Access Journals (Sweden)

Nikolay N. Malishevskiy

2017-03-01

Full Text Available The article deals with the problems of historiography of the armed conflict in the Chechen Republic. The active phase of the military operations of the armed conflict in Chechnya was completed in 2001. At that time, historians, analysts and journalists created a wide range of theoretical works concerning the conflict. A number of common features on the use of basic resources are discussed in these publications. The degree of accessibility of the sources which focus on the description of the conflict and its socio-political assessment is of great importance for researchers and their objectives. The author analyzes the European (French historiography of the armed conflict in the Chechen Republic, considers publications and specialized monographs by French authors on the given subject. The author reveals the ideas about the consequences of the armed conflict in the Chechen Republic, articulated in the works of the European researchers. For the first time within the study of the Western historiography of the war in Chechnya the author analyzes these consequences for both the Russian and Chechen sides. Being one of the most influential historical traditions, French historiography dedicated to the armed conflict in Chechnya is in the stage of development and is characterized by a number of qualitative changes and conceptual approaches.

Elastic versus acoustic inversion for marine surveys

KAUST Repository

Mora, Peter; Wu, Zedong

2018-01-01

Full Wavefield Inversion (FWI) is a powerful and elegant approach for seismic imaging that is on the way to becoming the method of choice when processing exploration or global seismic data. In the case of processing marine survey data, one may

Robotic-assisted partial nephrectomy: surgical technique using a 3-arm approach and sliding-clip renorrhaphy

Directory of Open Access Journals (Sweden)

Jose M. Cabello

2009-04-01

Full Text Available INTRODUCTION: For the treatment of renal tumors, minimally invasive nephron-sparing surgery has become increasingly performed due to proven efficiency and excellent functional and oncological outcomes. The introduction of robotics into urologic laparoscopic surgery has allowed surgeons to perform challenging procedures in a reliable and reproducible manner. We present our surgical technique for robotic assisted partial nephrectomy (RPN using a 3-arm approach, including a sliding-clip renorrhaphy. MATERIAL AND METHODS: Our RPN technique is presented which describes the trocar positioning, hilar dissection, tumor identification using intraoperative ultrasound for margin determination, selective vascular clamping, tumor resection, and reconstruction using a sliding-clip technique. CONCLUSION: RPN using a sliding-clip renorrhaphy is a valid and reproducible surgical technique that reduces the challenge of the procedure by taking advantage of the enhanced visualization and control afforded by the robot. The renorrhaphy described is performed under complete control of the console surgeon, and has demonstrated a reduction in the warm ischemia times in our series.

Inverse Problem Approach for the Alignment of Electron Tomographic Series

International Nuclear Information System (INIS)

Tran, V.D.; Moreaud, M.; Thiebaut, E.; Denis, L.; Becker, J.M.

2014-01-01

In the refining industry, morphological measurements of particles have become an essential part in the characterization catalyst supports. Through these parameters, one can infer the specific physico-chemical properties of the studied materials. One of the main acquisition techniques is electron tomography (or nano-tomography). 3D volumes are reconstructed from sets of projections from different angles made by a Transmission Electron Microscope (TEM). This technique provides a real three-dimensional information at the nano-metric scale. A major issue in this method is the misalignment of the projections that contributes to the reconstruction. The current alignment techniques usually employ fiducial markers such as gold particles for a correct alignment of the images. When the use of markers is not possible, the correlation between adjacent projections is used to align them. However, this method sometimes fails. In this paper, we propose a new method based on the inverse problem approach where a certain criterion is minimized using a variant of the Nelder and Mead simplex algorithm. The proposed approach is composed of two steps. The first step consists of an initial alignment process, which relies on the minimization of a cost function based on robust statistics measuring the similarity of a projection to its previous projections in the series. It reduces strong shifts resulting from the acquisition between successive projections. In the second step, the pre-registered projections are used to initialize an iterative alignment-refinement process which alternates between (i) volume reconstructions and (ii) registrations of measured projections onto simulated projections computed from the volume reconstructed in (i). At the end of this process, we have a correct reconstruction of the volume, the projections being correctly aligned. Our method is tested on simulated data and shown to estimate accurately the translation, rotation and scale of arbitrary transforms. We

C-arm cone beam computed tomography needle path overlay for fluoroscopic guided vertebroplasty.

Science.gov (United States)

Tam, Alda L; Mohamed, Ashraf; Pfister, Marcus; Chinndurai, Ponraj; Rohm, Esther; Hall, Andrew F; Wallace, Michael J

2010-05-01

Retrospective review. To report our early clinical experience using C-arm cone beam computed tomography (C-arm CBCT) with fluoroscopic overlay for needle guidance during vertebroplasty. C-arm CBCT is advanced three-dimensional (3-D) imaging technology that is currently available on state-of-the-art flat panel based angiography systems. The imaging information provided by C-arm CBCT allows for the acquisition and reconstruction of "CT-like" images in flat panel based angiography/interventional suites. As part of the evolution of this technology, enhancements allowing the overlay of cross-sectional imaging information can now be integrated with real time fluoroscopy. We report our early clinical experience with C-arm CBCT with fluoroscopic overlay for needle guidance during vertebroplasty. This is a retrospective review of 10 consecutive oncology patients who underwent vertebroplasty of 13 vertebral levels using C-arm CBCT with fluoroscopic overlay for needle guidance from November 2007 to December 2008. Procedural data including vertebral level, approach (transpedicular vs. extrapedicular), access (bilateral vs. unilateral) and complications were recorded. Technical success with the overlay technology was assessed based on accuracy which consisted of 4 measured parameters: distance from target to needle tip, distance from planned path to needle tip, distance from midline to needle tip, and distance from the anterior 1/3 of the vertebral body to needle tip. Success within each parameter required that the distance between the needle tip and parameter being evaluated be no more than 5 mm on multiplanar CBCT or fluoroscopy. Imaging data for 12 vertebral levels was available for review. All vertebral levels were treated using unilateral access and 9 levels were treated with an extrapedicular approach. Technical success rates were 92% for both distance from planned path and distance from midline to final needle tip, 100% when distance from needle tip to the anterior 1

Alternating minimisation for glottal inverse filtering

International Nuclear Information System (INIS)

Bleyer, Ismael Rodrigo; Lybeck, Lasse; Auvinen, Harri; Siltanen, Samuli; Airaksinen, Manu; Alku, Paavo

2017-01-01

A new method is proposed for solving the glottal inverse filtering (GIF) problem. The goal of GIF is to separate an acoustical speech signal into two parts: the glottal airflow excitation and the vocal tract filter. To recover such information one has to deal with a blind deconvolution problem. This ill-posed inverse problem is solved under a deterministic setting, considering unknowns on both sides of the underlying operator equation. A stable reconstruction is obtained using a double regularization strategy, alternating between fixing either the glottal source signal or the vocal tract filter. This enables not only splitting the nonlinear and nonconvex problem into two linear and convex problems, but also allows the use of the best parameters and constraints to recover each variable at a time. This new technique, called alternating minimization glottal inverse filtering (AM-GIF), is compared with two other approaches: Markov chain Monte Carlo glottal inverse filtering (MCMC-GIF), and iterative adaptive inverse filtering (IAIF), using synthetic speech signals. The recent MCMC-GIF has good reconstruction quality but high computational cost. The state-of-the-art IAIF method is computationally fast but its accuracy deteriorates, particularly for speech signals of high fundamental frequency ( F 0). The results show the competitive performance of the new method: With high F 0, the reconstruction quality is better than that of IAIF and close to MCMC-GIF while reducing the computational complexity by two orders of magnitude. (paper)

3-D cross-gradient joint inversion of seismic refraction and DC resistivity data

Science.gov (United States)

Shi, Zhanjie; Hobbs, Richard W.; Moorkamp, Max; Tian, Gang; Jiang, Lu

2017-06-01

We present a 3-D cross-gradient joint inversion algorithm for seismic refraction and DC resistivity data. The structural similarity between seismic slowness and resistivity models is enforced by a cross-gradient term in the objective function that also includes misfit and regularization terms. A limited memory quasi-Newton approach is used to perform the optimization of the objective function. To validate the proposed methodology and its implementation, tests were performed on a typical archaeological geophysical synthetic model. The results show that the inversion model and physical parameters estimated by our joint inversion method are more consistent with the true model than those from single inversion algorithm. Moreover, our approach appears to be more robust in conditions of noise. Finally, the 3-D cross-gradient joint inversion algorithm was applied to the field data from Lin_an ancient city site in Hangzhou of China. The 3-D cross-gradient joint inversion models are consistent with the archaeological excavation results of the ancient city wall remains. However, by single inversion, seismic slowness model does not show the anomaly of city wall remains and resistivity model does not fit well with the archaeological excavation results. Through these comparisons, we conclude that the proposed algorithm can be used to jointly invert 3-D seismic refraction and DC resistivity data to reduce the uncertainty brought by single inversion scheme.

Nonspecific Arm Pain

Directory of Open Access Journals (Sweden)

Ali Moradi

2013-12-01

Full Text Available Nonspecific activity-related arm pain is characterized by an absence of objective physical findings and symptoms that do not correspond with objective pathophysiology. Arm pain without strict diagnosis is often related to activity, work-related activity in particular, and is often seen in patients with physically demanding work. Psychological factors such as catastrophic thinking, symptoms of depression, and heightened illness concern determine a substantial percentage of the disability associated with puzzling hand and arm pains. Ergonomic modifications can help to control symptoms, but optimal health may require collaborative management incorporating psychosocial and psychological elements of illness.

Nonspecific Arm Pain

Directory of Open Access Journals (Sweden)

Ali Moradi

2013-12-01

Full Text Available   Nonspecific activity-related arm pain is characterized by an absence of objective physical findings and symptoms that do not correspond with objective pathophysiology. Arm pain without strict diagnosis is often related to activity, work-related activity in particular, and is often seen in patients with physically demanding work. Psychological factors such as catastrophic thinking, symptoms of depression, and heightened illness concern determine a substantial percentage of the disability associated with puzzling hand and arm pains. Ergonomic modifications can help to control symptoms, but optimal health may require collaborative management incorporating psychosocial and psychological elements of illness.

multi-scale data assimilation approaches and error characterisation applied to the inverse modelling of atmospheric constituent emission fields

International Nuclear Information System (INIS)

Koohkan, Mohammad Reza

2012-01-01

Data assimilation in geophysical sciences aims at optimally estimating the state of the system or some parameters of the system's physical model. To do so, data assimilation needs three types of information: observations and background information, a physical/numerical model, and some statistical description that prescribes uncertainties to each component of the system. In my dissertation, new methodologies of data assimilation are used in atmospheric chemistry and physics: the joint use of a 4D-Var with a sub-grid statistical model to consistently account for representativeness errors, accounting for multiple scale in the BLUE estimation principle, and a better estimation of prior errors using objective estimation of hyper-parameters. These three approaches will be specifically applied to inverse modelling problems focusing on the emission fields of tracers or pollutants. First, in order to estimate the emission inventories of carbon monoxide over France, in-situ stations which are impacted by the representativeness errors are used. A sub-grid model is introduced and coupled with a 4D-Var to reduce the representativeness error. Indeed, the results of inverse modelling showed that the 4D-Var routine was not fit to handle the representativeness issues. The coupled data assimilation system led to a much better representation of the CO concentration variability, with a significant improvement of statistical indicators, and more consistent estimation of the CO emission inventory. Second, the evaluation of the potential of the IMS (International Monitoring System) radionuclide network is performed for the inversion of an accidental source. In order to assess the performance of the global network, a multi-scale adaptive grid is optimised using a criterion based on degrees of freedom for the signal (DFS). The results show that several specific regions remain poorly observed by the IMS network. Finally, the inversion of the surface fluxes of Volatile Organic Compounds

Effects of age, sex and arm on the precision of arm position sense-left-arm superiority in healthy right-handers.

Science.gov (United States)

Schmidt, Lena; Depper, Lena; Kerkhoff, Georg

2013-01-01

Position sense is an important proprioceptive ability. Disorders of arm position sense (APS) often occur after unilateral stroke, and are associated with a negative functional outcome. In the present study we assessed horizontal APS by measuring angular deviations from a visually defined target separately for each arm in a large group of healthy subjects. We analyzed the accuracy and instability of horizontal APS as a function of age, sex and arm. Subjects were required to specify verbally the position of their unseen arm on a 0-90° circuit by comparing the current position with the target position indicated by a LED lamp, while the arm was passively moved by the examiner. Eighty-seven healthy subjects participated in the study, ranging from 20 to 77 years, subdivided into three age groups. The results revealed that APS was not a function of age or sex, but was significantly better in the non-dominant (left) arm in absolute errors (AE) but not in constant errors (CE) across all age groups of right-handed healthy subjects. This indicates a right-hemisphere superiority for left APS in right-handers and neatly fits to the more frequent and more severe left-sided body-related deficits in patients with unilateral stroke (i.e. impaired APS in left spatial neglect, somatoparaphrenia) or in individuals with abnormalities of the right cerebral hemisphere. These clinical issues will be discussed.

Arms control and disarmament

International Nuclear Information System (INIS)

Acton, P.

1992-01-01

Article VI of the Non-Proliferation Treaty commits each party to work towards nuclear disarmament and to negotiations to stop the nuclear arms race. All parties to the Treaty are included and a wide range of arms control and disarmament issues are covered. However the main focus at Treaty review conferences has been on nuclear disarmament by the nuclear weapon states which are party to the Treaty. This has led to bilateral United States - Soviet Union negotiations resulting in the Intermediate-range Nuclear Forces Treaty in December 1987 and the Strategic Arms Reduction Treaty (START) in July followed by unilateral arms control measures in September and October 1991. (UK)

A neural tracking and motor control approach to improve rehabilitation of upper limb movements

Directory of Open Access Journals (Sweden)

Schmid Maurizio

2008-02-01

Full Text Available Abstract Background Restoration of upper limb movements in subjects recovering from stroke is an essential keystone in rehabilitative practices. Rehabilitation of arm movements, in fact, is usually a far more difficult one as compared to that of lower extremities. For these reasons, researchers are developing new methods and technologies so that the rehabilitative process could be more accurate, rapid and easily accepted by the patient. This paper introduces the proof of concept for a new non-invasive FES-assisted rehabilitation system for the upper limb, called smartFES (sFES, where the electrical stimulation is controlled by a biologically inspired neural inverse dynamics model, fed by the kinematic information associated with the execution of a planar goal-oriented movement. More specifically, this work details two steps of the proposed system: an ad hoc markerless motion analysis algorithm for the estimation of kinematics, and a neural controller that drives a synthetic arm. The vision of the entire system is to acquire kinematics from the analysis of video sequences during planar arm movements and to use it together with a neural inverse dynamics model able to provide the patient with the electrical stimulation patterns needed to perform the movement with the assisted limb. Methods The markerless motion tracking system aims at localizing and monitoring the arm movement by tracking its silhouette. It uses a specifically designed motion estimation method, that we named Neural Snakes, which predicts the arm contour deformation as a first step for a silhouette extraction algorithm. The starting and ending points of the arm movement feed an Artificial Neural Controller, enclosing the muscular Hill's model, which solves the inverse dynamics to obtain the FES patterns needed to move a simulated arm from the starting point to the desired point. Both position error with respect to the requested arm trajectory and comparison between curvature factors

From observation to understanding: Approach to analysis of wear mechanisms, Case of RCCAs and CRDM latch arms

International Nuclear Information System (INIS)

Hertz, D.

2004-01-01

Component wear can affect the ability of a component to fulfill its required function. For a designer or user, it is reasonable to expect possible wear occurrence as soon as parts are in relative motion. It is less obvious to extend this possibility to motions with small or very small amplitudes and loads. However, it has to be admitted that such cases exist. It then becomes imperative to determine the wear mechanisms so that the lifetime of the components and the optimum date of their replacement can be predicted or the degradation can be remedied. For this purpose, standard and widely accepted practice is to carry out simulator tests. Through examples of wear from nuclear reactor components such as the RCCAs (Rod Cluster Control Assembly) and the CRDM (Control Rod Drive Mechanism) latch arms, an approach for understanding the wear mechanisms and controlling their effects can be undertaken. Cases of wear have been observed on real-life parts, but the first simulator tests have shown deviations from in-reactor behaviour. Comparative examination of the wear facies of actual parts which have operated in reactor or simulators, both control rods and CRDM latch arms, was the key starting point for a new analytical approach, incorporating the formulation of wear mechanism hypotheses which can account for the observed facies. Expert assessment thus highlighted the importance of the environment by revealing that the wear featured a large component linked to friction-assisted corrosion. By including this tribo-corrosion aspect, it became possible to reach understanding of the mechanisms and account for the wear observed in reactor and on simulators. Further well-controlled simulator tests then made it possible to verify the importance of the tribo-corrosion processes in a pressurized water medium. Analysis of the physical chemical behaviour of the original materials (austenitic stainless steel) also explains why these surface modifications limit or remedy wear

Discrete-time inverse optimal control for nonlinear systems

CERN Document Server

Sanchez, Edgar N

2013-01-01

Discrete-Time Inverse Optimal Control for Nonlinear Systems proposes a novel inverse optimal control scheme for stabilization and trajectory tracking of discrete-time nonlinear systems. This avoids the need to solve the associated Hamilton-Jacobi-Bellman equation and minimizes a cost functional, resulting in a more efficient controller. Design More Efficient Controllers for Stabilization and Trajectory Tracking of Discrete-Time Nonlinear Systems The book presents two approaches for controller synthesis: the first based on passivity theory and the second on a control Lyapunov function (CLF). Th

The preliminary of software development for the kinematics analysis of 5 DOF Nuclear Malaysia robot arm v2

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Rosli Darmawan; Mohd Arif Hamzah

2010-01-01

This paper presents the preliminary software development for the kinematics analysis of 5 DOF rescue robot. The kinematics analysis is the study of relationship between the individual joints of the robot manipulator, the position and orientation of the end-effector. The Denavit-Hartenberg (DH) model is used to model the robot links and joints. Both forward and inverse kinematic are presented. The simulation software has been developed by using MATLAB to solve the robot arms kinematic behavior. (author)

The Earthquake Source Inversion Validation (SIV) - Project: Summary, Status, Outlook

Science.gov (United States)

Mai, P. M.

2017-12-01

Finite-fault earthquake source inversions infer the (time-dependent) displacement on the rupture surface from geophysical data. The resulting earthquake source models document the complexity of the rupture process. However, this kinematic source inversion is ill-posed and returns non-unique solutions, as seen for instance in multiple source models for the same earthquake, obtained by different research teams, that often exhibit remarkable dissimilarities. To address the uncertainties in earthquake-source inversions and to understand strengths and weaknesses of various methods, the Source Inversion Validation (SIV) project developed a set of forward-modeling exercises and inversion benchmarks. Several research teams then use these validation exercises to test their codes and methods, but also to develop and benchmark new approaches. In this presentation I will summarize the SIV strategy, the existing benchmark exercises and corresponding results. Using various waveform-misfit criteria and newly developed statistical comparison tools to quantify source-model (dis)similarities, the SIV platforms is able to rank solutions and identify particularly promising source inversion approaches. Existing SIV exercises (with related data and descriptions) and all computational tools remain available via the open online collaboration platform; additional exercises and benchmark tests will be uploaded once they are fully developed. I encourage source modelers to use the SIV benchmarks for developing and testing new methods. The SIV efforts have already led to several promising new techniques for tackling the earthquake-source imaging problem. I expect that future SIV benchmarks will provide further innovations and insights into earthquake source kinematics that will ultimately help to better understand the dynamics of the rupture process.

Training-Image Based Geostatistical Inversion Using a Spatial Generative Adversarial Neural Network

Science.gov (United States)

Laloy, Eric; Hérault, Romain; Jacques, Diederik; Linde, Niklas

2018-01-01

Probabilistic inversion within a multiple-point statistics framework is often computationally prohibitive for high-dimensional problems. To partly address this, we introduce and evaluate a new training-image based inversion approach for complex geologic media. Our approach relies on a deep neural network of the generative adversarial network (GAN) type. After training using a training image (TI), our proposed spatial GAN (SGAN) can quickly generate 2-D and 3-D unconditional realizations. A key characteristic of our SGAN is that it defines a (very) low-dimensional parameterization, thereby allowing for efficient probabilistic inversion using state-of-the-art Markov chain Monte Carlo (MCMC) methods. In addition, available direct conditioning data can be incorporated within the inversion. Several 2-D and 3-D categorical TIs are first used to analyze the performance of our SGAN for unconditional geostatistical simulation. Training our deep network can take several hours. After training, realizations containing a few millions of pixels/voxels can be produced in a matter of seconds. This makes it especially useful for simulating many thousands of realizations (e.g., for MCMC inversion) as the relative cost of the training per realization diminishes with the considered number of realizations. Synthetic inversion case studies involving 2-D steady state flow and 3-D transient hydraulic tomography with and without direct conditioning data are used to illustrate the effectiveness of our proposed SGAN-based inversion. For the 2-D case, the inversion rapidly explores the posterior model distribution. For the 3-D case, the inversion recovers model realizations that fit the data close to the target level and visually resemble the true model well.

Imaging disturbance zones ahead of a tunnel by elastic full-waveform inversion: Adjoint gradient based inversion vs. parameter space reduction using a level-set method

Directory of Open Access Journals (Sweden)

Andre Lamert

2018-03-01

Full Text Available We present and compare two flexible and effective methodologies to predict disturbance zones ahead of underground tunnels by using elastic full-waveform inversion. One methodology uses a linearized, iterative approach based on misfit gradients computed with the adjoint method while the other uses iterative, gradient-free unscented Kalman filtering in conjunction with a level-set representation. Whereas the former does not involve a priori assumptions on the distribution of elastic properties ahead of the tunnel, the latter introduces a massive reduction in the number of explicit model parameters to be inverted for by focusing on the geometric form of potential disturbances and their average elastic properties. Both imaging methodologies are validated through successful reconstructions of simple disturbances. As an application, we consider an elastic multiple disturbance scenario. By using identical synthetic time-domain seismograms as test data, we obtain satisfactory, albeit different, reconstruction results from the two inversion methodologies. The computational costs of both approaches are of the same order of magnitude, with the gradient-based approach showing a slight advantage. The model parameter space reduction approach compensates for this by additionally providing a posteriori estimates of model parameter uncertainty. Keywords: Tunnel seismics, Full waveform inversion, Seismic waves, Level-set method, Adjoint method, Kalman filter

Ray-based stochastic inversion of prestack seismic data for improved reservoir characterization

NARCIS (Netherlands)

Van der Burg, D.; Verdel, A.; Wapenaar, C.P.A.

2009-01-01

Trace inversion for reservoir parameters is affected by angle averaging of seismic data and wavelet distortion on the migration image. In an alternative approach to stochastic trace inversion, the data are inverted prestack before migration using 3D dynamic ray tracing. This choice makes it possible

A general approach to regularizing inverse problems with regional data using Slepian wavelets

Science.gov (United States)

Michel, Volker; Simons, Frederik J.

2017-12-01

Slepian functions are orthogonal function systems that live on subdomains (for example, geographical regions on the Earth’s surface, or bandlimited portions of the entire spectrum). They have been firmly established as a useful tool for the synthesis and analysis of localized (concentrated or confined) signals, and for the modeling and inversion of noise-contaminated data that are only regionally available or only of regional interest. In this paper, we consider a general abstract setup for inverse problems represented by a linear and compact operator between Hilbert spaces with a known singular-value decomposition (svd). In practice, such an svd is often only given for the case of a global expansion of the data (e.g. on the whole sphere) but not for regional data distributions. We show that, in either case, Slepian functions (associated to an arbitrarily prescribed region and the given compact operator) can be determined and applied to construct a regularization for the ill-posed regional inverse problem. Moreover, we describe an algorithm for constructing the Slepian basis via an algebraic eigenvalue problem. The obtained Slepian functions can be used to derive an svd for the combination of the regionalizing projection and the compact operator. As a result, standard regularization techniques relying on a known svd become applicable also to those inverse problems where the data are regionally given only. In particular, wavelet-based multiscale techniques can be used. An example for the latter case is elaborated theoretically and tested on two synthetic numerical examples.

Novel Anti-Melanoma Immunotherapies: Disarming Tumor Escape Mechanisms

Directory of Open Access Journals (Sweden)

Sivan Sapoznik

2012-01-01

Full Text Available The immune system fights cancer and sometimes temporarily eliminates it or reaches an equilibrium stage of tumor growth. However, continuous immunological pressure also selects poorly immunogenic tumor variants that eventually escape the immune control system. Here, we focus on metastatic melanoma, a highly immunogenic tumor, and on anti-melanoma immunotherapies, which recently, especially following the FDA approval of Ipilimumab, gained interest from drug development companies. We describe new immunomodulatory approaches currently in the development pipeline, focus on the novel CEACAM1 immune checkpoint, and compare its potential to the extensively described targets, CTLA4 and PD1. This paper combines multi-disciplinary approaches and describes anti-melanoma immunotherapies from molecular, medical, and business angles.

Performance limits for maritime Inverse Synthetic Aperture Radar (ISAR)

Energy Technology Data Exchange (ETDEWEB)

Doerry, Armin Walter [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

2013-11-01

The performance of an Inverse Synthetic Aperture Radar (ISAR) system depends on a variety of factors, many which are interdependent in some manner. In this report we specifically examine ISAR as applied to maritime targets (e.g. ships). It is often difficult to get your arms around the problem of ascertaining achievable performance limits, and yet those limits exist and are dictated by physics. This report identifies and explores those limits, and how they depend on hardware system parameters and environmental conditions. Ultimately, this leads to a characterization of parameters that offer optimum performance for the overall ISAR system. While the information herein is not new to the literature, its collection into a single report hopes to offer some value in reducing the seek time.

Motion in Human and Machine: A Virtual Fatigue Approach

NARCIS (Netherlands)

Potkonjak, V.; Kostic, D.; Rasic, M.; Djordjevic, G.

2002-01-01

Achieving human-like behavior of a robot is a key issue of the paper. Redundancy in the inverse kinematics problem is resolved using a biological analogue. It is shown that by means of "virtual fatigue" functions, it is possible to generate robot movements similar to movements of a human arm subject

Numerical approach to the inverse convection-diffusion problem

International Nuclear Information System (INIS)

Yang, X-H; She, D-X; Li, J-Q

2008-01-01

In this paper, the inverse problem on source term identification in convection-diffusion equation is transformed into an optimization problem. To reduce the computational cost and improve computational accuracy for the optimization problem, a new algorithm, chaos real-coded hybrid-accelerating evolution algorithm (CRHAEA), is proposed, in which an initial population is generated by chaos mapping, and new chaos mutation and simplex evolution operation are used. With the shrinking of searching range, CRHAEA gradually directs to an optimal result with the excellent individuals obtained by real-coded evolution algorithm. Its convergence is analyzed. Its efficiency is demonstrated by 15 test functions. Numerical simulation shows that CRHAEA has some advantages over the real-coded accelerated evolution algorithm, the chaos algorithm and the pure random search algorithm

The ARM-GCSS Intercomparison Study of Single-Column Models and Cloud System Models

International Nuclear Information System (INIS)

Cederwall, R.T.; Rodriques, D.J.; Krueger, S.K.; Randall, D.A.

1999-01-01

The Single-Column Model (SCM) Working Group (WC) and the Cloud Working Group (CWG) in the Atmospheric Radiation Measurement (ARM) Program have begun a collaboration with the GEWEX Cloud System Study (GCSS) WGs. The forcing data sets derived from the special ARM radiosonde measurements made during the SCM Intensive Observation Periods (IOPs), the wealth of cloud and related data sets collected by the ARM Program, and the ARM infrastructure support of the SCM WG are of great value to GCSS. In return, GCSS brings the efforts of an international group of cloud system modelers to bear on ARM data sets and ARM-related scientific questions. The first major activity of the ARM-GCSS collaboration is a model intercomparison study involving SCMs and cloud system models (CSMs), also known as cloud-resolving or cloud-ensemble models. The SCM methodologies developed in the ARM Program have matured to the point where an intercomparison will help identify the strengths and weaknesses of various approaches. CSM simulations will bring much additional information about clouds to evaluate cloud parameterizations used in the SCMs. CSMs and SCMs have been compared successfully in previous GCSS intercomparison studies for tropical conditions. The ARM Southern Great Plains (SGP) site offers an opportunity for GCSS to test their models in continental, mid-latitude conditions. The Summer 1997 SCM IOP has been chosen since it provides a wide range of summertime weather events that will be a challenging test of these models

Sonification of Arm Movements in Stroke Rehabilitation - A Novel Approach in Neurologic Music Therapy.

Science.gov (United States)

Scholz, Daniel S; Rohde, Sönke; Nikmaram, Nikou; Brückner, Hans-Peter; Großbach, Michael; Rollnik, Jens D; Altenmüller, Eckart O

2016-01-01

Gross motor impairments are common after stroke, but efficient and motivating therapies for these impairments are scarce. We present an innovative musical sonification therapy, especially designed to retrain patients' gross motor functions. Sonification should motivate patients and provide additional sensory input informing about relative limb position. Twenty-five stroke patients were included in a clinical pre-post study and took part in the sonification training. The patients' upper extremity functions, their psychological states, and their arm movement smoothness were assessed pre and post training. Patients were randomly assigned to either of two groups. Both groups received an average of 10 days (M = 9.88; SD = 2.03; 30 min/day) of musical sonification therapy [music group (MG)] or a sham sonification movement training [control group (CG)], respectively. The only difference between the two protocols was that in the CG no sound was played back during training. In the beginning, patients explored the acoustic effects of their arm movements in space. At the end of the training, the patients played simple melodies by coordinated arm movements. The 15 patients in the MG showed significantly reduced joint pain (F = 19.96, p musical sonification may be a promising therapy for motor impairments after stroke, but further research is required since estimated effect sizes point to moderate treatment outcomes.

Understanding the conventional arms trade

Science.gov (United States)

Stohl, Rachel

2017-11-01

The global conventional arms trade is worth tens of billions of dollars every year and is engaged in by every country in the world. Yet, it is often difficult to control the legal trade in conventional arms and there is a thriving illicit market, willing to arm unscrupulous regimes and nefarious non-state actors. This chapter examines the international conventional arms trade, the range of tools that have been used to control it, and challenges to these international regimes.

Regularized inversion of controlled source and earthquake data

International Nuclear Information System (INIS)

Ramachandran, Kumar

2012-01-01

Estimation of the seismic velocity structure of the Earth's crust and upper mantle from travel-time data has advanced greatly in recent years. Forward modelling trial-and-error methods have been superseded by tomographic methods which allow more objective analysis of large two-dimensional and three-dimensional refraction and/or reflection data sets. The fundamental purpose of travel-time tomography is to determine the velocity structure of a medium by analysing the time it takes for a wave generated at a source point within the medium to arrive at a distribution of receiver points. Tomographic inversion of first-arrival travel-time data is a nonlinear problem since both the velocity of the medium and ray paths in the medium are unknown. The solution for such a problem is typically obtained by repeated application of linearized inversion. Regularization of the nonlinear problem reduces the ill posedness inherent in the tomographic inversion due to the under-determined nature of the problem and the inconsistencies in the observed data. This paper discusses the theory of regularized inversion for joint inversion of controlled source and earthquake data, and results from synthetic data testing and application to real data. The results obtained from tomographic inversion of synthetic data and real data from the northern Cascadia subduction zone show that the velocity model and hypocentral parameters can be efficiently estimated using this approach. (paper)

The continous Legendre transform, its inverse transform, and applications

Directory of Open Access Journals (Sweden)

P. L. Butzer

1980-01-01

Full Text Available This paper is concerned with the continuous Legendre transform, derived from the classical discrete Legendre transform by replacing the Legendre polynomial Pk(x by the function Pλ(x with λ real. Another approach to T.M. MacRobert's inversion formula is found; for this purpose an inverse Legendre transform, mapping L1(ℝ+ into L2(−1,1, is defined. Its inversion in turn is naturally achieved by the continuous Legendre transform. One application is devoted to the Shannon sampling theorem in the Legendre frame together with a new type of error estimate. The other deals with a new representation of Legendre functions giving information about their behaviour near the point x=−1.

Inverse Optimization: A New Perspective on the Black-Litterman Model

Science.gov (United States)

Bertsimas, Dimitris; Gupta, Vishal; Paschalidis, Ioannis Ch.

2014-01-01

The Black-Litterman (BL) model is a widely used asset allocation model in the financial industry. In this paper, we provide a new perspective. The key insight is to replace the statistical framework in the original approach with ideas from inverse optimization. This insight allows us to significantly expand the scope and applicability of the BL model. We provide a richer formulation that, unlike the original model, is flexible enough to incorporate investor information on volatility and market dynamics. Equally importantly, our approach allows us to move beyond the traditional mean-variance paradigm of the original model and construct “BL”-type estimators for more general notions of risk such as coherent risk measures. Computationally, we introduce and study two new “BL”-type estimators and their corresponding portfolios: a Mean Variance Inverse Optimization (MV-IO) portfolio and a Robust Mean Variance Inverse Optimization (RMV-IO) portfolio. These two approaches are motivated by ideas from arbitrage pricing theory and volatility uncertainty. Using numerical simulation and historical backtesting, we show that both methods often demonstrate a better risk-reward tradeoff than their BL counterparts and are more robust to incorrect investor views. PMID:25382873

Inverse Optimization: A New Perspective on the Black-Litterman Model.

Science.gov (United States)

Bertsimas, Dimitris; Gupta, Vishal; Paschalidis, Ioannis Ch

2012-12-11

The Black-Litterman (BL) model is a widely used asset allocation model in the financial industry. In this paper, we provide a new perspective. The key insight is to replace the statistical framework in the original approach with ideas from inverse optimization. This insight allows us to significantly expand the scope and applicability of the BL model. We provide a richer formulation that, unlike the original model, is flexible enough to incorporate investor information on volatility and market dynamics. Equally importantly, our approach allows us to move beyond the traditional mean-variance paradigm of the original model and construct "BL"-type estimators for more general notions of risk such as coherent risk measures. Computationally, we introduce and study two new "BL"-type estimators and their corresponding portfolios: a Mean Variance Inverse Optimization (MV-IO) portfolio and a Robust Mean Variance Inverse Optimization (RMV-IO) portfolio. These two approaches are motivated by ideas from arbitrage pricing theory and volatility uncertainty. Using numerical simulation and historical backtesting, we show that both methods often demonstrate a better risk-reward tradeoff than their BL counterparts and are more robust to incorrect investor views.

Application of Extreme Learning Machines to inverse neutron kinetics

International Nuclear Information System (INIS)

Picca, Paolo; Furfaro, Roberto

2017-01-01

Highlights: • The paper applies the Extreme Learning Machines (ELMs) to inverse reactor problems. • Multi-group transport model is used for the inversion as opposed to point kinetics. • ELMs are compared against Artificial Neural Networks (ANNs). • Various options are tested to improve the reliability of the estimation. • Results highlight the potential of the ELM approach. - Abstract: The paper presents the application of Extreme Leaning Machines (ELMs) for inverse reactor kinetic applications. ELMs were proposed by Huang and co-workers (2004, 2006a,b, 2015), which showed their enhances capabilities in terms of training speed and generalization with respect to classical Artificial Neural Networks (ANNs). ELMs are here implemented for reactivity determination as an alternative to ANNs (e.g. Picca et al. (2008)) and Gaussian Processes (Picca and Furfaro, 2012). After a review of the main features of ELMs, their application to inverse kinetic problems is proposed. The ELMs performance is tested on a typical accelerator drive system configuration (Yalina reactor) and the inversion is carried out on an accurate kinetic model (multi-group transport).

Estimating surface acoustic impedance with the inverse method.

Science.gov (United States)

Piechowicz, Janusz

2011-01-01

Sound field parameters are predicted with numerical methods in sound control systems, in acoustic designs of building and in sound field simulations. Those methods define the acoustic properties of surfaces, such as sound absorption coefficients or acoustic impedance, to determine boundary conditions. Several in situ measurement techniques were developed; one of them uses 2 microphones to measure direct and reflected sound over a planar test surface. Another approach is used in the inverse boundary elements method, in which estimating acoustic impedance of a surface is expressed as an inverse boundary problem. The boundary values can be found from multipoint sound pressure measurements in the interior of a room. This method can be applied to arbitrarily-shaped surfaces. This investigation is part of a research programme on using inverse methods in industrial room acoustics.

Inversions

Science.gov (United States)

Brown, Malcolm

2009-01-01

Inversions are fascinating phenomena. They are reversals of the normal or expected order. They occur across a wide variety of contexts. What do inversions have to do with learning spaces? The author suggests that they are a useful metaphor for the process that is unfolding in higher education with respect to education. On the basis of…

The Development of Control System Design for 5 DOF Nuclear Malaysia Robot Arm v2

International Nuclear Information System (INIS)

Mohd Zaid Hassan; Anwar Abdul Rahman; Rosli Darmawan; Mohd Arif Hamzah

2011-01-01

This paper describes a general design and implementation approach used for programming and controlling robotic systems such as remotely operated robotic manipulator systems. A hierarchical approach to control system design is adopted. The hierarchical design is translated into a component-based software design. A low-cost robotic arm and controller system is presented. The controller is a modular model of the robotic arm with the same degrees of freedom whose joints are equipped with sensors. The system takes advantage of the low cost and wide availability of control components and uses a low-cost, easy-to-program microprocessor. Furthermore, it presents the design and the construction of electronic systems for the control of an articulated robot developed for research and development related with instrumentation and control. The system is simple but it is designed the motor to move the robot arm to proper angular position according to the input controller. Limitations of the micro controller are discussed, and suggestions for further development of the robot arm and control are made. (author)

Modelling and inversion of local magnetic anomalies

International Nuclear Information System (INIS)

Quesnel, Y; Langlais, B; Sotin, C; Galdéano, A

2008-01-01

We present a method—named as MILMA for modelling and inversion of local magnetic anomalies—that combines forward and inverse modelling of aeromagnetic data to characterize both magnetization properties and location of unconstrained local sources. Parameters of simple-shape magnetized bodies (cylinder, prism or sphere) are first adjusted by trial and error to predict the signal. Their parameters provide a priori information for inversion of the measurements. Here, a generalized nonlinear approach with a least-squares criterion is adopted to seek the best parameters of the sphere (dipole). This inversion step allows the model to be more objectively adjusted to fit the magnetic signal. The validity of the MILMA method is demonstrated through synthetic and real cases using aeromagnetic measurements. Tests with synthetic data reveal accurate results in terms of depth source, whatever be the number of sources. The MILMA method is then used with real measurements to constrain the properties of the magnetized units of the Champtoceaux complex (France). The resulting parameters correlate with the crustal structure and properties revealed by other geological and geophysical surveys in the same area. The MILMA method can therefore be used to investigate the properties of poorly constrained lithospheric magnetized sources

Probabilistic Magnetotelluric Inversion with Adaptive Regularisation Using the No-U-Turns Sampler

Science.gov (United States)

Conway, Dennis; Simpson, Janelle; Didana, Yohannes; Rugari, Joseph; Heinson, Graham

2018-04-01

We present the first inversion of magnetotelluric (MT) data using a Hamiltonian Monte Carlo algorithm. The inversion of MT data is an underdetermined problem which leads to an ensemble of feasible models for a given dataset. A standard approach in MT inversion is to perform a deterministic search for the single solution which is maximally smooth for a given data-fit threshold. An alternative approach is to use Markov Chain Monte Carlo (MCMC) methods, which have been used in MT inversion to explore the entire solution space and produce a suite of likely models. This approach has the advantage of assigning confidence to resistivity models, leading to better geological interpretations. Recent advances in MCMC techniques include the No-U-Turns Sampler (NUTS), an efficient and rapidly converging method which is based on Hamiltonian Monte Carlo. We have implemented a 1D MT inversion which uses the NUTS algorithm. Our model includes a fixed number of layers of variable thickness and resistivity, as well as probabilistic smoothing constraints which allow sharp and smooth transitions. We present the results of a synthetic study and show the accuracy of the technique, as well as the fast convergence, independence of starting models, and sampling efficiency. Finally, we test our technique on MT data collected from a site in Boulia, Queensland, Australia to show its utility in geological interpretation and ability to provide probabilistic estimates of features such as depth to basement.

Frequency Domain Multi-parameter Full Waveform Inversion for Acoustic VTI Media

KAUST Repository

Djebbi, Ramzi

2017-05-26

Multi-parameter full waveform inversion (FWI) for transversely isotropic (TI) media with vertical axis of symmetry (VTI) suffers from the trade-off between the parameters. The trade-off results in the leakage of one parameter\\'s update into the other during the inversion. It affects the accuracy and convergence of the inversion. The sensitivity analyses suggested a parameterisation using the horizontal velocity vh, epsilon and eta to reduce the trade-off for surface recorded seismic data.We test the (vh, epsilon, eta) parameterisation for acoustic VTI media using a scattering integral (SI) based inversion. The data is modeled in frequency domain and the model is updated using a preconditioned conjugate gradient method. We applied the method to the VTI Marmousi II model and in the inversion, we keep eta parameter fixed as the background initial model and we invert simultaneously for both vh and epsilon. The results show the suitability of the parameterisation for multi-parameter VTI acoustic inversion as well as the accuracy of the inversion approach.

Inverse kinetics method with source term for subcriticality measurements during criticality approach in the IPEN/MB-01 research reactor

International Nuclear Information System (INIS)

Loureiro, Cesar Augusto Domingues; Santos, Adimir dos

2009-01-01

In reactor physics tests which are performed at the startup after refueling the commercial PWRs, it is important to monitor subcriticality continuously during criticality approach. Reactivity measurements by the inverse kinetics method are widely used during the operation of a nuclear reactor and it is possible to perform an online reactivity measurement based on the point reactor kinetics equations. This technique is successful applied at sufficiently high power level or to a core without an external neutron source where the neutron source term in point reactor kinetics equations may be neglected. For operation at low power levels, the contribution of the neutron source must be taken into account and this implies the knowledge of a quantity proportional to the source strength, and then it should be determined. Some experiments have been performed in the IPEN/MB-01 Research Reactor for the determination of the Source Term, using the Least Square Inverse Kinetics Method (LSIKM). A digital reactivity meter which neglects the source term is used to calculate the reactivity and then the source term can be determined by the LSIKM. After determining the source term, its value can be added to the algorithm and the reactivity can be determined again, considering the source term. The new digital reactivity meter can be used now to monitor reactivity during the criticality approach and the measured value for the reactivity is more precise than the meter which neglects the source term. (author)

Student measurement of blood pressure using a simulator arm compared with a live subject's arm.

Science.gov (United States)

Lee, Jennifer J; Sobieraj, Diana M; Kuti, Effie L

2010-06-15

To compare accuracy of blood pressure measurements using a live subject and a simulator arm, and to determine students' preferences regarding measurement. This was a crossover study comparing blood pressure measurements from a live subject and a simulator arm. Students completed an anonymous survey instrument defining opinions on ease of measurement. Fifty-seven students completed blood pressure measurements on live subjects while 72 students completed blood pressure measurements using the simulator arm. There were no significant systematic differences between the 2 measurement techniques. Systolic blood pressure measurements from a live subject arm were less likely to be within 4 mm Hg compared with measurements of a simulator arm. Diastolic blood pressure measurements were not significantly different between the 2 techniques. Accuracy of student measurement of blood pressure using a simulator arm was similar to the accuracy with a live subject. There was no difference in students' preferences regarding measurement techniques.

Inverse problems in classical and quantum physics

International Nuclear Information System (INIS)

Almasy, A.A.

2007-01-01

The subject of this thesis is in the area of Applied Mathematics known as Inverse Problems. Inverse problems are those where a set of measured data is analysed in order to get as much information as possible on a model which is assumed to represent a system in the real world. We study two inverse problems in the fields of classical and quantum physics: QCD condensates from tau-decay data and the inverse conductivity problem. Despite a concentrated effort by physicists extending over many years, an understanding of QCD from first principles continues to be elusive. Fortunately, data continues to appear which provide a rather direct probe of the inner workings of the strong interactions. We use a functional method which allows us to extract within rather general assumptions phenomenological parameters of QCD (the condensates) from a comparison of the time-like experimental data with asymptotic space-like results from theory. The price to be paid for the generality of assumptions is relatively large errors in the values of the extracted parameters. Although we do not claim that our method is superior to other approaches, we hope that our results lend additional confidence to the numerical results obtained with the help of methods based on QCD sum rules. EIT is a technology developed to image the electrical conductivity distribution of a conductive medium. The technique works by performing simultaneous measurements of direct or alternating electric currents and voltages on the boundary of an object. These are the data used by an image reconstruction algorithm to determine the electrical conductivity distribution within the object. In this thesis, two approaches of EIT image reconstruction are proposed. The first is based on reformulating the inverse problem in terms of integral equations. This method uses only a single set of measurements for the reconstruction. The second approach is an algorithm based on linearisation which uses more then one set of measurements. A

Inverse problems in classical and quantum physics

Energy Technology Data Exchange (ETDEWEB)

Almasy, A.A.

2007-06-29

The subject of this thesis is in the area of Applied Mathematics known as Inverse Problems. Inverse problems are those where a set of measured data is analysed in order to get as much information as possible on a model which is assumed to represent a system in the real world. We study two inverse problems in the fields of classical and quantum physics: QCD condensates from tau-decay data and the inverse conductivity problem. Despite a concentrated effort by physicists extending over many years, an understanding of QCD from first principles continues to be elusive. Fortunately, data continues to appear which provide a rather direct probe of the inner workings of the strong interactions. We use a functional method which allows us to extract within rather general assumptions phenomenological parameters of QCD (the condensates) from a comparison of the time-like experimental data with asymptotic space-like results from theory. The price to be paid for the generality of assumptions is relatively large errors in the values of the extracted parameters. Although we do not claim that our method is superior to other approaches, we hope that our results lend additional confidence to the numerical results obtained with the help of methods based on QCD sum rules. EIT is a technology developed to image the electrical conductivity distribution of a conductive medium. The technique works by performing simultaneous measurements of direct or alternating electric currents and voltages on the boundary of an object. These are the data used by an image reconstruction algorithm to determine the electrical conductivity distribution within the object. In this thesis, two approaches of EIT image reconstruction are proposed. The first is based on reformulating the inverse problem in terms of integral equations. This method uses only a single set of measurements for the reconstruction. The second approach is an algorithm based on linearisation which uses more then one set of measurements. A

Borehole tool outrigger arm displacement control mechanism

International Nuclear Information System (INIS)

Lee, A.G.

1985-01-01

As the outrigger arms of a borehole logging tool are flexed inwardly and outwardly according to the diameter of the borehole opening through which they pass, the corresponding axial displacements of the ends of the arms are controlled to determine the axial positions of the arms relative to the tool. Specifically, as the arm ends move, they are caused to rotate by a cam mechanism. The stiffness of the arms causes the arm ends to rotate in unison, and the exact positions of the arms on the tool are then controlled by the differential movements of the arm ends in the cams

A harmonic analysis approach to joint inversion of P-receiver functions and wave dispersion data in high dense seismic profiles

Science.gov (United States)

Molina-Aguilera, A.; Mancilla, F. D. L.; Julià, J.; Morales, J.

2017-12-01

Joint inversion techniques of P-receiver functions and wave dispersion data implicitly assume an isotropic radial stratified earth. The conventional approach invert stacked radial component receiver functions from different back-azimuths to obtain a laterally homogeneous single-velocity model. However, in the presence of strong lateral heterogeneities as anisotropic layers and/or dipping interfaces, receiver functions are considerably perturbed and both the radial and transverse components exhibit back azimuthal dependences. Harmonic analysis methods exploit these azimuthal periodicities to separate the effects due to the isotropic flat-layered structure from those effects caused by lateral heterogeneities. We implement a harmonic analysis method based on radial and transverse receiver functions components and carry out a synthetic study to illuminate the capabilities of the method in isolating the isotropic flat-layered part of receiver functions and constrain the geometry and strength of lateral heterogeneities. The independent of the baz P receiver function are jointly inverted with phase and group dispersion curves using a linearized inversion procedure. We apply this approach to high dense seismic profiles ( 2 km inter-station distance, see figure) located in the central Betics (western Mediterranean region), a region which has experienced complex geodynamic processes and exhibit strong variations in Moho topography. The technique presented here is robust and can be applied systematically to construct a 3-D model of the crust and uppermost mantle across large networks.

Nonparetic arm force does not overinhibit the paretic arm in chronic poststroke hemiparesis.

Science.gov (United States)

Dimyan, Michael A; Perez, Monica A; Auh, Sungyoung; Tarula, Erick; Wilson, Matthew; Cohen, Leonardo G

2014-05-01

To determine whether nonparetic arm force overinhibits the paretic arm in patients with chronic unilateral poststroke hemiparesis. Case-control neurophysiological and behavioral study of patients with chronic stroke. Research institution. Eighty-six referred patients were screened to enroll 9 participants (N=9) with a >6 month history of 1 unilateral ischemic infarct that resulted in arm hemiparesis with residual ability to produce 1Nm of wrist flexion torque and without contraindication to transcranial magnetic stimulation. Eight age- and handedness-matched healthy volunteers without neurologic diagnosis were studied for comparison. Not applicable. Change in interhemispheric inhibition targeting the ipsilesional primary motor cortex (M1) during nonparetic arm force. We hypothesized that interhemispheric inhibition would increase more in healthy controls than in patients with hemiparesis. Healthy age-matched controls had significantly greater increases in inhibition from their active to resting M1 than patients with stroke from their active contralesional to resting ipsilesional M1 in the same scenario (20%±7% vs -1%±4%, F1,12=6.61, P=.025). Patients with greater increases in contralesional to ipsilesional inhibition were better performers on the 9-hole peg test of paretic arm function. Our findings reveal that producing force with the nonparetic arm does not necessarily overinhibit the paretic arm. Though our study is limited in generalizability by the small sample size, we found that greater active contralesional to resting ipsilesional M1 inhibition was related with better recovery in this subset of patients with chronic poststroke. Copyright © 2014 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

Galactic spiral arms formed by central explosions

International Nuclear Information System (INIS)

Havnes, O.

1978-01-01

Calculations have been made of spiral arm formation due to central explosions in a nucleus surrounded by a disc containing most of the galactic mass with the purpose of obtaining estimates on lifetimes of arms and the requirements on the energy involved in the process. The ejected gas is taken to be a few percent, or less, of the central nucleus and is ejected with velocities of the order of 1000 km s -1 . The gas, considered to be in forms of blobs, moves under the gravitational force from the disc and the nucleus and the drag force by the gas in the disc. The orbits of the blobs evolve towards the circular orbits of the disc due to this drag force and the velocities in the arms will therefore, after some time, approach those of a normal rotation curve. A relatively open structure will last 8 years. Stable ring structures with longer lifetimes may be formed by some explosions. With an energy of approximately 5 x 10 57 erg in the initial gas-blob motion and a duration of the explosion of approximately 10 7 years, the energy output in such explosions has to be > 10 43 erg s -1 . (Auth.)

Gradient-type methods in inverse parabolic problems

International Nuclear Information System (INIS)

Kabanikhin, Sergey; Penenko, Aleksey

2008-01-01

This article is devoted to gradient-based methods for inverse parabolic problems. In the first part, we present a priori convergence theorems based on the conditional stability estimates for linear inverse problems. These theorems are applied to backwards parabolic problem and sideways parabolic problem. The convergence conditions obtained coincide with sourcewise representability in the self-adjoint backwards parabolic case but they differ in the sideways case. In the second part, a variational approach is formulated for a coefficient identification problem. Using adjoint equations, a formal gradient of an objective functional is constructed. A numerical test illustrates the performance of conjugate gradient algorithm with the formal gradient.

Optimized simultaneous inversion of primary and multiple reflections; Inversion linearisee simultanee des reflexions primaires et des reflexions multiples

Energy Technology Data Exchange (ETDEWEB)

Pelle, L.

2003-12-01

The removal of multiple reflections remains a real problem in seismic imaging. Many preprocessing methods have been developed to attenuate multiples in seismic data but none of them is satisfactory in 3D. The objective of this thesis is to develop a new method to remove multiples, extensible in 3D. Contrary to the existing methods, our approach is not a preprocessing step: we directly include the multiple removal in the imaging process by means of a simultaneous inversion of primaries and multiples. We then propose to improve the standard linearized inversion so as to make it insensitive to the presence of multiples in the data. We exploit kinematics differences between primaries and multiples. We propose to pick in the data the kinematics of the multiples we want to remove. The wave field is decomposed into primaries and multiples. Primaries are modeled by the Ray+Born operator from perturbations of the logarithm of impedance, given the velocity field. Multiples are modeled by the Transport operator from an initial trace, given the picking. The inverse problem simultaneously fits primaries and multiples to the data. To solve this problem with two unknowns, we take advantage of the isometric nature of the Transport operator, which allows to drastically reduce the CPU time: this simultaneous inversion is this almost as fast as the standard linearized inversion. This gain of time opens the way to different applications to multiple removal and in particular, allows to foresee the straightforward 3D extension. (author)

Relevance vector machine technique for the inverse scattering problem

International Nuclear Information System (INIS)

Wang Fang-Fang; Zhang Ye-Rong

2012-01-01

A novel method based on the relevance vector machine (RVM) for the inverse scattering problem is presented in this paper. The nonlinearity and the ill-posedness inherent in this problem are simultaneously considered. The nonlinearity is embodied in the relation between the scattered field and the target property, which can be obtained through the RVM training process. Besides, rather than utilizing regularization, the ill-posed nature of the inversion is naturally accounted for because the RVM can produce a probabilistic output. Simulation results reveal that the proposed RVM-based approach can provide comparative performances in terms of accuracy, convergence, robustness, generalization, and improved performance in terms of sparse property in comparison with the support vector machine (SVM) based approach. (general)

On inferring the noise in probabilistic seismic AVO inversion using hierarchical Bayes

OpenAIRE

Madsen, Rasmus Bødker; Zunino, Andrea; Hansen, Thomas Mejer

2017-01-01

A realistic noise model is essential for trustworthy inversion of geophysical data. Sometimes, as in case of seismic data, quan- tification of the noise model is non-trivial. To remedy this, a hierarchical Bayes approach can be adopted in which proper- ties of the noise model, such as the amplitude of an assumed uncorrelated Gaussian noise model, can be inferred as part of the inversion. Here we demonstrate how such an approach can lead to substantial overfitting of noise when inverting a 1D ...

A two-stage method for inverse medium scattering

KAUST Repository

Ito, Kazufumi; Jin, Bangti; Zou, Jun

2013-01-01

We present a novel numerical method to the time-harmonic inverse medium scattering problem of recovering the refractive index from noisy near-field scattered data. The approach consists of two stages, one pruning step of detecting the scatterer

Scatter correction using a primary modulator on a clinical angiography C-arm CT system.

Science.gov (United States)

Bier, Bastian; Berger, Martin; Maier, Andreas; Kachelrieß, Marc; Ritschl, Ludwig; Müller, Kerstin; Choi, Jang-Hwan; Fahrig, Rebecca

2017-09-01

Cone beam computed tomography (CBCT) suffers from a large amount of scatter, resulting in severe scatter artifacts in the reconstructions. Recently, a new scatter correction approach, called improved primary modulator scatter estimation (iPMSE), was introduced. That approach utilizes a primary modulator that is inserted between the X-ray source and the object. This modulation enables estimation of the scatter in the projection domain by optimizing an objective function with respect to the scatter estimate. Up to now the approach has not been implemented on a clinical angiography C-arm CT system. In our work, the iPMSE method is transferred to a clinical C-arm CBCT. Additional processing steps are added in order to compensate for the C-arm scanner motion and the automatic X-ray tube current modulation. These challenges were overcome by establishing a reference modulator database and a block-matching algorithm. Experiments with phantom and experimental in vivo data were performed to evaluate the method. We show that scatter correction using primary modulation is possible on a clinical C-arm CBCT. Scatter artifacts in the reconstructions are reduced with the newly extended method. Compared to a scan with a narrow collimation, our approach showed superior results with an improvement of the contrast and the contrast-to-noise ratio for the phantom experiments. In vivo data are evaluated by comparing the results with a scan with a narrow collimation and with a constant scatter correction approach. Scatter correction using primary modulation is possible on a clinical CBCT by compensating for the scanner motion and the tube current modulation. Scatter artifacts could be reduced in the reconstructions of phantom scans and in experimental in vivo data. © 2017 American Association of Physicists in Medicine.

3D magnetization vector inversion based on fuzzy clustering: inversion algorithm, uncertainty analysis, and application to geology differentiation

Science.gov (United States)

Sun, J.; Li, Y.

2017-12-01

Magnetic data contain important information about the subsurface rocks that were magnetized in the geological history, which provides an important avenue to the study of the crustal heterogeneities associated with magmatic and hydrothermal activities. Interpretation of magnetic data has been widely used in mineral exploration, basement characterization and large scale crustal studies for several decades. However, interpreting magnetic data has been often complicated by the presence of remanent magnetizations with unknown magnetization directions. Researchers have developed different methods to deal with the challenges posed by remanence. We have developed a new and effective approach to inverting magnetic data for magnetization vector distributions characterized by region-wise consistency in the magnetization directions. This approach combines the classical Tikhonov inversion scheme with fuzzy C-means clustering algorithm, and constrains the estimated magnetization vectors to a specified small number of possible directions while fitting the observed magnetic data to within noise level. Our magnetization vector inversion recovers both the magnitudes and the directions of the magnetizations in the subsurface. Magnetization directions reflect the unique geological or hydrothermal processes applied to each geological unit, and therefore, can potentially be used for the purpose of differentiating various geological units. We have developed a practically convenient and effective way of assessing the uncertainty associated with the inverted magnetization directions (Figure 1), and investigated how geological differentiation results might be affected (Figure 2). The algorithm and procedures we have developed for magnetization vector inversion and uncertainty analysis open up new possibilities of extracting useful information from magnetic data affected by remanence. We will use a field data example from exploration of an iron-oxide-copper-gold (IOCG) deposit in Brazil to

The inter-arm blood pressure difference and peripheral vascular disease: cross-sectional study.

Science.gov (United States)

Clark, Christopher E; Campbell, John L; Powell, Roy J; Thompson, John F

2007-10-01

A blood pressure (BP) difference between the upper limbs is often encountered in primary care. Knowledge of its prevalence and importance in the accurate measurement of BP is poor, representing a source of error. Current hypertension guidelines do not emphasize this. To establish the prevalence of an inter-arm blood pressure difference (IAD) and explore its association with other indicators of peripheral vascular disease (PVD) in a hypertensive primary care population. This was a cross-sectional study. Primary care, one rural general practice, was the setting of the study. The methods were controlled simultaneous measurement of brachial BPs, ankle-brachial pressure index (ABPI) and tiptoe stress testing in 94 subjects. In all, 18 of 94 [19%, 95% confidence interval (CI) 11-27%] subjects had mean systolic inter-arm difference (sIAD) > or =10 mmHg and seven of 94 (7%, 95% CI 2-12%) had mean diastolic inter-arm difference (dIAD) > or =10 mmHg. Nineteen of 91 (20%, 95% CI 12-28%) had a reduced ABPI pressure drop > or =20%. An IAD and asymptomatic PVD are common in a primary care hypertensive population. Magnitude of the IAD is inversely correlated with ABPI, supporting the hypotheses that IADs are causally linked to PVD, and that IAD is a useful marker for the presence of PVD. Consequently, detection of an IAD should prompt the clinician to screen subjects for other signs of vascular disease and target them for aggressive cardiovascular risk factor modification.

Exact positioning of the robotic arm end effector

Science.gov (United States)

Korepanov, Valery; Dudkin, Fedir

2016-07-01

Orbital service becomes a new challenge of space exploration. The necessity to introduce it is connected first of all with an attractive opportunity to prolong the exploitation terms of expensive commercial satellites by, e.g., refilling of fuel or changing batteries. Other application area is a fight with permanently increasing amount of space litter - defunct satellites, burnt-out rocket stages, discarded trash and other debris. Now more than few tens of thousands orbiting objects larger than 5-10 cm (or about 1 million junks larger than 1 cm) are a huge problem for crucial and costly satellites and manned vehicles. For example, in 2014 the International Space Station had to change three times its orbit to avoid collision with space debris. So the development of the concepts and actions related to removal of space debris or non-operational satellites with use of robotic arm of a servicing satellite is very actual. Such a technology is also applicable for unmanned exploratory missions in solar system, for example for collecting a variety of samples from a celestial body surface. Naturally, the robotic arm movements should be controlled with great accuracy at influence of its non-rigidity, thermal and other factors. In these circumstances often the position of the arm end effector has to be controlled with high accuracy. The possibility of coordinate determination for the robotic arm end effector with use of a low frequency active electromagnetic system has been considered in the presented report. The proposed design of such a system consists of a small magnetic dipole source, which is mounted inside of the arm end effector and two or three 3-component magnetic field sensors mounted on a servicing satellite body. The data from this set of 3-component magnetic field sensors, which are fixed relatively to the satellite body, allows use of the mathematical approach for determination of position and orientation of the magnetic dipole source. The theoretical

Arms races between and within species.

Science.gov (United States)

Dawkins, R; Krebs, J R

1979-09-21

An adaptation in one lineage (e.g. predators) may change the selection pressure on another lineage (e.g. prey), giving rise to a counter-adaptation. If this occurs reciprocally, an unstable runaway escalation or 'arms race' may result. We discuss various factors which might give one side an advantage in an arms race. For example, a lineage under strong selection may out-evolve a weakly selected one (' the life-dinner principle'). We then classify arms races in two independent ways. They may be symmetric or asymmetric, and they may be interspecific or intraspecific. Our example of an asymmetric interspecific arms race is that between brood parasites and their hosts. The arms race concept may help to reduce the mystery of why cuckoo hosts are so good at detecting cuckoo eggs, but so bad at detecting cuckoo nestlings. The evolutionary contest between queen and worker ants over relative parental investment is a good example of an intraspecific asymmetric arms race. Such cases raise special problems because the participants share the same gene pool. Interspecific symmetric arms races are unlikely to be important, because competitors tend to diverge rather than escalate competitive adaptations. Intraspecific symmetric arms races, exemplified by adaptations for male-male competition, may underlie Cope's Rule and even the extinction of lineages. Finally we consider ways in which arms races can end. One lineage may drive the other to extinction; one may reach an optimum, thereby preventing the other from doing so; a particularly interesting possibility, exemplified by flower-bee coevolution, is that both sides may reach a mutual local optimum; lastly, arms races may have no stable and but may cycle continuously. We do not wish necessarily to suggest that all, or even most, evolutionary change results from arms races, but we do suggest that the arms race concept may help to resolve three long-standing questions in evolutionary theory.

JPRS Report Arms Control

National Research Council Canada - National Science Library

1993-01-01

Table of Contents: (1) COMMONWEALTH OF INDEPENDENT STATES - (A) GENERAL Flaws in U.S.-Russian SSD Agreement Viewed, Khariton - Espionage Not Crucial in Soviet Nuclear Arms Development, Further on Espionage Role in Nuclear Arms Projects...

Airborne gamma-ray spectrometry data processing using 1.5D inversion.

Science.gov (United States)

Druker, Eugene

2017-10-01

Standard processing of Airborne Gamma-Ray Spectrometry data generally gives good results when the measurement conditions are almost constant within several footprint area sizes, with the possible exception of flight height variations in a small range. In practice, deviations, such as large or abrupt changes of flight height and/or rugged terrain are not so rare and lead to certain problems. This article proposes a different approach where the solutions of inverse problems are used for data processing. The approach is quite natural in the processing of field data measured along the flight lines: it explicitly takes into account 1.5D survey models and flight parameters - from topography to sources distribution on the surface. Also, it clearly demonstrates that the inverse problem of the Airborne Gamma-Ray Spectrometry does not have a unique solution. This feature can be used in accordance with the underlying geological problem since various formulations of inverse problems can lead to various geological solutions. The use of the approach is illustrated by several examples given for flight lines and survey areas. This approach can be particularly useful in situations where geological, geophysical and/or geographic survey conditions are far from the standard assumptions. Copyright © 2017 Elsevier Ltd. All rights reserved.

Organization of octopus arm movements: a model system for studying the control of flexible arms.

Science.gov (United States)

Gutfreund, Y; Flash, T; Yarom, Y; Fiorito, G; Segev, I; Hochner, B

1996-11-15

Octopus arm movements provide an extreme example of controlled movements of a flexible arm with virtually unlimited degrees of freedom. This study aims to identify general principles in the organization of these movements. Video records of the movements of Octopus vulgaris performing the task of reaching toward a target were studied. The octopus extends its arm toward the target by a wave-like propagation of a bend that travels from the base of the arm toward the tip. Similar bend propagation is seen in other octopus arm movements, such as locomotion and searching. The kinematics (position and velocity) of the midpoint of the bend in three-dimensional space were extracted using the direct linear transformation algorithm. This showed that the bend tends to move within a single linear plane in a simple, slightly curved path connecting the center of the animal's body with the target location. Approximately 70% of the reaching movements demonstrated a stereotyped tangential velocity profile. An invariant profile was observed when movements were normalized for velocity and distance. Two arms, extended together in the same behavioral context, demonstrated identical velocity profiles. The stereotyped features of the movements were also observed in spontaneous arm extensions (not toward an external target). The simple and stereotypic appearance of the bend trajectory suggests that the position of the bend in space and time is the controlled variable. We propose that this strategy reduces the immense redundancy of the octopus arm movements and hence simplifies motor control.

A Non-linear Model for Predicting Tip Position of a Pliable Robot Arm Segment Using Bending Sensor Data

Directory of Open Access Journals (Sweden)

Elizabeth I. SKLAR

2016-04-01

Full Text Available Using pliable materials for the construction of robot bodies presents new and interesting challenges for the robotics community. Within the EU project entitled STIFFness controllable Flexible & Learnable manipulator for surgical Operations (STIFF-FLOP, a bendable, segmented robot arm has been developed. The exterior of the arm is composed of a soft material (silicone, encasing an internal structure that contains air-chamber actuators and a variety of sensors for monitoring applied force, position and shape of the arm as it bends. Due to the physical characteristics of the arm, a proper model of robot kinematics and dynamics is difficult to infer from the sensor data. Here we propose a non-linear approach to predicting the robot arm posture, by training a feed-forward neural network with a structured series of pressures values applied to the arm's actuators. The model is developed across a set of seven different experiments. Because the STIFF-FLOP arm is intended for use in surgical procedures, traditional methods for position estimation (based on visual information or electromagnetic tracking will not be possible to implement. Thus the ability to estimate pose based on data from a custom fiber-optic bending sensor and accompanying model is a valuable contribution. Results are presented which demonstrate the utility of our non-linear modelling approach across a range of data collection procedures.

High precision detector robot arm system

Science.gov (United States)

Shu, Deming; Chu, Yong

2017-01-31

A method and high precision robot arm system are provided, for example, for X-ray nanodiffraction with an X-ray nanoprobe. The robot arm system includes duo-vertical-stages and a kinematic linkage system. A two-dimensional (2D) vertical plane ultra-precision robot arm supporting an X-ray detector provides positioning and manipulating of the X-ray detector. A vertical support for the 2D vertical plane robot arm includes spaced apart rails respectively engaging a first bearing structure and a second bearing structure carried by the 2D vertical plane robot arm.

One-pot synthesis of star-shaped macromolecules containing polyglycidol and poly(ethylene oxide) arms.

Science.gov (United States)

Lapienis, Grzegorz; Penczek, Stanislaw

2005-01-01

Synthesis of fully hydrophilic star-shaped macromolecules with different kinds of arms (A(x)B(y)C(z)) based on polyglycidol (PGL, A(x)) and poly(ethylene oxide) (PEO, C(z)) arms and diepoxy compounds (diglycidyl ethers of ethylene glycol (DGEG) or neopentyl glycol (DGNG) in the core, B(y)) forming the core is described. Precursors of arms were prepared by polymerization of glycidol with protected -OH groups. The first-generation stars were formed in the series of consecutive-parallel reactions of arms A(x) with diepoxy compounds (B). These first-generation stars (A(x)B(y)), having approximately O-, Mt+ groups on the cores, were used as multianionic initiators for the second generation of arms (C(z)) built by polymerization of ethylene oxide. The products with M(n) up to 10(5) and having up to approximately 40 arms were obtained. The number of arms (f) was determined by direct measurements of M(n) of the first-generation stars (M(n) of arms A(x) is known), compared with f calculated from the branching index g, determined from R(g) measured with size-exclusion chromatography (SEC) triple detection with TriSEC software. The progress of the star formation was monitored by 1H NMR and SEC. These novel water-soluble stars, having a large number of hydroxyl groups, both at the ends of PEO arms as well as within the PGL arms, can be functionalized and further used for attaching compounds of interest. This approach opens, therefore, a new way of "multiPEGylation".

Polynomial model inversion control: numerical tests and applications

OpenAIRE

Novara, Carlo

2015-01-01

A novel control design approach for general nonlinear systems is described in this paper. The approach is based on the identification of a polynomial model of the system to control and on the on-line inversion of this model. Extensive simulations are carried out to test the numerical efficiency of the approach. Numerical examples of applicative interest are presented, concerned with control of the Duffing oscillator, control of a robot manipulator and insulin regulation in a type 1 diabetic p...

Multiparameter Elastic Full Waveform Inversion With Facies Constraints

KAUST Repository

Zhang, Zhendong

2017-08-17

Full waveform inversion (FWI) aims fully benefit from all the data characteristics to estimate the parameters describing the assumed physics of the subsurface. However, current efforts to utilize full waveform inversion as a tool beyond acoustic imaging applications, for example in reservoir analysis, faces inherent challenges related to the limited resolution and the potential trade-off between the elastic model parameters. Adding rock physics constraints does help to mitigate these issues, but current approaches to add such constraints are based on including them as a priori knowledge mostly valid around the well or as a boundary condition for the whole area. Since certain rock formations inside the Earth admit consistent elastic properties and relative values of elastic and anisotropic parameters (facies), utilizing such localized facies information in FWI can improve the resolution of inverted parameters. We propose a novel confidence map based approach to utilize the facies-based constraints in both isotropic and anisotropic elastic FWI. We invert for such a confidence map using Bayesian theory, in which the confidence map is updated at each iteration of the inversion using both the inverted models and a prior information. The numerical examples show that the proposed method can reduce the trade-offs and also can improve the resolution of the inverted elastic and anisotropic properties.

Imitation of gestures by robotic arms: a quality assessment approach; Imitacion de gestos por brazos roboticos: Una propuesta para evaluar su calidad

Energy Technology Data Exchange (ETDEWEB)

Nope-Rodriguez, S.; Loaiza-Correa, H.; Caicedo-Bravo, E.

2010-07-01

This article proposes quantitative evaluation metrics of imitation, suited for the imitation of four gestures performed by a robotic arm on a simulation environment; for each gesture, the metric relies on a group of simple geometric shapes. This approach broadens the concept of imitation; since common metrics just accumulate the error between the joints of the demonstrator and the imitator along their trajectories, in other words, check for the exact replica of the gesture performed by the demonstrator. The results of the proposed metric are compared with an evaluation survey. (Author) 11 refs.

Algorithms for Unequal-Arm Michelson Interferometers

Science.gov (United States)

Giampieri, Giacomo; Hellings, Ronald W.; Tinto, Massimo; Bender, Peter L.; Faller, James E.

1994-01-01

A method of data acquisition and data analysis is described in which the performance of Michelson-type interferometers with unequal arms can be made nearly the same as interferometers with equal arms. The method requires a separate readout of the relative phase in each arm, made by interfering the returning beam in each arm with a fraction of the outgoing beam.

Arm-length stabilisation for interferometric gravitational-wave detectors using frequency-doubled auxiliary lasers

OpenAIRE

Mullavey, Adam J.; Slagmolen, Bram J. J.; Miller, John; Evans, Matthew; Fritschel, Peter; Sigg, Daniel; Waldman, Sam J.; Shaddock, Daniel A.; McClelland, David E.

2011-01-01

Residual motion of the arm cavity mirrors is expected to prove one of the principal impediments to systematic lock acquisition in advanced gravitational-wave interferometers. We present a technique which overcomes this problem by employing auxiliary lasers at twice the fundamental measurement frequency to pre-stabilise the arm cavities’ lengths. Applying this approach, we reduce the apparent length noise of a 1.3 m long, independently suspended Fabry-Perot cavity to 30 pm rms and successfully...

Conditioning the full-waveform inversion gradient to welcome anisotropy

KAUST Repository

Alkhalifah, Tariq Ali

2015-01-01

Multiparameter full-waveform inversion (FWI) suffers from complex nonlinearity in the objective function, compounded by the eventual trade-off between the model parameters. A hierarchical approach based on frequency and arrival time data decimation

FY1995 development of artificial arm 'SMART ARM' by spherical ultrasonic motor; 1995 nendo kyumen choonpa motor wo mochiita jinko gishu smart arm no kaihatsu

Energy Technology Data Exchange (ETDEWEB)

NONE

1997-03-01

The project has an intention of development of new type artificial arm by spherical ultrasonic motor. We have succeeded in developing new type of spherical ultrasonic motor with three DOF. And we have succeeded in applying the motor to an artificial arm. This arm have advantages of small size, low weight torque comparing with conventional ones. We demonstrated them the new arm behaved well and it had good controlabilty. (NEDO)

High-efficiency synthesis of dendrimer-like poly(ethylene oxide) via “arm-first” approach

KAUST Repository

Zhu, Saisai

2017-04-14

In this study, a dendrimer-like polymer based on poly(ethylene oxide) (PEO) was synthesized through a combination of anionic ring-opening polymerization (AROP) and click reaction via arm-first method. Firstly, the polymeric arm, a linear PEO with one alkynyl group and two bromo groups, was synthesized by AROP of ethylene oxide followed by functionalization with propargyl bromide and esterified with 2-bromopropionic bromide. Second, a star PEO carrying three azide groups was synthesized though AROP of ethylene oxide used 1,1,1-tris(hydrosymethyl) ethane as initiator followed esterificated with 2-bromopropionic acid and azidation. By azide–alkyne click reactions between the azide-terminated PEO star polymer and linear PEO with functionalization alkynyl group, a three generation dendrimer-like PEO, G3-PEO-24Br, was successfully synthesized. The resulting polymers were observed to have precisely controlled molecular weights and compositions with narrow molecular weight distributions.

Solving probabilistic inverse problems rapidly with prior samples

NARCIS (Netherlands)

Käufl, Paul; Valentine, Andrew P.; de Wit, Ralph W.; Trampert, Jeannot

2016-01-01

Owing to the increasing availability of computational resources, in recent years the probabilistic solution of non-linear, geophysical inverse problems by means of sampling methods has become increasingly feasible. Nevertheless, we still face situations in which a Monte Carlo approach is not

Octopus-inspired multi-arm robotic swimming.

Science.gov (United States)

Sfakiotakis, M; Kazakidi, A; Tsakiris, D P

2015-05-13

The outstanding locomotor and manipulation characteristics of the octopus have recently inspired the development, by our group, of multi-functional robotic swimmers, featuring both manipulation and locomotion capabilities, which could be of significant engineering interest in underwater applications. During its little-studied arm-swimming behavior, as opposed to the better known jetting via the siphon, the animal appears to generate considerable propulsive thrust and rapid acceleration, predominantly employing movements of its arms. In this work, we capture the fundamental characteristics of the corresponding complex pattern of arm motion by a sculling profile, involving a fast power stroke and a slow recovery stroke. We investigate the propulsive capabilities of a multi-arm robotic system under various swimming gaits, namely patterns of arm coordination, which achieve the generation of forward, as well as backward, propulsion and turning. A lumped-element model of the robotic swimmer, which considers arm compliance and the interaction with the aquatic environment, was used to study the characteristics of these gaits, the effect of various kinematic parameters on propulsion, and the generation of complex trajectories. This investigation focuses on relatively high-stiffness arms. Experiments employing a compliant-body robotic prototype swimmer with eight compliant arms, all made of polyurethane, inside a water tank, successfully demonstrated this novel mode of underwater propulsion. Speeds of up to 0.26 body lengths per second (approximately 100 mm s(-1)), and propulsive forces of up to 3.5 N were achieved, with a non-dimensional cost of transport of 1.42 with all eight arms and of 0.9 with only two active arms. The experiments confirmed the computational results and verified the multi-arm maneuverability and simultaneous object grasping capability of such systems.

Generalized inverses theory and computations

CERN Document Server

Wang, Guorong; Qiao, Sanzheng

2018-01-01

This book begins with the fundamentals of the generalized inverses, then moves to more advanced topics. It presents a theoretical study of the generalization of Cramer's rule, determinant representations of the generalized inverses, reverse order law of the generalized inverses of a matrix product, structures of the generalized inverses of structured matrices, parallel computation of the generalized inverses, perturbation analysis of the generalized inverses, an algorithmic study of the computational methods for the full-rank factorization of a generalized inverse, generalized singular value decomposition, imbedding method, finite method, generalized inverses of polynomial matrices, and generalized inverses of linear operators. This book is intended for researchers, postdocs, and graduate students in the area of the generalized inverses with an undergraduate-level understanding of linear algebra.

Novel Design of a Soft Lightweight Pneumatic Continuum Robot Arm with Decoupled Variable Stiffness and Positioning.

Science.gov (United States)

Giannaccini, Maria Elena; Xiang, Chaoqun; Atyabi, Adham; Theodoridis, Theo; Nefti-Meziani, Samia; Davis, Steve

2018-02-01

Soft robot arms possess unique capabilities when it comes to adaptability, flexibility, and dexterity. In addition, soft systems that are pneumatically actuated can claim high power-to-weight ratio. One of the main drawbacks of pneumatically actuated soft arms is that their stiffness cannot be varied independently from their end-effector position in space. The novel robot arm physical design presented in this article successfully decouples its end-effector positioning from its stiffness. An experimental characterization of this ability is coupled with a mathematical analysis. The arm combines the light weight, high payload to weight ratio and robustness of pneumatic actuation with the adaptability and versatility of variable stiffness. Light weight is a vital component of the inherent safety approach to physical human-robot interaction. To characterize the arm, a neural network analysis of the curvature of the arm for different input pressures is performed. The curvature-pressure relationship is also characterized experimentally.

Multiparameter Elastic Full Waveform Inversion with Facies-based Constraints

Science.gov (United States)

Zhang, Zhen-dong; Alkhalifah, Tariq; Naeini, Ehsan Zabihi; Sun, Bingbing

2018-03-01

Full waveform inversion (FWI) incorporates all the data characteristics to estimate the parameters described by the assumed physics of the subsurface. However, current efforts to utilize full waveform inversion beyond improved acoustic imaging, like in reservoir delineation, faces inherent challenges related to the limited resolution and the potential trade-off between the elastic model parameters. Some anisotropic parameters are insufficiently updated because of their minor contributions to the surface collected data. Adding rock physics constraints to the inversion helps mitigate such limited sensitivity, but current approaches to add such constraints are based on including them as a priori knowledge mostly valid around the well or as a global constraint for the whole area. Since similar rock formations inside the Earth admit consistent elastic properties and relative values of elasticity and anisotropy parameters (this enables us to define them as a seismic facies), utilizing such localized facies information in FWI can improve the resolution of inverted parameters. We propose a novel approach to use facies-based constraints in both isotropic and anisotropic elastic FWI. We invert for such facies using Bayesian theory and update them at each iteration of the inversion using both the inverted models and a prior information. We take the uncertainties of the estimated parameters (approximated by radiation patterns) into consideration and improve the quality of estimated facies maps. Four numerical examples corresponding to different acquisition, physical assumptions and model circumstances are used to verify the effectiveness of the proposed method.

Multiparameter Elastic Full Waveform Inversion with Facies-based Constraints

KAUST Repository

Zhang, Zhendong

2018-03-20

Full waveform inversion (FWI) incorporates all the data characteristics to estimate the parameters described by the assumed physics of the subsurface. However, current efforts to utilize full waveform inversion beyond improved acoustic imaging, like in reservoir delineation, faces inherent challenges related to the limited resolution and the potential trade-off between the elastic model parameters. Some anisotropic parameters are insufficiently updated because of their minor contributions to the surface collected data. Adding rock physics constraints to the inversion helps mitigate such limited sensitivity, but current approaches to add such constraints are based on including them as a priori knowledge mostly valid around the well or as a global constraint for the whole area. Since similar rock formations inside the Earth admit consistent elastic properties and relative values of elasticity and anisotropy parameters (this enables us to define them as a seismic facies), utilizing such localized facies information in FWI can improve the resolution of inverted parameters. We propose a novel approach to use facies-based constraints in both isotropic and anisotropic elastic FWI. We invert for such facies using Bayesian theory and update them at each iteration of the inversion using both the inverted models and a prior information. We take the uncertainties of the estimated parameters (approximated by radiation patterns) into consideration and improve the quality of estimated facies maps. Four numerical examples corresponding to different acquisition, physical assumptions and model circumstances are used to verify the effectiveness of the proposed method.

Pericentric inversion of chromosome 11 (p14.3q21) associated with developmental delays, hypopigmented skin lesions and abnormal brain MRI findings - a new case report

Energy Technology Data Exchange (ETDEWEB)

Zachor, D.A.; Lofton, M. [Univ. of Alabama, Birmingham (United States)

1994-09-01

We report 3 year old male, referred for evaluation of developmental delays. Pregnancy was complicated by oligohydramnios, proteinuria and prematurity. Medical history revealed: bilateral inguinal hernia, small scrotal sac, undescended testes, developmental delays and behavioral problems. The child had: microcephaly, facial dysmorphic features, single palmar creases, hypopigmented skin lesions of variable size, intermittent exotropia and small retracted testes. Neurological examination was normal. Cognitive level was at the average range with mild delay in his adaptive behavior. Expressive language delays and severe articulation disorder were noted, as well as clumsiness, poor control and precision of gross and fine motor skills. Chromosomal analysis of peripheral leukocytes indicated that one of the number 11 chromosomes had undergone a pericentric inversion with breakpoints on the short (p) arm at band p14.3 and the long (q) arm at band q21. An MRI of the brain showed mild delay in myelinization pattern of white matter. Chromosome 11 inversion in other sites was associated with Beckwith-Wiedemann syndrome and several malignancies. To our knowledge this is the first description of inv(11)(p14.3q21) that is associated with microcephaly, dysmorphic features, hypopigmented skin lesions and speech delay. This inversion may disrupt the expression of the involved genes. However, additional cases with the same cytogenetic anomaly are needed to explore the phenotypic significance of this disorder.

Applications of elliptic Carleman inequalities to Cauchy and inverse problems

CERN Document Server

Choulli, Mourad

2016-01-01

This book presents a unified approach to studying the stability of both elliptic Cauchy problems and selected inverse problems. Based on elementary Carleman inequalities, it establishes three-ball inequalities, which are the key to deriving logarithmic stability estimates for elliptic Cauchy problems and are also useful in proving stability estimates for certain elliptic inverse problems. The book presents three inverse problems, the first of which consists in determining the surface impedance of an obstacle from the far field pattern. The second problem investigates the detection of corrosion by electric measurement, while the third concerns the determination of an attenuation coefficient from internal data, which is motivated by a problem encountered in biomedical imaging.

Inverse kinematics algorithm for a six-link manipulator using a polynomial expression

International Nuclear Information System (INIS)

Sasaki, Shinobu

1987-01-01

This report is concerned with the forward and inverse kinematics problem relevant to a six-link robot manipulator. In order to derive the kinematic relationships between links, the vector rotation operator was applied instead of the conventional homogeneous transformation. The exact algorithm for solving the inverse problem was obtained by transforming kinematics equations into a polynomial. As shown in test calculations, the accuracies of numerical solutions obtained by means of the present approach are found to be quite high. The algorithm proposed permits to find out all feasible solutions for the given inverse problem. (author)

Some results on inverse scattering

International Nuclear Information System (INIS)

Ramm, A.G.

2008-01-01

A review of some of the author's results in the area of inverse scattering is given. The following topics are discussed: (1) Property C and applications, (2) Stable inversion of fixed-energy 3D scattering data and its error estimate, (3) Inverse scattering with 'incomplete' data, (4) Inverse scattering for inhomogeneous Schroedinger equation, (5) Krein's inverse scattering method, (6) Invertibility of the steps in Gel'fand-Levitan, Marchenko, and Krein inversion methods, (7) The Newton-Sabatier and Cox-Thompson procedures are not inversion methods, (8) Resonances: existence, location, perturbation theory, (9) Born inversion as an ill-posed problem, (10) Inverse obstacle scattering with fixed-frequency data, (11) Inverse scattering with data at a fixed energy and a fixed incident direction, (12) Creating materials with a desired refraction coefficient and wave-focusing properties. (author)

Characterization and optimization of the visualization performance of continuous flow overhauser DNP hyperpolarized water MRI: Inversion recovery approach.

Science.gov (United States)

Terekhov, Maxim; Krummenacker, Jan; Denysenkov, Vasyl; Gerz, Kathrin; Prisner, Thomas; Schreiber, Laura Maria

2016-03-01

Overhauser dynamic nuclear polarization (DNP) allows the production of liquid hyperpolarized substrate inside the MRI magnet bore as well as its administration in continuous flow mode to acquire MR images with enhanced signal-to-noise ratio. We implemented inversion recovery preparation in order to improve contrast-to-noise ratio and to quantify the overall imaging performance of Overhauser DNP-enhanced MRI. The negative enhancement created by DNP in combination with inversion recovery (IR) preparation allows canceling selectively the signal originated from Boltzmann magnetization and visualizing only hyperpolarized fluid. The theoretical model describing gain of MR image intensity produced by steady-state continuous flow DNP hyperpolarized magnetization was established and proved experimentally. A precise quantification of signal originated purely from DNP hyperpolarization was achieved. A temperature effect on longitudinal relaxation had to be taken into account to fit experimental results with numerical prediction. Using properly adjusted IR preparation, the complete zeroing of thermal background magnetization was achieved, providing an essential increase of contrast-to-noise ratio of DNP-hyperpolarized water images. To quantify and optimize the steady-state conditions for MRI with continuous flow DNP, an approach similar to that incorporating transient-state thermal magnetization equilibrium in spoiled fast field echo imaging sequences can be used. © 2015 Wiley Periodicals, Inc.

A Joint Method of Envelope Inversion Combined with Hybrid-domain Full Waveform Inversion

Science.gov (United States)

CUI, C.; Hou, W.

2017-12-01

Full waveform inversion (FWI) aims to construct high-precision subsurface models by fully using the information in seismic records, including amplitude, travel time, phase and so on. However, high non-linearity and the absence of low frequency information in seismic data lead to the well-known cycle skipping problem and make inversion easily fall into local minima. In addition, those 3D inversion methods that are based on acoustic approximation ignore the elastic effects in real seismic field, and make inversion harder. As a result, the accuracy of final inversion results highly relies on the quality of initial model. In order to improve stability and quality of inversion results, multi-scale inversion that reconstructs subsurface model from low to high frequency are applied. But, the absence of very low frequencies (time domain and inversion in the frequency domain. To accelerate the inversion, we adopt CPU/GPU heterogeneous computing techniques. There were two levels of parallelism. In the first level, the inversion tasks are decomposed and assigned to each computation node by shot number. In the second level, GPU multithreaded programming is used for the computation tasks in each node, including forward modeling, envelope extraction, DFT (discrete Fourier transform) calculation and gradients calculation. Numerical tests demonstrated that the combined envelope inversion + hybrid-domain FWI could obtain much faithful and accurate result than conventional hybrid-domain FWI. The CPU/GPU heterogeneous parallel computation could improve the performance speed.

Inverse problems in ordinary differential equations and applications

CERN Document Server

Llibre, Jaume

2016-01-01

This book is dedicated to study the inverse problem of ordinary differential equations, that is it focuses in finding all ordinary differential equations that satisfy a given set of properties. The Nambu bracket is the central tool in developing this approach. The authors start characterizing the ordinary differential equations in R^N which have a given set of partial integrals or first integrals. The results obtained are applied first to planar polynomial differential systems with a given set of such integrals, second to solve the 16th Hilbert problem restricted to generic algebraic limit cycles, third for solving the inverse problem for constrained Lagrangian and Hamiltonian mechanical systems, fourth for studying the integrability of a constrained rigid body. Finally the authors conclude with an analysis on nonholonomic mechanics, a generalization of the Hamiltonian principle, and the statement an solution of the inverse problem in vakonomic mechanics.

Sonification of Arm Movements in Stroke Rehabilitation – A Novel Approach in Neurologic Music Therapy

Science.gov (United States)

Scholz, Daniel S.; Rohde, Sönke; Nikmaram, Nikou; Brückner, Hans-Peter; Großbach, Michael; Rollnik, Jens D.; Altenmüller, Eckart O.

2016-01-01

Gross motor impairments are common after stroke, but efficient and motivating therapies for these impairments are scarce. We present an innovative musical sonification therapy, especially designed to retrain patients’ gross motor functions. Sonification should motivate patients and provide additional sensory input informing about relative limb position. Twenty-five stroke patients were included in a clinical pre–post study and took part in the sonification training. The patients’ upper extremity functions, their psychological states, and their arm movement smoothness were assessed pre and post training. Patients were randomly assigned to either of two groups. Both groups received an average of 10 days (M = 9.88; SD = 2.03; 30 min/day) of musical sonification therapy [music group (MG)] or a sham sonification movement training [control group (CG)], respectively. The only difference between the two protocols was that in the CG no sound was played back during training. In the beginning, patients explored the acoustic effects of their arm movements in space. At the end of the training, the patients played simple melodies by coordinated arm movements. The 15 patients in the MG showed significantly reduced joint pain (F = 19.96, p therapy. Taken together, musical sonification may be a promising therapy for motor impairments after stroke, but further research is required since estimated effect sizes point to moderate treatment outcomes. PMID:27445970

Atmospheric inverse modeling with known physical bounds: an example from trace gas emissions

Directory of Open Access Journals (Sweden)

S. M. Miller

2014-02-01

the relative merits of each. This paper investigates the applicability of several approaches to bounded inverse problems. A common method of data transformations is found to unrealistically skew estimates for the examined example application. The method of Lagrange multipliers and two Markov chain Monte Carlo (MCMC methods yield more realistic and accurate results. In general, the examined MCMC approaches produce the most realistic result but can require substantial computational time. Lagrange multipliers offer an appealing option for large, computationally intensive problems when exact uncertainty bounds are less central to the analysis. A synthetic data inversion of US anthropogenic methane emissions illustrates the strengths and weaknesses of each approach.

Calculation of the inverse data space via sparse inversion

KAUST Repository

Saragiotis, Christos; Doulgeris, Panagiotis C.; Verschuur, Dirk Jacob Eric

2011-01-01

The inverse data space provides a natural separation of primaries and surface-related multiples, as the surface multiples map onto the area around the origin while the primaries map elsewhere. However, the calculation of the inverse data is far from

Joint 1D inversion of TEM and MT data and 3D inversion of MT data in the Hengill area, SW Iceland

Energy Technology Data Exchange (ETDEWEB)

Arnason, Knutur; Eysteinsson, Hjalmar; Hersir, Gylfi Pall [ISOR-Iceland GeoSurvey, Grensasvegi 9, 108 Reykjavik (Iceland)

2010-03-15

An extensive study of the resistivity structure of the Hengill area in SW Iceland was carried out by the combined use of TEM and MT soundings. Joint inversion of the collected data can correct for static shifts in the MT data, which can be severe due to large near-surface resistivity contrasts. Joint 1D inversion of 148 TEM/MT sounding pairs and a 3D inversion of a 60 sounding subset of the MT data were performed. The 3D inversion was based on full MT impedance tensors previously corrected for static shift. Both inversion approaches gave qualitatively similar results, and revealed a shallow resistivity layer reflecting conductive alteration minerals at temperatures of 100-240 C. They also delineated a deep conductor at 3-10 km depth. The reason for this deep-seated high conductivity is not fully understood. The distribution of the deep conductors correlates with a positive residual Bouguer gravity anomaly, and with transform tectonics inferred from seismicity. One model of the Hengill that is consistent with the well temperature data and the deep conductor that does not attenuate S-waves, is a group of hot, solidified, but still ductile magmatic intrusions that are closely associated with the heat source for the geothermal system. (author)

Bilinear Inverse Problems: Theory, Algorithms, and Applications

Science.gov (United States)

Ling, Shuyang

We will discuss how several important real-world signal processing problems, such as self-calibration and blind deconvolution, can be modeled as bilinear inverse problems and solved by convex and nonconvex optimization approaches. In Chapter 2, we bring together three seemingly unrelated concepts, self-calibration, compressive sensing and biconvex optimization. We show how several self-calibration problems can be treated efficiently within the framework of biconvex compressive sensing via a new method called SparseLift. More specifically, we consider a linear system of equations y = DAx, where the diagonal matrix D (which models the calibration error) is unknown and x is an unknown sparse signal. By "lifting" this biconvex inverse problem and exploiting sparsity in this model, we derive explicit theoretical guarantees under which both x and D can be recovered exactly, robustly, and numerically efficiently. In Chapter 3, we study the question of the joint blind deconvolution and blind demixing, i.e., extracting a sequence of functions [special characters omitted] from observing only the sum of their convolutions [special characters omitted]. In particular, for the special case s = 1, it becomes the well-known blind deconvolution problem. We present a non-convex algorithm which guarantees exact recovery under conditions that are competitive with convex optimization methods, with the additional advantage of being computationally much more efficient. We discuss several applications of the proposed framework in image processing and wireless communications in connection with the Internet-of-Things. In Chapter 4, we consider three different self-calibration models of practical relevance. We show how their corresponding bilinear inverse problems can be solved by both the simple linear least squares approach and the SVD-based approach. As a consequence, the proposed algorithms are numerically extremely efficient, thus allowing for real-time deployment. Explicit theoretical