Directed Neutron Beams From Inverse Kinematic Reactions
Vanhoy, J. R.; Guardala, N. A.; Glass, G. A.
2011-06-01
Kinematic focusing of an emitted fairly mono-energetic neutron beam by the use of inverse-kinematic reactions, i.e. where the projectile mass is greater than the target atom's mass, can provide for the utilization of a significant fraction of the fast neutron yield and also provide for a safer radiation environment. We examine the merit of various neutron production reactions and consider the practicalities of producing the primary beam using the suitable accelerator technologies. Preliminary progress at the NSWC-Carderock Positive Ion Accelerator Facility is described. Possible important applications for this type of neutron-based system can be both advanced medical imaging techniques and active "stand-off" interrogation of contraband items.
Nuclear reaction studies using inverse kinematics
International Nuclear Information System (INIS)
Shapira, D.
1985-01-01
Reaction studies with reversed kinematics refer to studies of nuclear reactions induced by a heavy projectile colliding with lighter target nuclei. The technique of using reversed kinematics is costly in terms of the available center-of-mass energy. Most of the projectile's energy goes into forward motion of the reaction products in the laboratory system. Examples are presented where the use of reversed kinematics techniques has provided new information on certain reaction processes. A list of kinematic properties and advantages they may afford is shown. Clearly the possible studies listed can be done without using reversed kinematics but because of the difficulty associated with some of these studies they were never performed until more energetic heavier beams have become available and the reversed kinematics technique was utilized
Transfer reactions in inverse kinematics at REX-ISOLDE
Tengborn, E
Research on the structure of exotic nuclei is one of the most intriguing topics in present day nuclear physics. With the use of facilities for isotope separation on-line, such as ISOLDE at CERN, short-lived isotopes can be studied experimentally. Since 2002, the REX-ISOLDE facility enables radioactive ions produced by ISOLDE to be post-accelerated, increasing the energy of the ions enough to do nuclear transfer reactions in inverse kinematics. In this thesis, transfer reactions are used to study the structure of neutron-rich lithium isotopes through a series of experiments at REX-ISOLDE. The first experiment used a 9Li beam at 2.36 MeV/u impinging on a deuterated polyethylene target to study 10Li, 9Li and 8Li. For the (d,p)-channel the resonance ground state and a first excited state are observed and the results agree with theoretical calculations. The elastic channel agrees with Optical Model, OM, calculations. For the (d,t)-channel the shape of the angular distribution agrees with Distorted Wave Born Approx...
Lifetime measurement of 75Br with inverse kinematic reaction
International Nuclear Information System (INIS)
Negi, Dinesh; Kumar, V.; Muralithar, S.; Kumar, R.; Singh, R.P.; Pancholi, S.C.; Bhowmik, R.K.; Trivedi, T.; Babu, S.A.; Ranjeet; Kumar, V.; Bhati, A.K.; Singh, P.P.
2007-01-01
75 Br is an isotone of 74 Se and 76 Kr. Both of them are known for showing shape coexistence with different shape in ground state. It is a question whether odd particle, in this case a proton in 75 Br, stabilizes one of the shape or feel the shape co-existence of the core. Transitional probabilities and magnetic moment of the states will help in answering these questions. Thus it motivates us to re-measure the lifetime of excited states of ground state band of 75 Br using inverse reaction and to provide necessary information about the feeding time of these states which can then be used in magnetic moment measurement
Direct studies of neutron-induced reactions in inverse kinematics
Mosby, Shea; Couture, Aaron; Mosby, Michelle; Reifarth, Rene
2017-09-01
Some of the major questions in both nuclear astrophysics and nuclear technology depend on neutron-induced reaction rates which are largely unknown, on nuclei which are too short-lived to directly measure with existing experimental methods. Indirect methods have progressed, by either attempting to determine the reaction rate explicitly or by constraining nuclear structure for reaction models. Despite this progress, systematic uncertainties associated with the techniques remain a persistent issue. It has been shown that the combination of a radioactive beam facility, ion storage ring, and spallation neutron source could enable direct measurements of neutron-induced reaction rates for nuclei with half-lives as short as minutes or less. We have analyzed the feasibility of this technique using the LANSCE accelerator complex as a baseline. The technique and initial results from the feasibility analysis will be presented.
Inverse Kinematics using Quaternions
DEFF Research Database (Denmark)
Henriksen, Knud; Erleben, Kenny; Engell-Nørregård, Morten
In this project I describe the status of inverse kinematics research, with the focus firmly on the methods that solve the core problem. An overview of the different methods are presented Three common methods used in inverse kinematics computation have been chosen as subject for closer inspection....
Measurement of the spallation reaction 56Fe+p in inverse kinematics
International Nuclear Information System (INIS)
Boehmer, M.
2006-01-01
In this work the spallation reaction 56 Fe+p was investigated in inverse kinematics with regard to complete identification of the heavy residues. A ring imaging Cerenkov counter was used for velocity measurements in the experimental setup located at GSI in Darmstadt. A new fast readout electronic was developed and has been operated successfully in the experiment. Momentum reconstruction was carried out with the ALADiN spectrometer and a new software package written for this purpose. Cross sections and velocity distributions for more than 100 mass separated isotopes could be extracted from the dataset and compared with empirical models and other spallation experiments. The experiences gained in this experiment will be used for systematic improvements in the setup of the new spectrometer R3B at FAIR. (orig.)
Directory of Open Access Journals (Sweden)
Reifarth René
2015-01-01
Full Text Available Neutron capture cross sections of unstable isotopes are important for neutron-induced nucleosynthesis as well as for technological applications. A combination of a radioactive beam facility, an ion storage ring and a high flux reactor would allow a direct measurement of neutron induced reactions over a wide energy range on isotopes with half lives down to minutes. The idea is to measure neutron-induced reactions on radioactive ions in inverse kinematics. This means, the radioactive ions will pass through a neutron target. In order to efficiently use the rare nuclides as well as to enhance the luminosity, the exotic nuclides can be stored in an ion storage ring. The neutron target can be the core of a research reactor, where one of the central fuel elements is replaced by the evacuated beam pipe of the storage ring. Using particle detectors and Schottky spectroscopy, most of the important neutron-induced reactions, such as (n,γ, (n,p, (n,α, (n,2n, or (n,f, could be investigated.
Astrophysical rate of O-15(alpha,gamma)Ne-19 via the (p, t) reaction in inverse kinematics
Davids, B; van den Berg, AM; Dendooven, P; Fleurot, F; Hunyadi, M; de Huu, MA; Siemssen, RH; Wilschut, HW; Wortche, HJ; Hernanz, M; Jose, J; Rehm, KE; Wuosmaa, AH; Segel, RE
A recoil coincidence technique has been applied to measure the alpha-decay branching ratios of near-threshold states in Ne-19. Populating these states using the (p,t) reaction in inverse kinematics, we detected the recoils and their decay products with 100% geometric efficiency using a magnetic
A neutron spectrometer for studying giant resonances with (p,n) reactions in inverse kinematics
Stuhl, L.; Krasznahorkay, A.; Csatlos, M.; Algora, A.; Gulyas, J.; Kalinka, G.; Timar, J.; Kalantar-Nayestanaki, N.; Rigollet, C.; Bagchi, S.; Najafi, M. A.
2014-01-01
A neutron spectrometer, the European Low-Energy Neutron Spectrometer (ELENS), has been constructed to study exotic nuclei in inverse-kinematics experiments. The spectrometer, which consists of plastic scintillator bars, can be operated in the neutron energy range of 100 keV-10 MeV. The neutron
Studies of Neutron-Rich Nuclei with (d,p) Reactions in Inverse Kinematics at the HRIBF
International Nuclear Information System (INIS)
Grzywacz-Jones, Kate L.; Baktash, Cyrus; Bardayan, Daniel W.; Blackmon, Jeff C.; Catford, Wilton N.; Cizewski, Jolie; Fitzgerald, Ryan; Greife, Uwe; Gross, Carl J.; Johnson, Micah; Kozub, Raymond L.; Liang, J. Felix; Livesay, Jake; Ma, Zhanwen; Moazen, Brian H.; Nesaraja, Caroline D.; Shapira, Dan; Smith, Michael Scott; Thomas, Jeffrey S.; Visser, Dale William
2005-01-01
Two N=51 isotones have been measured using (d,p) reactions in inverse kinematics at the Holifield Radioactive Beam Facility (HRIBF) of Oak Ridge National Laboratory. Additionally, we have performed a test measurement using a stable 124Sn beam in preparation for measurements of the 2H(130,132Sn,p)131,133Sn reactions. Preliminary results for 83Ge and 85Se suggest a 5/2+ ground state and a 1/2+ first excited state for both isotopes, in agreement with systematics for the N=51 isotones. The excitation energy of the first excited state is shown to drop as the proton number is reduced. Proton angular distributions following the 2H(124Sn,p)125Sn reaction show sensitivity to the l-value of the transfered nucleon and spectroscopic factors are in agreement with previous measurements in normal kinematics.
Reiter, P; Blazhev, A A; Nardelli, S; Stora, T; Tengborn, E A; Kruecken, R; Voulot, D; Korten, W; Srebrny, J; Clement, E; Lo bianco, G; Sorlin, O H; Habs, D; Fraile prieto, L M; Chapman, R; Nilsson, T; Diriken, J V J; Jenkins, D G; Wady, P T; Kroell, T; Patronis, N; Angus, L J; Iwanicki, J S
We plan to study states in $^{46}$ Ar via the (t,p) two-neutron transfer reaction in inverse kinematics in order to identify and characterize excited states and to gain insights into the onset of deformation and the possible occurrence of shape-coexistence in this region where the N = 28 shell closure may be weakening. The experiment will be performed using accelerated beams from REX-ISOLDE and the T-REX particle detector set-up inside MINIBALL. We request a total of 30 shifts + 3 shifts for beam commissioning.
Energy Technology Data Exchange (ETDEWEB)
Boehmer, M.
2006-09-25
In this work the spallation reaction {sup 56}Fe+p was investigated in inverse kinematics with regard to complete identification of the heavy residues. A ring imaging Cerenkov counter was used for velocity measurements in the experimental setup located at GSI in Darmstadt. A new fast readout electronic was developed and has been operated successfully in the experiment. Momentum reconstruction was carried out with the ALADiN spectrometer and a new software package written for this purpose. Cross sections and velocity distributions for more than 100 mass separated isotopes could be extracted from the dataset and compared with empirical models and other spallation experiments. The experiences gained in this experiment will be used for systematic improvements in the setup of the new spectrometer R3B at FAIR. (orig.)
Directory of Open Access Journals (Sweden)
Nakano Keita
2017-01-01
Full Text Available Isotopic production cross sections were measured for proton- and deuteron-induced reactions on 93Nb by means of the inverse kinematics method at RIKEN Radioactive Isotope Beam Factory. The measured production cross sections of residual nuclei in the reaction 93Nb + p at 113 MeV/u were compared with previous data measured by the conventional activation method in the proton energy range between 46 and 249 MeV. The present inverse kinematics data of four reaction products (90Mo, 90Nb, 88Y, and 86Y were in good agreement with the data of activation measurement. Also, the model calculations with PHITS describing the intra-nuclear cascade and evaporation processes generally well reproduced the measured isotopic production cross sections.
Transfer reaction studies in inverse kinematics with the magnetic spectrometer PRISMA
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Corradi L.
2015-01-01
Full Text Available The large solid angle magnetic spectrometers, in combination with large gamma arrays, allowed to perform reaction mechanism and nuclear structure studies in different regions of the nuclear chart, especially in the neutron-rich direction. By studying transfer of multiple pairs valuable information on nucleon-nucleon correlations can be derived, especially from measurements performed below the Coulomb barrier. There is growing interest in the study of the properties of the heavy binary partner, in the Pb and in the actinides regions, crucial also for astrophysics.
Study of the 66Ni(t,d)67Ni Transfer Reaction in Inverse Kinematics
Callens, Maarten
The nickel isotopes with 28 protons are an interesting series in the study of nuclear structure. In the framework of the shell model nickel has a closed proton shell and the number of neutrons ranges from the magic numbers 20 to 50. The neutron-rich isotope $^{78}$Ni, is a waiting point in the nucleosynthesis r-process. In this process an intense neutron flux such as in supernovae results in the rapid capture of neutrons. The reaction sequence halts at $^{78}$Ni and waits for this nucleus to decay [Hea05]. For several decades the nickel isotopes have been studied extensively, particularly how the nuclear structure evolves when moving to the exotic boundaries of the nuclear chart. A remarkable feature was observed in $^{68}$Ni. This nucleus with 40 neutrons exhibits properties that are characteristic for doubly magic nuclei. Such as the energy of the first 2$^+$ state lies significantly higher than in neighbouring even-A isotopes, and is also higher than the energy of the second 0$^+$ state. Moreover also the ...
DEFF Research Database (Denmark)
Tengborn, E.; Moro, A.M.; Nilsson, T.
2011-01-01
The reaction 8Li + 2H has been studied in inverse kinematics at the incident energy of 3.15 MeV/nucleon, using the REX-ISOLDE post-accelerator. The reaction channels corresponding to (d,p), (d,d), and (d,t) reactions populating ground states and low-lying excited states in 7–9Li have been...... identified and the related angular distributions extracted and compared with coupled-channels, distorted-wave Born approximation (DWBA), and coupled-reaction-channels calculations. For the inelastic and (d,t) channels we find that higher order effects are very important and hence one needs to go beyond...
Inverse kinematics of OWI-535 robotic arm
DEBENEC, PRIMOŽ
2015-01-01
The thesis aims to calculate the inverse kinematics for the OWI-535 robotic arm. The calculation of the inverse kinematics determines the joint parameters that provide the right pose of the end effector. The pose consists of the position and orientation, however, we will focus only on the second one. Due to arm limitations, we have created our own type of the calculation of the inverse kinematics. At first we have derived it only theoretically, and then we have transferred the derivation into...
International Nuclear Information System (INIS)
Ujic, P.
2011-12-01
The thesis is constituted of two different topics related to astrophysics. The titles of these topics are: 'Alpha capture reaction in inverse kinematics, measurement of 78 Kr(α,γ) 82 Sr reaction' and 'Measurement of the radioactive decay of 19 O and 19 Ne implanted in niobium'. The goal of the first part of the thesis was to establish an experimental technique for measuring radiative alpha capture reaction at low energies in inverse kinematics. The measurement of these reactions is very important in astrophysics since it will help to improve the reliability of alpha particle optical model potentials which are used for prediction of cross sections of nuclear reaction used in different astrophysical models of supernovae explosions. In this part we insisted on a technical feasibility of this type of experiment. In the second part of the thesis, we examined the influence of the environment on the beta decay probability, in particular the influence of the electronic screening of Coulomb barrier of nuclei induced by Cooper pairs in superconductors. The indication of an extremely weak effect was noticed. (author)
Inverse Kinematics with Closed Form Solution for Denso Robot Manipulator
Prasetia, Ikhsan Eka; Agustinah, Trihastuti
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...
Inverse Kinematic Analysis Of A Quadruped Robot
Directory of Open Access Journals (Sweden)
Muhammed Arif Sen
2017-09-01
Full Text Available This paper presents an inverse kinematics program of a quadruped robot. The kinematics analysis is main problem in the manipulators and robots. Dynamic and kinematic structures of quadruped robots are very complex compared to industrial and wheeled robots. In this study inverse kinematics solutions for a quadruped robot with 3 degrees of freedom on each leg are presented. Denavit-Hartenberg D-H method are used for the forward kinematic. The inverse kinematic equations obtained by the geometrical and mathematical methods are coded in MATLAB. And thus a program is obtained that calculate the legs joint angles corresponding to desired various orientations of robot and endpoints of legs. Also the program provides the body orientations of robot in graphical form. The angular positions of joints obtained corresponding to desired different orientations of robot and endpoints of legs are given in this study.
Fission in Inverse Kinematics: A path to new experimental observables
Caamaño, Manuel; Farget, Fanny; Ramos, Diego
2017-11-01
Historically, experimental fission studies were based on reactions in direct kinematics with fixed target-like fissioning systems. Besides its advantages, this technique suffers from some drawbacks such as the difficulty of producing exotic fissioning systems and the seldom measurement of the fragment atomic number. Inverse kinematic provides an alternative to ease these issues and offers a new set of experimental observables that improves our level of information about the fission process, including an unprecedented access to the scission point. In this document, we review some of the observables obtained from the experimental campaign based on inverse kinematics, performed at VAMOS/GANIL.
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.
Inverse Kinematics of Concentric Tube Steerable Needles.
Sears, Patrick; Dupont, Pierre E
2007-01-01
Prior papers have introduced steerable needles composed of precurved concentric tubes. The curvature and extent of these needles can be controlled by the relative rotation and translation of the individual tubes. Under certain assumptions on the geometry and design of these needles, the forward kinematics problem can be solved in closed form by means of algebraic equations. The inverse kinematics problem, however, is not as straightforward owing to the nonlinear map between relative tube displacements and needle tip configuration as well as to the multiplicity of solutions as the number of tubes increases. This paper presents a general approach to solving the inverse kinematics problem using a pseudoinverse solution together with gradients of nullspace potential functions to enforce geometric and mechanical constraints.
Neural learning of robot inverse kinematics transformations
Gupta, M. M.
1994-06-01
The accuracy of a robot arm is determined by its ability to move in a given particular task space to specific Cartesian positions that are not necessarily pretaught. As a consequence, the inverse kinematics is an important problem as it must be solved in real-time in order to position the end-effector at an appropriate Cartesian location. However, it is a difficult and challenging problem for it involves the determination whether or not at least one mathematical set of robot joint angle values exists that will produce a desired coordinate configuration. The mathematical solutions should be checked against the physical constraints associated with the manipulator. Many times, a solution many not be physically realizable in a constrained environment. The advent of artificial neural networks has made it possible to obtain general learning schemes which can be used to arrive at feasible solutions to inverse kinematics problem in a constrained environment independent of a robotic structure. In this paper, we present such a learning scheme using a dynamic neural processor (DNP). This neural model functionally mimics the subpopulation of biological neurons. For analytical simplicity, only two subpopulations of neurons, namely excitatory and inhibitory, are assumed to coexist. The DNP is a neural network structure consisting of two dynamic neural units coupled as excitatory and inhibitory neurons. It is demonstrated in this study that the DNP would avoid time consuming numerical calculations and provide, more or less, instant recall of the learned associations. The learning and adaptive nature of this neural approach is demonstrated for two- and three-linked robots.
Thick-target yields of radioactive targets deduced from inverse kinematics
Energy Technology Data Exchange (ETDEWEB)
Aikawa, M., E-mail: aikawa@sci.hokudai.ac.jp [Faculty of Science, Hokkaido University, Sapporo 060-0810 (Japan); Ebata, S.; Imai, S. [Meme Media Laboratory, Hokkaido University, Sapporo 060-8628 (Japan)
2015-06-15
The thick-target yield (TTY) is a macroscopic quantity reflected by nuclear reactions and matter properties of targets. In order to evaluate TTYs on radioactive targets, we suggest a conversion method from inverse kinematics corresponding to the reaction of radioactive beams on stable targets. The method to deduce the TTY is theoretically derived from inverse kinematics. We apply the method to the {sup nat}Cu({sup 12}C,X){sup 24}Na reaction to confirm availability. In addition, it is applied to the {sup 137}Cs + {sup 12}C reaction as an example of a radioactive system and discussed a conversion coefficient of a TTY measurement.
Inverse Kinematics Solution and Verification of 4-DOF Hydraulic Manipulator
Chao, Zhiqiang; Wang, Fei; Zhang, Chuanqing; Li, Huaying
2017-10-01
Aimed at four degree of freedom (DOF) hydraulic manipulator, an inverse kinematics solution is proposed from Cartesian space to drive space based on geometrical method. To the structural and diver characteristics of the manipulator, a forward kinematics is conducted by using D-H method. The position and orientation of manipulator’s end-effector can be obtained under the kinematics constraint. By analyzing the structure, the solution of inverse kinematics of manipulator can be obtained, and the conversion between drive space and joint space can be got through the sport’s mechanism kinematics. In order to meet the need of motion planning and control of the manipulator, the inverse kinematics and conversion are validated based on simulation.
Freeing the Serial Mechanism Designer from Inverse Kinematic Solvability Constraints
Directory of Open Access Journals (Sweden)
Diana C. W. Friedman
2010-01-01
Full Text Available This paper presents a fast numerical solution for the inverse kinematics of a serial manipulator. The method is implemented on the C-arm, a manipulator designed for use in robotic surgery. The inverse kinematics solution provides all possible solutions for any six degree-of-freedom serial manipulator, assuming that the forward kinematics are known and that it is possible to solve for the remaining joint angles if one joint angle’s value is known. With a fast numerical method and the current levels of computing power, designing a manipulator with closed-form inverse kinematics is no longer necessary. When designing the C-arm, we therefore chose to weigh other factors, such as actuator size and patient safety, more heavily than the ability to find a closed-form inverse kinematics solution.
Forward and inverse kinematics of double universal joint robot wrists
Williams, Robert L., II
1991-01-01
A robot wrist consisting of two universal joints can eliminate the wrist singularity problem found on many individual robots. Forward and inverse position and velocity kinematics are presented for such a wrist having three degrees of freedom. Denavit-Hartenberg parameters are derived to find the transforms required for the kinematic equations. The Omni-Wrist, a commercial double universal joint robot wrist, is studied in detail. There are four levels of kinematic parameters identified for this wrist; three forward and three inverse maps are presented for both position and velocity. These equations relate the hand coordinate frame to the wrist base frame. They are sufficient for control of the wrist standing alone. When the wrist is attached to a manipulator arm; the offset between the two universal joints complicates the solution of the overall kinematics problem. All wrist coordinate frame origins are not coincident, which prevents decoupling of position and orientation for manipulator inverse kinematics.
Solution for Ill-Posed Inverse Kinematics of Robot Arm by Network Inversion
Directory of Open Access Journals (Sweden)
Takehiko Ogawa
2010-01-01
Full Text Available In the context of controlling a robot arm with multiple joints, the method of estimating the joint angles from the given end-effector coordinates is called inverse kinematics, which is a type of inverse problems. Network inversion has been proposed as a method for solving inverse problems by using a multilayer neural network. In this paper, network inversion is introduced as a method to solve the inverse kinematics problem of a robot arm with multiple joints, where the joint angles are estimated from the given end-effector coordinates. In general, inverse problems are affected by ill-posedness, which implies that the existence, uniqueness, and stability of their solutions are not guaranteed. In this paper, we show the effectiveness of applying network inversion with regularization, by which ill-posedness can be reduced, to the ill-posed inverse kinematics of an actual robot arm with multiple joints.
Directory of Open Access Journals (Sweden)
Kawase Shoichiro
2017-01-01
Full Text Available Isotopic production cross sections in the proton- and deuteron-induced spallation reactions on 93Zr at an energy of 105 MeV/u were measured in inverse kinematics conditions for the development of realistic nuclear transmutation processes for long-lived fission products (LLFPs with neutron and light-ion beams. The experimental results were compared to the PHITS calculations describing the intra-nuclear cascade and evaporation processes. Although an overall agreement was obtained, a large overestimation of the production cross sections for the removal of a few nucleons was seen. A clear shell effect associated with the neutron magic number N = 50 was observed in the measured isotopic production yields of Zr and Y isotopes, which can be reproduced reasonably by the PHITS calculation.
An adaptive inverse kinematics algorithm for robot manipulators
Colbaugh, R.; Glass, K.; Seraji, H.
1990-01-01
An adaptive algorithm for solving the inverse kinematics problem for robot manipulators is presented. The algorithm is derived using model reference adaptive control (MRAC) theory and is computationally efficient for online applications. The scheme requires no a priori knowledge of the kinematics of the robot if Cartesian end-effector sensing is available, and it requires knowledge of only the forward kinematics if joint position sensing is used. Computer simulation results are given for the redundant seven-DOF robotics research arm, demonstrating that the proposed algorithm yields accurate joint angle trajectories for a given end-effector position/orientation trajectory.
Adding Image Constraints to Inverse Kinematics for Human Motion Capture
Jaume-i-Capó, Antoni; Varona, Javier; González-Hidalgo, Manuel; Perales, Francisco J.
2009-12-01
In order to study human motion in biomechanical applications, a critical component is to accurately obtain the 3D joint positions of the user's body. Computer vision and inverse kinematics are used to achieve this objective without markers or special devices attached to the body. The problem of these systems is that the inverse kinematics is "blinded" with respect to the projection of body segments into the images used by the computer vision algorithms. In this paper, we present how to add image constraints to inverse kinematics in order to estimate human motion. Specifically, we explain how to define a criterion to use images in order to guide the posture reconstruction of the articulated chain. Tests with synthetic images show how the scheme performs well in an ideal situation. In order to test its potential in real situations, more experiments with task specific image sequences are also presented. By means of a quantitative study of different sequences, the results obtained show how this approach improves the performance of inverse kinematics in this application.
Visualized kinematics code for two-body nuclear reactions
Lee, E. J.; Chae, K. Y.
2016-05-01
The one or few nucleon transfer reaction has been a great tool for investigating the single-particle properties of a nucleus. Both stable and exotic beams are utilized to study transfer reactions in normal and inverse kinematics, respectively. Because many energy levels of the heavy recoil from the two-body nuclear reaction can be populated by using a single beam energy, identifying each populated state, which is not often trivial owing to high level-density of the nucleus, is essential. For identification of the energy levels, a visualized kinematics code called VISKIN has been developed by utilizing the Java programming language. The development procedure, usage, and application of the VISKIN is reported.
STRUCTURAL IDENTIFICATION OF DISTINCT INVERSIONS OF PLANAR KINEMATIC CHAINS
Directory of Open Access Journals (Sweden)
Dr. Shubhashis Sanyal
2011-12-01
Full Text Available 0 0 1 171 979 International Islamic University 8 2 1148 14.0 Normal 0 false false false EN-US JA X-NONE /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-priority:99; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin:0cm; mso-para-margin-bottom:.0001pt; mso-pagination:widow-orphan; font-size:11.0pt; font-family:"Times New Roman";} Inversions are various structural possibilities of a kinematic chain. The number of inversions depends on the number of links of a kinematic chain. At the stage of structural synthesis, identification of distinct structural inversions of a particular type of kinematic chain is necessary. Various researchers have proposed methods for identification of distinct inversions. Present method based on Link joint connectivity is proposed to identify the distinct inversions of a planar kinematic chain. Method is tested successfully on single degree and multiple degree of freedom planar kinematic chains. ABSTRAK: Penyonsangan merupakan kebarangkalian pelbagai struktur suatu rangkaian kinematik. Jumlah songsangan bergantung kepada jumlah hubungan suatu rangkaian kinematik. Pada peringkat sintesis struktur, pengenalan songsangan struktur yang berbeza untuk suatu jenis rangkaian kinematik adalah perlu. Ramai penyelidik telah mencadangkan pelbagai kaedah pengenalan songsangan yang berbeza. Kaedah terkini berdasarkan hubungan kesambungan bersama telah dicadangkan untuk mengenalpasti songsangan yang berbeza dalam suatu satah rangkaian kinematik.
The {sup 7}Li(d, p){sup 8}Li reaction in inverse kinematics at 5.44 MeV/u
Energy Technology Data Exchange (ETDEWEB)
Pakou, A.; Aslanoglou, X.; Sgouros, O.; Soukeras, V. [The University of Ioannina, Department of Physics and HINP, Ioannina (Greece); Keeley, N. [National Centre for Nuclear Research, Otwock (Poland); Cappuzzello, F. [INFN Laboratori Nazionali del Sud, Catania (Italy); Universita di Catania, Dipartimento di Fisica e Astronomia, Catania (Italy); Acosta, L. [Universidad Nacional Autonoma de Mexico, Instituto de Fisica, Mexico City (Mexico); INFN Sezione di Catania, Catania (Italy); Agodi, C.; Calabrese, S.; Carbone, D.; Cavallaro, M. [INFN Laboratori Nazionali del Sud, Catania (Italy); Foti, A. [Universita di Catania, Dipartimento di Fisica e Astronomia, Catania (Italy); INFN Sezione di Catania, Catania (Italy); Marquinez-Duran, G.; Martel, I. [Universidad de Huelva, Departamento de Ciencias Integradas, Facultad de Ciencias Experimentales, Campus de El Carmen, Huelva (Spain); Mazzocco, M.; Strano, E. [Universita di Padova, Dipartimento di Fisica e Astronomia, Padova (Italy); INFN Sezione di Padova, Padova (Italy); Parascandolo, C.; Pierroutsakou, D. [INFN Sezione di Napoli, Napoli (Italy); Rusek, K. [University of Warsaw, Heavy Ion Laboratory, Warsaw (Poland); Zagatto, V.A.B. [Instituto de Fisica da Universidade Federal Fluminense, Niteroi, RJ (Brazil)
2017-08-15
New data are presented for the {sup 7}Li(d, p){sup 8}Li stripping reaction which, together with previously reported elastic scattering data taken in the same experiment, provide a coherent set. These data, plus existing measurements of the elastic scattering and stripping at 6 MeV/u were analysed within the same coupled reaction channels scheme. Good descriptions of the stripping data to the 0.0 MeV 2{sup +} and 0.98 MeV 1{sup +} states of {sup 8}Li were obtained using a set of left angle {sup 8}Li vertical stroke {sup 7}Li + n right angle overlaps taken from the literature, provided that the elastic scattering was also well described. Multi-step reaction paths made significant contributions to the description of the larger angle data. The asymptotic normalisation coefficients are compared with previous determinations. (orig.)
Reiter, P; Blazhev, A A; Kruecken, R; Franchoo, S; Mertzimekis, T; Darby, I G; Van de walle, J; Raabe, R; Elseviers, J; Gernhaeuser, R A; Sorlin, O H; Georgiev, G P; Bree, N C F; Habs, D; Chapman, R; Gaudefroy, L; Diriken, J V J; Jenkins, D G; Kroell, T; Axiotis, M; Huyse, M L; Patronis, N
We propose to perform the two-neutron transfer reaction $^{3}$H($^{66}$Ni, $^{68}$Ni)$p$ using the ISOLDE radioactive ion beam at 2.7 $A$ MeV and the MINIBALL + T-REX setup to characterize the 0$^{+}$ and 2$^{+}$ states in $^{68}$Ni.
Inverse Kinematics for Industrial Robots using Conformal Geometric Algebra
Directory of Open Access Journals (Sweden)
Adam L. Kleppe
2016-01-01
Full Text Available This paper shows how the recently developed formulation of conformal geometric algebra can be used for analytic inverse kinematics of two six-link industrial manipulators with revolute joints. The paper demonstrates that the solution of the inverse kinematics in this framework relies on the intersection of geometric objects like lines, circles, planes and spheres, which provides the developer with valuable geometric intuition about the problem. It is believed that this will be very useful for new robot geometries and other mechanisms like cranes and topside drilling equipment. The paper extends previous results on inverse kinematics using conformal geometric algebra by providing consistent solutions for the joint angles for the different configurations depending on shoulder left or right, elbow up or down, and wrist flipped or not. Moreover, it is shown how to relate the solution to the Denavit-Hartenberg parameters of the robot. The solutions have been successfully implemented and tested extensively over the whole workspace of the manipulators.
AUTHOR|(CDS)2079390; Van Duppen, Piet
The region around the nucleus $^{68}$Ni, with a shell closure for its protons at Z=28 and a harmonic oscillator shell gap for its neutrons at N=40, has drawn considerable interest over the past decades. $^{68}$Ni has properties that are typical for a doubly-magic nucleus, such as a high excitation energy and low B($E2:2^{+} \\rightarrow 0^{+}$) transition probability for the first excited 2$^{+}$ level and a 0$^{+}$ level as the first excited state. However, it has been suggested that the magic properties of $^{68}$Ni arise due to the fact that the N=40 separates the negative parity $pf$-shell from the positive parity 1$g_{9/2}$ orbital, and indeed, recent mass measurements have not revealed a clear N = 40 energy gap. Despite all additional information that was acquired over the last decade the specific role of the N=40 is not yet understood and a new experimental approach to study $^{68}$Ni was proposed. Namely, a two-neutron transfer reaction on $^{66}$Ni to characterize and disentangle the structure of the ...
A Kinematic Source Inversion Scheme With New Parametrisation
Burjanek, J.
2007-12-01
We present a kinematic finite extent source inversion scheme, introducing an innovative parametrization of the problem. Particularly, we assume a spatial slip distribution composed of overlapping 2D Gaussian functions on regular grid. Temporal evolution of slip is described with prescribed slip velocity function, with free rupture velocity and rise time parameters. Fixing the values of rupture velocity and rise time for whole fault makes the problem linear in static slip. The inversion algorithm works as follows. At first we fix rise time and rupture velocity and calculate seismograms for each Gaussian function separately. Then a linear inversion is performed to get optimal weights (=amplitudes) of these Gaussian functions. Such procedure is done for a number of rupture velocity and rise-time distributions. Optimal values of these distributions are obtained by neighborhood algorithm. L2 norm is used as an objective function. The linear inversion for static slip is done with positivity constraint, so called 'Quadratic programming' was applied to solve such problem. Our method benefits from simplicity of linear problems and favourable spectral properties of Gaussian function. The latter prevent from employment of artificial smoothing operators. Thus a direct insight into spectral properties of the static slip distribution of real earthquakes is obtained. The method has been applied to the 2000 M6.6 Western Tottori, Japan, earthquake.
Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm
Hai Linh, Bui Thi; Kung, Ying-Shieh
2015-01-01
When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm. Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated. In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly. Then, the...
Inverse Dynamic Analysis for Various Drivings in Kinematic Systems
Energy Technology Data Exchange (ETDEWEB)
Lee, Byung Hoon [Pusan Nat’l Univ., Busan (Korea, Republic of)
2017-09-15
Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the mechanical system and to design its components. This paper presents an algorithm that calculates actuating forces(or torques), depending on the various types of driving constraints, in order to produce a given system motion in the joint coordinate space. The joint coordinates are used as the generalized coordinates of a kinematic system. System equations of motion and constraint acceleration equations are transformed from the Cartesian coordinate space to the joint coordinate space using the velocity transformation method. A numerical example is carried out to verify the algorithm proposed.
Real-time inverse kinematics and inverse dynamics for lower limb applications using OpenSim.
Pizzolato, C; Reggiani, M; Modenese, L; Lloyd, D G
2017-03-01
Real-time estimation of joint angles and moments can be used for rapid evaluation in clinical, sport, and rehabilitation contexts. However, real-time calculation of kinematics and kinetics is currently based on approximate solutions or generic anatomical models. We present a real-time system based on OpenSim solving inverse kinematics and dynamics without simplifications at 2000 frame per seconds with less than 31.5 ms of delay. We describe the software architecture, sensitivity analyses to minimise delays and errors, and compare offline and real-time results. This system has the potential to strongly impact current rehabilitation practices enabling the use of personalised musculoskeletal models in real-time.
Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm
Directory of Open Access Journals (Sweden)
Bui Thi Hai Linh
2015-01-01
Full Text Available When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm. Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated. In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly. Then, the computations algorithm and its hardware implementation are described. Further, very high speed integrated circuits hardware description language (VHDL is applied to describe the overall hardware behavior of forward and inverse kinematics. Additionally, finite state machine (FSM is applied for reducing the hardware resource usage. Finally, for verifying the correctness of forward and inverse kinematics for the five-axis articulated robot arm, a cosimulation work is constructed by ModelSim and Simulink. The hardware of the forward and inverse kinematics is run by ModelSim and a test bench which generates stimulus to ModelSim and displays the output response is taken in Simulink. Under this design, the forward and inverse kinematics algorithms can be completed within one microsecond.
Seeing the World Topsy-Turvy: The Primary Role of Kinematics in Biological Motion Inversion Effects
Directory of Open Access Journals (Sweden)
Sue-Anne Fitzgerald
2014-04-01
Full Text Available Physical inversion of whole or partial human body representations typically has catastrophic consequences on the observer's ability to perform visual processing tasks. Explanations usually focus on the effects of inversion on the visual system's ability to exploit configural or structural relationships, but more recently have also implicated motion or kinematic cue processing. Here, we systematically tested the role of both on perceptions of sex from upright and inverted point-light walkers. Our data suggest that inversion results in systematic degradations of the processing of kinematic cues. Specifically and intriguingly, they reveal sex-based kinematic differences: Kinematics characteristic of females generally are resistant to inversion effects, while those of males drive systematic sex misperceptions. Implications of the findings are discussed.
Caliko: An Inverse Kinematics Software Library Implementation of the FABRIK Algorithm
Lansley, Alastair; Vamplew, Peter; Smith, Philip; Foale, Cameron
2016-01-01
The Caliko library is an implementation of the FABRIK (Forward And Backward Reaching Inverse Kinematics) algorithm written in Java. The inverse kinematics (IK) algorithm is implemented in both 2D and 3D, and incorporates a variety of joint constraints as well as the ability to connect multiple IK chains together in a hierarchy. The library allows for the simple creation and solving of multiple IK chains as well as visualisation of these solutions. It is licensed under the MIT software license...
Solving Inverse Kinematics – A New Approach to the Extended Jacobian Technique
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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.
Rapid kinematic finite source inversion for Tsunamic Early Warning using high rate GNSS data
Chen, K.; Liu, Z.; Song, Y. T.
2017-12-01
Recently, Global Navigation Satellite System (GNSS) has been used for rapid earthquake source inversion towards tsunami early warning. In practice, two approaches, i.e., static finite source inversion based on permanent co-seismic offsets and kinematic finite source inversion using high-rate (>= 1 Hz) co-seismic displacement waveforms, are often employed to fulfill the task. The static inversion is relatively easy to be implemented and does not require additional constraints on rupture velocity, duration, and temporal variation. However, since most GNSS receivers are deployed onshore locating on one side of the subduction fault, there is very limited resolution on near-trench fault slip using GNSS in static finite source inversion. On the other hand, the high-rate GNSS displacement waveforms, which contain the timing information of earthquake rupture explicitly and static offsets implicitly, have the potential to improve near-trench resolution by reconciling with the depth-dependent megathrust rupture behaviors. In this contribution, we assess the performance of rapid kinematic finite source inversion using high-rate GNSS by three selected historical tsunamigenic cases: the 2010 Mentawai, 2011 Tohoku and 2015 Illapel events. With respect to the 2010 Mentawai case, it is a typical tsunami earthquake with most slip concentrating near the trench. The static inversion has little resolution there and incorrectly puts slip at greater depth (>10km). In contrast, the recorded GNSS displacement waveforms are deficit in high-frequency energy, the kinematic source inversion recovers a shallow slip patch (depth less than 6 km) and tsunami runups are predicted quite reasonably. For the other two events, slip from kinematic and static inversion show similar characteristics and comparable tsunami scenarios, which may be related to dense GNSS network and behavior of the rupture. Acknowledging the complexity of kinematic source inversion in real-time, we adopt the back
Elastic scattering of protons on 8Li nucleus in inverse kinematics
International Nuclear Information System (INIS)
Zhusupov, M.A.; Ibraeva, E.T.; Sanfirova, A.B.; Imambekov, O.
2002-01-01
In the present paper the proton elastic scattering on 8 Li in inverse kinematics is studies. The inverse kinematics means that a beam of radioactive nuclei is scattered on a stable hydrogen target. Proton as a target has an advantage during the interaction since it is stable and mechanism of proton-nucleus scattering is quite simple. 8 Li nucleus is considered in the three-body αtn-model with realistic potential of inter-cluster interactions. The wave function of this nucleus is calculated in the work where it was shown that such model well describes the main spectroscopic characteristics of the nucleus, root-mean square radius, binding energy, location of low laying energy levels, magnetic momentum and also total cross section and 7 Li(n, γ) 8 Li reaction rate at a wide energy region. Within Glauber-Sitenko multiply scattering theory, the differential cross section of elastic p 8 Li-scattering has been calculated. The first and the second multiplicities of scattering on nucleons and clusters of the nucleus were taken into account in Ω multiply scattering operator. There were considered several cases when as the initial parameters both amplitudes of nucleon-nucleon and nucleon-cluster scattering were taken. Sensitivity of the differential cross section both to the different wave functions of the target-nucleus and to the parameters of the elementary amplitudes and sensitivity to the scattering multiplicities at several beam energies has been investigated. Comparison with differential cross sections of elastic p 6 Li- and p 7 Li scattering has been carried out
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...... tasks. This paper describes the theory and implementation of neural networks for hand-eye calibration and inverse kinematics of a six degrees of freedom robot arm equipped with a stereo vision system. The feedforward neural network and the network training with error propagation algorithm are applied....... The proposed approaches are validated in experiments. The results indicate that the hand-eye calibration with simple neural network outperforms the conventional method. Meanwhile, the neural network exhibits a promising performance in solving inverse kinematics....
Manipulator inverse kinematics control based on particle swarm optimization neural network
Wen, Xiulan; Sheng, Danghong; Guo, Jing
2008-10-01
The inverse kinematics control of a robotic manipulator requires solving non-linear equations having transcendental functions and involving time-consuming calculations. Particle Swarm Optimization (PSO), which is based on the behaviour of insect swarms and exploits the solution space by taking into account the experience of the single particle as well as that of the entire swarm, is similar to the genetic algorithm (GA) in that it performs a structured randomized search of an unknown parameter space by manipulating a population of parameter estimates to converge on a suitable solution. In this paper, PSO is firstly proposed to optimize feed-forward neural network for manipulator inverse kinematics. Compared with the results of the fast back propagation learning algorithm (FBP), conventional GA genetic algorithm based elitist reservation (EGA), improved GA (IGA) and immune evolutionary computation (IEC), the simulation results verify the particle swarm optimization neural network (PSONN) is effective for manipulator inverse kinematics control.
Caliko: An Inverse Kinematics Software Library Implementation of the FABRIK Algorithm
Directory of Open Access Journals (Sweden)
Alastair Lansley
2016-09-01
Full Text Available The Caliko library is an implementation of the FABRIK (Forward And Backward Reaching Inverse Kinematics algorithm written in Java. The inverse kinematics (IK algorithm is implemented in both 2D and 3D, and incorporates a variety of joint constraints as well as the ability to connect multiple IK chains together in a hierarchy. The library allows for the simple creation and solving of multiple IK chains as well as visualisation of these solutions. It is licensed under the MIT software license and the source code is freely available for use and modification at: https://github.com/feduni/caliko
Inverse kinematics technique for the study of fission-fragment isotopic yields at GANIL energies
International Nuclear Information System (INIS)
Delaune, O.
2012-01-01
The characteristics of the fission-products distributions result of dynamical and quantum properties of the deformation process of the fissioning nucleus. These distributions have also an interest for the conception of new nuclear power plants or for the transmutation of the nuclear wastes. Up to now, our understanding of the nuclear fission remains restricted because of experimental limitations. In particular, yields of the heavy fission products are difficult to get with precision. In this work, an innovative experimental technique is presented. It is based on the use of inverse kinematics coupled to the use of a spectrometer, in which a 238 U beam at 6 or 24 A MeV impinges on light targets. Several actinides, from 238 U to 250 Cf, are produced by transfer or fusion reactions, with an excitation energy ranges from ten to few hundreds MeV depending on the reaction and the beam energy. The fission fragments of these actinides are detected by the VAMOS spectrometer or the LISE separator. The isotopic yields of fission products are completely measured for different fissioning systems. The neutron excess of the fragments is used to characterise the isotopic distributions. Its evolution with excitation energy gives important insights on the mechanisms of the compound-nucleus formation and its deexcitation. Neutron excess is also used to determine the multiplicity of neutrons evaporated by the fragments. The role of the proton and neutron shell effects into the formation of fission fragments is also discussed. (author) [fr
Inverse-kinematics study of 78Kr + 40Ca at 10 AMeV
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Henry E.
2015-01-01
Full Text Available The CHIMERA multi-detector array at LNS Catania has been used to study the inverse-kinematics reaction of 78Kr + 40Ca at a bombarding energy of 10 A MeV. Analysis of the experimental data focused on a class of selected events consistent with the complete fusion and subsequent binary split of the of the reacting system. This class of events features a broad A, Z distribution of fission fragments centered about symmetric fission while exhibiting relative velocities significantly higher than given by Viola systematics. The center-of-mass angular distribution (dσ/dΘ of the fission fragments exhibit an unexpected anisotropy inconsistent with a compound-nucleus reaction and indicates a dynamic fusion-fission like process. The observed angular distribution features an asymmetric forward-backward peaking most prevalent for mass-asymmetric events. Furthermore, the more massive fragment of mass-asymmetric events appears to emerge preferentially in the forward direction, along the beam axis, in analogy to dynamic fragmentation of projectile-like fragments. Analysis of the angular distribution of alpha particles emitted from these fission fragments suggests the events are associated mostly with central collisions.
A projected back-tracking line-search for constrained interactive inverse kinematics
DEFF Research Database (Denmark)
Engell-Nørregård, Morten Pol; Erleben, Kenny
2011-01-01
Inverse kinematics is the problem of manipulating the pose of an articulated figure in order to achieve a desired goal disregarding inertia and forces. One can approach the problem as a non-linear optimization problem or as non-linear equation solving. The former approach is superior in its gener...
Direct and Inverse Kinematic of 3DOF Parallel Mechanism with Singularity Analysis
Bałchanowski, J.
This paper presents the structure and geometry of a new translational parallel mechanism. Relations for the analysis of the direct and inverse kinematics problems are derived. An analytical procedure for determining the system's singular positions is presented and illustrated with examples.
Valenzuela, Kevin A; Bhaskaran, Divya; Hummer, Cicily; Schefano, Antonio; Zhang, Songning
2016-11-01
Although landing in a plantarflexion and inversion position is a well-known characteristic of lateral ankle sprains, the associated kinematics of the knee and hip is largely unknown. Therefore, the purpose of this study was to examine the changes in knee and hip kinematics during landings on an altered landing surface of combined plantarflexion and inversion. Participants performed five drop landings from 30 cm onto a trapdoor platform in three different conditions: flat landing surface, 25° inversion, or a combined 25° plantarflexion and 25° inversion. Kinematic data were collected using a seven camera motion capture system. A 2 × 3 (leg × surface) repeated measures ANOVA was used for statistical analysis. The combined surface showed decreased knee and hip flexion range of motion (ROM) and increased knee abduction ROM (p knee abduction. A stiff landing pattern is frequently related to increased risk of anterior cruciate ligament injury. It may be beneficial for athletes at risk to train for alternate methods of increasing their sagittal plane motion of the knee and hip with active knee or trunk flexion.
Sensor module design and forward and inverse kinematics analysis of 6-DOF sorting transferring robot
Zhou, Huiying; Lin, Jiajian; Liu, Lei; Tao, Meng
2017-09-01
To meet the demand of high strength express sorting, it is significant to design a robot with multiple degrees of freedom that can sort and transfer. This paper uses infrared sensor, color sensor and pressure sensor to receive external information, combine the plan of motion path in advance and the feedback information from the sensors, then write relevant program. In accordance with these, we can design a 6-DOF robot that can realize multi-angle seizing. In order to obtain characteristics of forward and inverse kinematics, this paper describes the coordinate directions and pose estimation by the D-H parameter method and closed solution. On the basis of the solution of forward and inverse kinematics, geometric parameters of links and link parameters are optimized in terms of application requirements. In this way, this robot can identify route, sort and transfer.
Xuhao Wang; Dawei Zhang; Chen Zhao
2017-01-01
The 7R 6-DOF robots with hollow nonspherical wrist have been proven more suitable for spray painting applications. However, the inverse kinematics of this kind of robot is still imperfect due to the coupling between position and orientation of the end-effector (EE). In this paper, a new and efficient algorithm for the inverse kinematics of a 7R 6-DOF robot is proposed. The proposed inverse kinematics algorithm is a two-step method. The geometry of the 7R 6-DOF robot is analyzed. A comparison ...
The SOFIA experiment: Measurement of 236U fission fragment yields in inverse kinematics
Directory of Open Access Journals (Sweden)
Grente L.
2016-01-01
Full Text Available The SOFIA (Studies On FIssion with Aladin experiment aims at measuring fission-fragments isotopic yields with high accuracy using inverse kinematics at relativistic energies. This experimental technique allows to fully identify the fission fragments in nuclear charge and mass number, thus providing very accurate isotopic yields for low energy fission of a large variety of fissioning systems. This report focuses on the latest results obtained with this set-up concerning electromagnetic-induced fission of 236U.
A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242
Directory of Open Access Journals (Sweden)
Ahmed R. J. Almusawi
2016-01-01
Full Text Available This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot’s joint angles.
Almusawi, Ahmed R J; Dülger, L Canan; Kapucu, Sadettin
2016-01-01
This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles.
A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242)
Dülger, L. Canan; Kapucu, Sadettin
2016-01-01
This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles. PMID:27610129
Directory of Open Access Journals (Sweden)
Ali T. Hasan
2011-01-01
Full Text Available This paper is devoted to the application of Artificial Neural Networks (ANN to the solution of the Inverse Kinematics (IK problem for serial robot manipulators, in this study two networks were trained and compared to examine the effect of considering the Jacobian Matrix to the efficiency of the IK solution. Given the desired trajectory of the end effector of the manipulator in a free-of-obstacles workspace, Offline smooth geometric paths in the joint space of the manipulator are obtained. Even though it is very difficult in practice, data used in this study were recorded experimentally from sensors fixed on robot's joints to overcome the effect of kinematics uncertainties presence in the real world such as ill-defined linkage parameters, links flexibility and backlashes in gear train The generality and efficiency of the proposed algorithm are demonstrated through simulations of a general six DOF serial robot manipulator, finally the obtained results have been verified experimentally.
Energy Technology Data Exchange (ETDEWEB)
Wang, Kun, E-mail: wangkun@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Lappeenranta University of Technology, Lappeenranta (Finland); University of Science and Technology of China, Hefei (China); Song, Yuntao [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); University of Science and Technology of China, Hefei (China); Wu, Huapeng [Lappeenranta University of Technology, Lappeenranta (Finland); Wei, Xiaoyang; Khan, Shahab Ud-Din; Cheng, Yong [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China)
2017-06-15
Highlights: • An Obstacle Topology Partition Projection (OTPP) method of tokamak-like vessel for collision detection. • Median values preferentially of depth-first search algorithm for solving redundant inverse kinematics based on OTPP. • Application of RIK in grasping target objects. - Abstract: This paper proposed a new method for solving inverse kinematics (IK) of a redundant manipulator called EAST Articulated Maintenance Arm (EAMA), which is applied in the fusion reactor EAST (Experimental Advanced Superconducting Tokamak) and used to complete some maintenance tasks in the complex areas. However, it is difficult to realize remote control due to its redundancy, coupling structure and the complex operational environment. The IK research of the robot played a vital role to the manipulator’s motion control algorithm of remote handling (RH) technology. An Obstacle Topology Partition Projection (OTPP) approach integrated with Modified Inverse Depth First Search (MIDFS) method was presented. This is a kind of new geometric algorithm in order to solve the problem of IK for a high-redundancy manipulator. It can also be used to find a solution satisfying collision avoidance with optimal safety distance between the manipulator and obstacles. Simulations and experiments were conducted to demonstrate the efficiency and accuracy of the proposed method.
International Nuclear Information System (INIS)
Wang, Kun; Song, Yuntao; Wu, Huapeng; Wei, Xiaoyang; Khan, Shahab Ud-Din; Cheng, Yong
2017-01-01
Highlights: • An Obstacle Topology Partition Projection (OTPP) method of tokamak-like vessel for collision detection. • Median values preferentially of depth-first search algorithm for solving redundant inverse kinematics based on OTPP. • Application of RIK in grasping target objects. - Abstract: This paper proposed a new method for solving inverse kinematics (IK) of a redundant manipulator called EAST Articulated Maintenance Arm (EAMA), which is applied in the fusion reactor EAST (Experimental Advanced Superconducting Tokamak) and used to complete some maintenance tasks in the complex areas. However, it is difficult to realize remote control due to its redundancy, coupling structure and the complex operational environment. The IK research of the robot played a vital role to the manipulator’s motion control algorithm of remote handling (RH) technology. An Obstacle Topology Partition Projection (OTPP) approach integrated with Modified Inverse Depth First Search (MIDFS) method was presented. This is a kind of new geometric algorithm in order to solve the problem of IK for a high-redundancy manipulator. It can also be used to find a solution satisfying collision avoidance with optimal safety distance between the manipulator and obstacles. Simulations and experiments were conducted to demonstrate the efficiency and accuracy of the proposed method.
Cortés, Camilo; de Los Reyes-Guzmán, Ana; Scorza, Davide; Bertelsen, Álvaro; Carrasco, Eduardo; Gil-Agudo, Ángel; Ruiz-Salguero, Oscar; Flórez, Julián
2016-01-01
Robot-Assisted Rehabilitation (RAR) is relevant for treating patients affected by nervous system injuries (e.g., stroke and spinal cord injury). The accurate estimation of the joint angles of the patient limbs in RAR is critical to assess the patient improvement. The economical prevalent method to estimate the patient posture in Exoskeleton-based RAR is to approximate the limb joint angles with the ones of the Exoskeleton. This approximation is rough since their kinematic structures differ. Motion capture systems (MOCAPs) can improve the estimations, at the expenses of a considerable overload of the therapy setup. Alternatively, the Extended Inverse Kinematics Posture Estimation (EIKPE) computational method models the limb and Exoskeleton as differing parallel kinematic chains. EIKPE has been tested with single DOF movements of the wrist and elbow joints. This paper presents the assessment of EIKPE with elbow-shoulder compound movements (i.e., object prehension). Ground-truth for estimation assessment is obtained from an optical MOCAP (not intended for the treatment stage). The assessment shows EIKPE rendering a good numerical approximation of the actual posture during the compound movement execution, especially for the shoulder joint angles. This work opens the horizon for clinical studies with patient groups, Exoskeleton models, and movements types.
Lura, Derek; Wernke, Matthew; Alqasemi, Redwan; Carey, Stephanie; Dubey, Rajiv
2012-01-01
This paper presents the probability density based gradient projection (GP) of the null space of the Jacobian for a 25 degree of freedom bilateral robotic human body model (RHBM). This method was used to predict the inverse kinematics of the RHBM and maximize the similarity between predicted inverse kinematic poses and recorded data of 10 subjects performing activities of daily living. The density function was created for discrete increments of the workspace. The number of increments in each direction (x, y, and z) was varied from 1 to 20. Performance of the method was evaluated by finding the root mean squared (RMS) of the difference between the predicted joint angles relative to the joint angles recorded from motion capture. The amount of data included in the creation of the probability density function was varied from 1 to 10 subjects, creating sets of for subjects included and excluded from the density function. The performance of the GP method for subjects included and excluded from the density function was evaluated to test the robustness of the method. Accuracy of the GP method varied with amount of incremental division of the workspace, increasing the number of increments decreased the RMS error of the method, with the error of average RMS error of included subjects ranging from 7.7° to 3.7°. However increasing the number of increments also decreased the robustness of the method.
Scheme Choice and Inverse Kinematics of a Positioning System Based on a Planar Parallel Mechanism
Directory of Open Access Journals (Sweden)
P. A. Laryushkin
2017-01-01
Full Text Available Recent development of the parallel mechanisms theory has resulted in an increase of the actual machines, which are built using the conceptual schemes of such mechanisms. The advantages of parallel kinematics over conventional open-chain design, such as increased stiffness or lower inertia of moving parts, allow, in theory, higher performance rates in pick-and-place or machining applications. However, the practical usage of parallel mechanisms may be problematic due to their drawbacks, such as restricted workspace area and presence of singularities.The paper discusses a modification of the milling machine “Tetra” developed in “Modular Mechanics”, ltd. (BMSTU, which consists of two identical modules based on planar parallel kinematics mechanism. The loss of module stiffness in certain positions of the end-effector was noticed after experiments on the prototype, thus indicating the presence of singularities. Since this problem is a manifestation of fundamental properties of the chosen kinematic scheme, it was decided to change it.A scheme with three linear rails and three drives, as well as a scheme with a single rail and with four drives were considered as alternative options. The first option was discarded because it requires manufacturing a massive base plate. The second option was selected for future development. In this case, as compared to the previously known design, a configuration of the intermediate links was changed. The use of “lambda”-shaped elements makes it possible to distance the drive supports from the end-effector.For a chosen scheme an inverse kinematics problem was solved. Using constraints associated with the placement of all four drive supports on a single rail and stiffness requirements as well, a one single solution was selected among sixteen possible solutions.The further investigation will include a workspace and singularity analysis and an optimization of geometric parameters of the mechanism.
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Emre Sariyildiz
2011-11-01
Full Text Available In this paper, we compare three inverse kinematic formulation methods for the serial industrial robot manipulators. All formulation methods are based on screw theory. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. In these three formulation methods, the first one is based on quaternion algebra, the second one is based on dual‐quaternions, and the last one that is called exponential mapping method is based on matrix algebra. Compared with the matrix algebra, quaternion algebra based solutions are more computationally efficient and they need less storage area. The method which is based on dual‐quaternion gives the most compact and computationally efficient solution. Paden‐Kahan sub‐problems are used to derive inverse kinematic solutions. 6‐DOF industrial robot manipulator's forward and inverse kinematic equations are derived using these formulation methods. Simulation and experimental results are given.
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Emre Sariyildiz
2011-11-01
Full Text Available In this paper, we compare three inverse kinematic formulation methods for the serial industrial robot manipulators. All formulation methods are based on screw theory. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. In these three formulation methods, the first one is based on quaternion algebra, the second one is based on dual-quaternions, and the last one that is called exponential mapping method is based on matrix algebra. Compared with the matrix algebra, quaternion algebra based solutions are more computationally efficient and they need less storage area. The method which is based on dual-quaternion gives the most compact and computationally efficient solution. Paden-Kahan sub-problems are used to derive inverse kinematic solutions. 6-DOF industrial robot manipulator's forward and inverse kinematic equations are derived using these formulation methods. Simulation and experimental results are given.
Inverse Kinematics and Singularity Analysis for a 3-DOF Hybrid-Driven Cable-Suspended Parallel Robot
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Bin Zi
2012-10-01
Full Text Available This paper addresses the kinematics and graphical representation of the singularity configuration of a hybrid-driven cable-suspended parallel robot (HDCPR with three translational degrees of freedom (DOFs. Applying the closed-loop vector method and geometric methodology, inverse kinematics of the HDCPR needed for singularity analysis is performed. For the sake of singularity condition calculation within the reachable workspace, the procedure utilizing analytical methodology and gradual search algorithm is presented. Simulation results demonstrate the validity of the kinematics and singularity analysis developed.
Xu, Wenfu; She, Yu; Xu, Yangsheng
2014-12-01
Redundant space manipulators, including Space Station Remote Manipulator System (SSRMS), Special Purpose Dexterous Manipulator (SPDM) and European Robotic Arm (ERA), have been playing important roles in the construction and maintenance of International Space Station (ISS). They all have 7 revolute joints arranged in similar configurations, and are referred to as SSRMS-type manipulators. When a joint is locked in an arbitrary position due to some failures, a 7R manipulator degrades to a 6R manipulator. Without a spherical wrist or three consecutive parallel joints, the inverse kinematics of the 6R manipulator is very complex. In this paper, we propose effective methods to resolve the inverse kinematics for different cases of any joint locked in an arbitrary position. Firstly, configuration characteristics of the SSRMS-type redundant manipulators are analyzed. Then, an existing of closed-form inverse kinematics is discussed for locking different joints. Secondly, D-H frames and corresponding D-H parameters of the new 6-DOF manipulator formed by locking a joint in an arbitrary position are re-constructed. A unified table is then created to describe the kinematics for all possible cases of single joint locking failure. Thirdly, completely analytical and semi-analytical methods are presented to solve the inverse kinematics equations, and the former is used for locking joint 1, 2, 6 or 7 while the latter for locking joint 3, 4 or 5. Finally, typical cases for single joint locking are studied. The results verify the proposed methods.
Inverse Kinematics of a Humanoid Robot with Non-Spherical Hip: A Hybrid Algorithm Approach
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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.
Polynomial neural network for robot forward and inverse kinematics learning computations
Chen, C. L. P.; McAulay, Alastair D.
1991-03-01
Knowing the end-effector location (position and orientation) and the joint angles of the robot manipulator in real-time will assist the manipulator in negotiating around the obstacles when the manipulator is moving in a crowded environment. Thus, Forward and Inverse Kinematics Computations (FKC and IKC) play very important roles in robotic manipulators. The main objective of this paper is to demonstrate the capability of learning different trajectories of the robot reachable space by using the proposed PNN model. A software package has been developed for solving both FKC and IKC. The software can discover both the structure and the coefficients of a model to describe the dependent output variables in terms of the independent input variables identified by the users. The simulation is performed in a two degree-of-freedom manipulator. The solutions of the built FKC and IKC networks are compared with the analytic equations. The PNN learns successfully the indicated path. The simulation result shows that the PNN can interpolate the indicated path better than 99.87% of accuracy by only training the built PNN network 361 data pairs (out of 2D space point). The approach presented here can be expanded to six degree-of-freedom type of manipulators. Detailed algorithms of the GMDH to construct the PNN kinematics models will be discussed.
Kinematic power corrections in off-forward hard reactions.
Braun, V M; Manashov, A N
2011-11-11
We develop a general approach to the calculation of kinematic corrections ∝t/Q(2), m(2)/Q(2) in hard processes which involve momentum transfer from the initial to the final hadron state. As the principal result, the complete expression is derived for the time-ordered product of two electromagnetic currents that includes all kinematic corrections to twist-four accuracy. The results are immediately applicable, e.g., to the studies of deeply virtual Compton scattering.
Recursive inverse kinematics for robot arms via Kalman filtering and Bryson-Frazier smoothing
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.
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Xuhao Wang
2017-01-01
Full Text Available The 7R 6-DOF robots with hollow nonspherical wrist have been proven more suitable for spray painting applications. However, the inverse kinematics of this kind of robot is still imperfect due to the coupling between position and orientation of the end-effector (EE. In this paper, a new and efficient algorithm for the inverse kinematics of a 7R 6-DOF robot is proposed. The proposed inverse kinematics algorithm is a two-step method. The geometry of the 7R 6-DOF robot is analyzed. A comparison between the 7R 6-DOF robot and the well-known equivalent 6R robot is made. Based on this comparison, a rational transformation between these two kinds of robots is constructed. Then the general inverse kinematics algorithm of the equivalent 6R robot is applied to calculate the approximate solutions of the 7R 6-DOF robot, in the first step. The Damped Least-Squares (DLS method is employed to derive the exact solutions, in the second step. The accuracy and efficiency of the algorithm are tested on a 7R 6-DOF painting robot. The results show that the proposed algorithm is more advantageous in the case without an approximate solution, such as the initial point of a continuous trajectory.
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Unseren, M.A.
1993-04-01
The report discusses the orientation tracking control problem for a kinematically redundant, autonomous manipulator moving in a three dimensional workspace. The orientation error is derived using the normalized quaternion error method of Ickes, the Luh, Walker, and Paul error method, and a method suggested here utilizing the Rodrigues parameters, all of which are expressed in terms of normalized quaternions. The analytical time derivatives of the orientation errors are determined. The latter, along with the translational velocity error, form a dosed loop kinematic velocity model of the manipulator using normalized quaternion and translational position feedback. An analysis of the singularities associated with expressing the models in a form suitable for solving the inverse kinematics problem is given. Two redundancy resolution algorithms originally developed using an open loop kinematic velocity model of the manipulator are extended to properly take into account the orientation tracking control problem. This report furnishes the necessary mathematical framework required prior to experimental implementation of the orientation tracking control schemes on the seven axis CESARm research manipulator or on the seven-axis Robotics Research K1207i dexterous manipulator, the latter of which is to be delivered to the Oak Ridge National Laboratory in 1993.
International Nuclear Information System (INIS)
Unseren, M.A.
1993-04-01
The report discusses the orientation tracking control problem for a kinematically redundant, autonomous manipulator moving in a three dimensional workspace. The orientation error is derived using the normalized quaternion error method of Ickes, the Luh, Walker, and Paul error method, and a method suggested here utilizing the Rodrigues parameters, all of which are expressed in terms of normalized quaternions. The analytical time derivatives of the orientation errors are determined. The latter, along with the translational velocity error, form a dosed loop kinematic velocity model of the manipulator using normalized quaternion and translational position feedback. An analysis of the singularities associated with expressing the models in a form suitable for solving the inverse kinematics problem is given. Two redundancy resolution algorithms originally developed using an open loop kinematic velocity model of the manipulator are extended to properly take into account the orientation tracking control problem. This report furnishes the necessary mathematical framework required prior to experimental implementation of the orientation tracking control schemes on the seven axis CESARm research manipulator or on the seven-axis Robotics Research K1207i dexterous manipulator, the latter of which is to be delivered to the Oak Ridge National Laboratory in 1993
Cerebellum-inspired neural network solution of the inverse kinematics problem.
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.
Fong, Daniel Tik-Pui; Ha, Sophia Chui-Wai; Mok, Kam-Ming; Chan, Christie Wing-Long; Chan, Kai-Ming
2012-11-01
Ankle ligamentous sprain is common in sports. The most direct way to study the mechanism quantitatively is to study real injury cases; however, it is unethical and impractical to produce an injury in the laboratory. A recently developed, model-based image-matching motion analysis technique allows quantitative analysis of real injury incidents captured in televised events and gives important knowledge for the development of injury prevention protocols and equipment. To date, there have been only 4 reported cases, and there is a need to conduct more studies for a better understanding of the mechanism of ankle ligamentous sprain injury. This study presents 5 cases in tennis and a comparison with 4 previous cases for a better understanding of the mechanism of ankle ligamentous sprain injury. Case series; level of evidence, 4. Five sets of videos showing ankle sprain injuries in televised tennis competition with 2 camera views were collected. The videos were transformed, synchronized, and rendered to a 3-dimensional animation software. The dimensions of the tennis court in each case were obtained to build a virtual environment, and a skeleton model scaled to the injured athlete's height was used for the skeleton matching. Foot strike was determined visually, and the profiles of the ankle joint kinematics were individually presented. There was a pattern of sudden inversion and internal rotation at the ankle joint, with the peak values ranging from 48°-126° and 35°-99°, respectively. In the sagittal plane, the ankle joint fluctuated between plantar flexion and dorsiflexion within the first 0.50 seconds after foot strike. The peak inversion velocity ranged from 509 to 1488 deg/sec. Internal rotation at the ankle joint could be one of the causes of ankle inversion sprain injury, with a slightly inverted ankle joint orientation at landing as the inciting event. To prevent the foot from rolling over the edge to cause a sprain injury, tennis players who do lots of sideward
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S. Bagchi
2015-12-01
Full Text Available The Isoscalar Giant Monopole Resonance (ISGMR and the Isoscalar Giant Dipole Resonance (ISGDR compression modes have been studied in the doubly-magic unstable nucleus 56Ni. They were measured by inelastic α-particle scattering in inverse kinematics at 50 MeV/u with the MAYA active target at the GANIL facility. The centroid of the ISGMR has been obtained at Ex=19.1±0.5 MeV. Evidence for the low-lying part of the ISGDR has been found at Ex=17.4±0.7 MeV. The strength distribution for the dipole mode shows similarity with the prediction from the Hartree–Fock (HF based random-phase approximation (RPA [1]. These measurements confirm inelastic α-particle scattering as a suitable probe for exciting the ISGMR and the ISGDR modes in radioactive isotopes in inverse kinematics.
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Rong Duan
Full Text Available Aiming at the problems that huge amount of computation in ambiguity resolution with multiple epochs and high-order matrix inversion occurred in the GPS kinematic relative positioning, a modified algorithm for fast integer ambiguity resolution is proposed. Firstly, Singular Value Decomposition (SVD is applied to construct the left null space matrix in order to eliminate the baselines components, which is able to separate ambiguity parameters from the position parameters efficiently. Kalman filter is applied only to estimate the ambiguity parameters so that the real-time ambiguity float solution is obtained. Then, sorting and multi-time (inverse paired Cholesky decomposition are adopted for decorrelation of ambiguity. After diagonal elements preprocessing and diagonal elements sorting according to the results of Cholesky decomposition, the efficiency of decomposition and decorrelation is improved. Lastly, the integer search algorithm implemented in LAMBDA method is used for searching the integer ambiguity. To verify the validity and efficacy of the proposed algorithm, static and kinematic tests are carried out. Experimental results show that this algorithm has good performance of decorrelation and precision of float solution, with computation speed also increased effectively. The final positioning accuracy result with static baseline error less than 1 cm and kinematic error less than 2 cm, which indicates that it can be used for fast kinematic positioning of high precision carrier.
Energy Technology Data Exchange (ETDEWEB)
Clarke, R.
1997-10-27
Reflection tomography can determine velocity models containing lateral velocity variations and reflectors of arbitrary shapes; in order to access the kinematic data, a 3D zero offset approach to the SMART (Sequential Migration Aided Reflection Tomography) method, an original method of migration velocity analysis, is adopted. The approach involves interpreting kinematic data in the post-stack depth migrated cube and then de-migrating the horizons by two-point ray-tracing. A fast and robust two-point ray-tracer is developed, which can recover multi-valued kinematic data from complex geological structures. An original formulation for 3D reflection tomography is proposed, which can reliably take into account multivalued travel times
Xu, Wenjun; Chen, Jie; Lau, Henry Y K; Ren, Hongliang
2017-09-01
Accurate motion control of flexible surgical manipulators is crucial in tissue manipulation tasks. The tendon-driven serpentine manipulator (TSM) is one of the most widely adopted flexible mechanisms in minimally invasive surgery because of its enhanced maneuverability in torturous environments. TSM, however, exhibits high nonlinearities and conventional analytical kinematics model is insufficient to achieve high accuracy. To account for the system nonlinearities, we applied a data driven approach to encode the system inverse kinematics. Three regression methods: extreme learning machine (ELM), Gaussian mixture regression (GMR) and K-nearest neighbors regression (KNNR) were implemented to learn a nonlinear mapping from the robot 3D position states to the control inputs. The performance of the three algorithms was evaluated both in simulation and physical trajectory tracking experiments. KNNR performed the best in the tracking experiments, with the lowest RMSE of 2.1275 mm. The proposed inverse kinematics learning methods provide an alternative and efficient way to accurately model the tendon driven flexible manipulator. Copyright © 2016 John Wiley & Sons, Ltd.
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Divya Bhaskaran
2015-12-01
Conclusion: These findings suggest that compared to the inversion surface, the combined plantarflexion and inversion surface seems to provide a more unstable surface condition for lateral ankle sprains during landing.
Pellereau, E.; Taïeb, J.; Chatillon, A.; Alvarez-Pol, H.; Audouin, L.; Ayyad, Y.; Bélier, G.; Benlliure, J.; Boutoux, G.; Caamaño, M.; Casarejos, E.; Cortina-Gil, D.; Ebran, A.; Farget, F.; Fernández-Domínguez, B.; Gorbinet, T.; Grente, L.; Heinz, A.; Johansson, H.; Jurado, B.; Kelić-Heil, A.; Kurz, N.; Laurent, B.; Martin, J.-F.; Nociforo, C.; Paradela, C.; Pietri, S.; Rodríguez-Sánchez, J. L.; Schmidt, K.-H.; Simon, H.; Tassan-Got, L.; Vargas, J.; Voss, B.; Weick, H.
2017-05-01
SOFIA (Studies On Fission with Aladin) is a novel experimental program, dedicated to accurate measurements of fission-fragment isotopic yields. The setup allows us to fully identify, in nuclear charge and mass, both fission fragments in coincidence for the whole fission-fragment range. It was installed at the GSI facility (Darmstadt), to benefit from the relativistic heavy-ion beams available there, and thus to use inverse kinematics. This paper reports on fission yields obtained in electromagnetically induced fission of 238U.
Wille, Christa M; Lenhart, Rachel L; Wang, Sijian; Thelen, Darryl G; Heiderscheit, Bryan C
2014-10-01
Controlled laboratory study, cross-sectional design. To determine if sagittal kinematic variables can be used to estimate select running kinetics. Excessive loading during running has been implicated in a variety of injuries, yet this information is typically not assessed during a standard clinical examination. Developing a clinically feasible strategy to estimate ground reaction forces and joint kinetics may improve the ability to identify those at an increased risk of injury. Three-dimensional kinematics and ground reaction forces of 45 participants were recorded during treadmill running at self-selected speed. Kinematic variables used to estimate specific kinetic metrics included vertical excursion of the center of mass, foot inclination angle at initial contact, horizontal distance between the center of mass and heel at initial contact, knee flexion angle at initial contact, and peak knee flexion angle during stance. Linear mixed-effects models were fitted to explore the association between the kinetic and kinematic measures, including step rate and sex, with final models created using backward variable selection. Models were developed to estimate peak knee extensor moment (R(2) = 0.43), energy absorbed at the knee during loading response (R(2) = 0.58), peak patellofemoral joint reaction force (R(2) = 0.55), peak vertical ground reaction force (R(2) = 0.48), braking impulse (R(2) = 0.50), and average vertical loading rate (R(2) = 0.04). Our findings suggest that insights into important running kinetics can be obtained from a subset of sagittal plane kinematics common to a clinical running analysis. Of note, the limb posture at initial contact influenced subsequent loading patterns in stance.
Barki, Anum; Kendricks, Kimberly; Tuttle, Ronald F.; Bunker, David J.; Borel, Christoph C.
2013-05-01
This research highlights the results obtained from applying the method of inverse kinematics, using Groebner basis theory, to the human gait cycle to extract and identify lower extremity gait signatures. The increased threat from suicide bombers and the force protection issues of today have motivated a team at Air Force Institute of Technology (AFIT) to research pattern recognition in the human gait cycle. The purpose of this research is to identify gait signatures of human subjects and distinguish between subjects carrying a load to those subjects without a load. These signatures were investigated via a model of the lower extremities based on motion capture observations, in particular, foot placement and the joint angles for subjects affected by carrying extra load on the body. The human gait cycle was captured and analyzed using a developed toolkit consisting of an inverse kinematic motion model of the lower extremity and a graphical user interface. Hip, knee, and ankle angles were analyzed to identify gait angle variance and range of motion. Female subjects exhibited the most knee angle variance and produced a proportional correlation between knee flexion and load carriage.
A new approach to solve inverse kinematics of a planar flexible continuum robot
Amouri, Ammar; Mahfoudi, Chawki; Zaatri, Abdelouahab; Merabti, Halim
2014-10-01
Research on the modeling of continuum robots, focused on ways to constrain the geometrical models, while maintaining maximum specificities and mechanical properties of the robot. In this paper we propose a new numerical solution for solving the inverse geometric model of a planar flexible continuum robot, we assuming that each section is curved in an arc of a circle, while having the central axis of the inextensible structure. The inverse geometric model for one section is calculated geometrically, whereas the extreme points, of each section, used in calculating the inverse geometric model for multi-section is calculated numerically using a particle swarm optimization (PSO) method. Simulation examples of this method are carried to validate the proposed approach.
Lucca, Ernestina; Festa, Gaetano; Emolo, Antonio
2010-05-01
We present a non linear technique to invert strong motion records with the aim of obtaining the final slip and the rupture velocity distributions on the fault plane. Kinematic inversion of strong motion data is an ill-conditioned inverse problem, with several solutions available also in the case of noise-free synthetic data (Blind test on earthquake source inversion,http://www.seismo.ethz.ch/staff/martin/BlindTest.html).On the other hand, complete dynamic inversion still looks impracticable, because of an unclear understanding of the physical mechanisms controlling the energy balance at the rupture tip and a strong correlation between the initial stress field and the parameters of the constitutive law. Hence a strong effort is demanded to increase the robustness of the inversion, looking at the details of the slip and rupture velocity parameterization, at the global exploration techniques, at the efficiency of the cost-function in selecting solutions, at the synthesis process in retrieving the stable features of the rupture. In this study, the forward problem, i.e. the ground motion simulation, is solved evaluating the representation integral in the frequency domain by allowing possible rake variation along the fault plane. The Green's tractions on the fault are computed using the discrete wave-number integration technique that provides the full wave-field in a 1D layered propagation medium. The representation integral is computed through a finite elements technique on a Delaunay triangulation of the fault plane. The rupture velocity is finally defined on a coarser regular grid and rupture times are computed by integration of the eikonal equation. For the inversion, the slip distribution is parameterized by 2D overlapping Gaussian functions, which can easily relate the spectrum of the possible solutions with the minimum resolvable wavelength, related to source-station distribution and data processing. The inverse problem is solved by a two-step procedure aimed at
Hammad, Mohanad M; Elshenawy, Ahmed K; El Singaby, M I
2017-01-01
In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results from the hydrodynamics and the coupled AUV dynamics makes the design of a stable controller a very difficult task. In this study, the control scheme in a simulation environment is validated using dynamic and kinematic equations for the AUV model and hydrodynamic damping equations. An AUV configuration with eight thrusters and an inverse kinematic model from a previous work is utilized in the simulation. In the proposed controller, Mamdani fuzzy rules are used to tune the parameters of the PID. Nonlinear fuzzy Gaussian membership functions are selected to give better performance and response in the non-linear system. A control architecture with two feedback loops is designed such that the inner loop is for velocity control and outer loop is for position control. Several test scenarios are executed to validate the controller performance including different complex trajectories with and without injection of ocean current disturbances. A comparison between the proposed FPID controller and the conventional PID controller is studied and shows that the FPID controller has a faster response to the reference signal and more stable behavior in a disturbed non-linear environment.
Elshenawy, Ahmed K.; El Singaby, M.I.
2017-01-01
In this work a design for self-tuning non-linear Fuzzy Proportional Integral Derivative (FPID) controller is presented to control position and speed of Multiple Input Multiple Output (MIMO) fully-actuated Autonomous Underwater Vehicles (AUV) to follow desired trajectories. Non-linearity that results from the hydrodynamics and the coupled AUV dynamics makes the design of a stable controller a very difficult task. In this study, the control scheme in a simulation environment is validated using dynamic and kinematic equations for the AUV model and hydrodynamic damping equations. An AUV configuration with eight thrusters and an inverse kinematic model from a previous work is utilized in the simulation. In the proposed controller, Mamdani fuzzy rules are used to tune the parameters of the PID. Nonlinear fuzzy Gaussian membership functions are selected to give better performance and response in the non-linear system. A control architecture with two feedback loops is designed such that the inner loop is for velocity control and outer loop is for position control. Several test scenarios are executed to validate the controller performance including different complex trajectories with and without injection of ocean current disturbances. A comparison between the proposed FPID controller and the conventional PID controller is studied and shows that the FPID controller has a faster response to the reference signal and more stable behavior in a disturbed non-linear environment. PMID:28683071
Fault kinematics and localised inversion within the Troms-Finnmark Fault Complex, SW Barents Sea
Zervas, I.; Omosanya, K. O.; Lippard, S. J.; Johansen, S. E.
2018-04-01
The areas bounding the Troms-Finnmark Fault Complex are affected by complex tectonic evolution. In this work, the history of fault growth, reactivation, and inversion of major faults in the Troms-Finnmark Fault Complex and the Ringvassøy Loppa Fault Complex is interpreted from three-dimensional seismic data, structural maps and fault displacement plots. Our results reveal eight normal faults bounding rotated fault blocks in the Troms-Finnmark Fault Complex. Both the throw-depth and displacement-distance plots show that the faults exhibit complex configurations of lateral and vertical segmentation with varied profiles. Some of the faults were reactivated by dip-linkages during the Late Jurassic and exhibit polycyclic fault growth, including radial, syn-sedimentary, and hybrid propagation. Localised positive inversion is the main mechanism of fault reactivation occurring at the Troms-Finnmark Fault Complex. The observed structural styles include folds associated with extensional faults, folded growth wedges and inverted depocentres. Localised inversion was intermittent with rifting during the Middle Jurassic-Early Cretaceous at the boundaries of the Troms-Finnmark Fault Complex to the Finnmark Platform. Additionally, tectonic inversion was more intense at the boundaries of the two fault complexes, affecting Middle Triassic to Early Cretaceous strata. Our study shows that localised folding is either a product of compressional forces or of lateral movements in the Troms-Finnmark Fault Complex. Regional stresses due to the uplift in the Loppa High and halokinesis in the Tromsø Basin are likely additional causes of inversion in the Troms-Finnmark Fault Complex.
Kruecken, R; Speidel, K; Voulot, D; Neyens, G; Gernhaeuser, R A; Fraile prieto, L M; Leske, J
We propose to measure the sign and magnitude of the g-factors of the first 2$^{+}$ states in radioactive neutron-rich $^{72,74}$Zn applying the transient field (TF) technique in inverse kinematics. The result of this experiment will allow to probe the $\
Analysis of kinematic data and determination of ground reaction force of foot in slow squat
Zhang, Xu-Shu; Guo, Yuan; An, Mei-Wen; Chen, Wei-Yi
2013-02-01
In the present paper, the ground reaction force (GRF) acting on foot in slow squat was determined through a force measuring system, and at the same time, the kinematic data of human squat were obtained by analyzing the photographed image sequences. According to the height and body weight, six healthy volunteers were selected, three men in one group and the other three women in another group, and the fundamental parameters of subjects were recorded, including body weight, height and age, etc. Based on the anatomy characteristics, some markers were placed on the right side of joints. While the subject squatted at slow speed on the force platform, the ground reaction forces on the forefoot and heel for each foot were obtained through calibrated force platform. The analysis results show that the reaction force on heel is greater than that on forefoot, and double feet have nearly constant force. Moreover, from processing and analyzing the synchronously photographed image sequences in squat, the kinematic data of human squat were acquired, including mainly the curves of angle, angular velocity and angular acceleration varied with time for knee, hip and ankle joints in a sagittal plane. The obtained results can offer instructive reference for photographing and analyzing the movements of human bodies, diagnosing some diseases, and establishing in the future appropriate mathematical models for the human motion.
A Tabular Format for Computing Inverse Kinematic Equations for a 3DOF Robot Leg
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F. Nickols
2009-09-01
Full Text Available A method is presented for accurately computing the three servomechanism angles that place the leg tip of a 3DOF robot leg in cylindrical coordinate space, R, θ, Z. The method is characterized by (i a multivariable integer power series for each degree of freedom that can be used to replace traditional trigonometrical functions, and, (ii only integer numbers are used. A technique is shown that derives the coefficients, Ci j k, of each of the terms in the series that represents a servomechanism angle, S. This power series method has the advantage of; (i satisfying accuracy requirements, (ii producing a unique solution, (iii high speed realtime computation, (iv low memory requirement and (v implementation into a generic algorithm or hardware such as a field programmable gate array. The series can represent many continuous kinematic systems just by changing the values of the coefficients. The coefficients are rapidly computed via a spreadsheet. The method can be extended to more than three degrees of freedom and also mapped into other coordinate frames such as a Cartesian or spherical.
A Tabular Format for Computing Inverse Kinematic Equations for a 3DOF Robot Leg
Directory of Open Access Journals (Sweden)
F. Nickols
2010-02-01
Full Text Available A method is presented for accurately computing the three servomechanism angles that place the leg tip of a 3DOF robot leg in cylindrical coordinate space, R, ?, Z. The method is characterized by (i a multivariable integer power series for each degree of freedom that can be used to replace traditional trigonometrical functions, and, (ii only integer numbers are used. A technique is shown that derives the coefficients, Ci j k, of each of the terms in the series that represents a servomechanism angle, S. This power series method has the advantage of; (i satisfying accuracy requirements, (ii producing a unique solution, (iii high speed realtime computation, (iv low memory requirement and (v implementation into a generic algorithm or hardware such as a field programmable gate array. The series can represent many continuous kinematic systems just by changing the values of the coefficients. The coefficients are rapidly computed via a spreadsheet. The method can be extended to more than three degrees of freedom and also mapped into other coordinate frames such as a Cartesian or spherical.
First inverse-kinematics fission measurements in a gaseous active target
Energy Technology Data Exchange (ETDEWEB)
Rodríguez-Tajes, C., E-mail: rodriguez@ganil.fr [Grand Accélérateur National d' Ions Lourds (GANIL), CEA/DRF-CNRS/IN2P3, Bd. Henri Becquerel, 14076 Caen (France); Universidade de Santiago de Compostela, E-15706 Santiago de Compostela (Spain); Farget, F. [Grand Accélérateur National d' Ions Lourds (GANIL), CEA/DRF-CNRS/IN2P3, Bd. Henri Becquerel, 14076 Caen (France); Acosta, L. [Departamento de Ciencias Integradas, Universidad de Huelva, E-21071 Huelva (Spain); Alvarez-Pol, H. [Universidade de Santiago de Compostela, E-15706 Santiago de Compostela (Spain); Babo, M.; Boulay, F. [Grand Accélérateur National d' Ions Lourds (GANIL), CEA/DRF-CNRS/IN2P3, Bd. Henri Becquerel, 14076 Caen (France); Caamaño, M. [Universidade de Santiago de Compostela, E-15706 Santiago de Compostela (Spain); Damoy, S. [Grand Accélérateur National d' Ions Lourds (GANIL), CEA/DRF-CNRS/IN2P3, Bd. Henri Becquerel, 14076 Caen (France); Fernández-Domínguez, B. [Universidade de Santiago de Compostela, E-15706 Santiago de Compostela (Spain); Galaviz, D. [Centro de Física Nuclear da Universidade de Lisboa, CFNUL, 1649-003 Lisboa (Portugal); Grinyer, G.F.; Grinyer, J. [Grand Accélérateur National d' Ions Lourds (GANIL), CEA/DRF-CNRS/IN2P3, Bd. Henri Becquerel, 14076 Caen (France); Harakeh, M.N. [KVI-CART, University of Groningen, Zernikelaan 25, NL-9747 AA Groningen (Netherlands); Konczykowski, P. [Universidade de Santiago de Compostela, E-15706 Santiago de Compostela (Spain); and others
2017-02-15
The fission of a variety of actinides was induced by fusion and transfer reactions between a {sup 238}U beam and {sup 12}C nuclei, in the active target MAYA. The performance of MAYA was studied, as well as its capability to reconstruct the fission-fragment trajectories. Furthermore, a full characterization of the different transfer reactions was achieved, and the populated excitation-energy distributions were investigated as a function of the kinetic energy in the entrance channel. The ratio between transfer- and fusion-induced fission cross-sections was also determined, in order to investigate the competition between both reaction types and its evolution with the incident energy. The experimental results will be discussed with a view to forthcoming radioactive-ion beam facilities, and next-generation active-target setups.
Directory of Open Access Journals (Sweden)
Frank J. Wouda
2018-03-01
Full Text Available Analysis of running mechanics has traditionally been limited to a gait laboratory using either force plates or an instrumented treadmill in combination with a full-body optical motion capture system. With the introduction of inertial motion capture systems, it becomes possible to measure kinematics in any environment. However, kinetic information could not be provided with such technology. Furthermore, numerous body-worn sensors are required for a full-body motion analysis. The aim of this study is to examine the validity of a method to estimate sagittal knee joint angles and vertical ground reaction forces during running using an ambulatory minimal body-worn sensor setup. Two concatenated artificial neural networks were trained (using data from eight healthy subjects to estimate the kinematics and kinetics of the runners. The first artificial neural network maps the information (orientation and acceleration of three inertial sensors (placed at the lower legs and pelvis to lower-body joint angles. The estimated joint angles in combination with measured vertical accelerations are input to a second artificial neural network that estimates vertical ground reaction forces. To validate our approach, estimated joint angles were compared to both inertial and optical references, while kinetic output was compared to measured vertical ground reaction forces from an instrumented treadmill. Performance was evaluated using two scenarios: training and evaluating on a single subject and training on multiple subjects and evaluating on a different subject. The estimated kinematics and kinetics of most subjects show excellent agreement (ρ>0.99 with the reference, for single subject training. Knee flexion/extension angles are estimated with a mean RMSE <5°. Ground reaction forces are estimated with a mean RMSE < 0.27 BW. Additionaly, peak vertical ground reaction force, loading rate and maximal knee flexion during stance were compared, however, no significant
Chang, Ryan; Rodrigues, Pedro A; Van Emmerik, Richard E A; Hamill, Joseph
2014-08-22
Clinically, plantar fasciitis (PF) is believed to be a result and/or prolonged by overpronation and excessive loading, but there is little biomechanical data to support this assertion. The purpose of this study was to determine the differences between healthy individuals and those with PF in (1) rearfoot motion, (2) medial forefoot motion, (3) first metatarsal phalangeal joint (FMPJ) motion, and (4) ground reaction forces (GRF). We recruited healthy (n=22) and chronic PF individuals (n=22, symptomatic over three months) of similar age, height, weight, and foot shape (p>0.05). Retro-reflective skin markers were fixed according to a multi-segment foot and shank model. Ground reaction forces and three dimensional kinematics of the shank, rearfoot, medial forefoot, and hallux segment were captured as individuals walked at 1.35 ms(-1). Despite similarities in foot anthropometrics, when compared to healthy individuals, individuals with PF exhibited significantly (pplane forefoot motion, (4) greater maximum FMPJ dorsiflexion, and (5) decreased vertical GRF during propulsion. These data suggest that compared to healthy individuals, individuals with PF exhibit significant differences in foot kinematics and kinetics. Consistent with the theoretical injury mechanisms of PF, we found these individuals to have greater total rearfoot eversion and peak FMPJ dorsiflexion, which may put undue loads on the plantar fascia. Meanwhile, increased medial forefoot plantar flexion at initial contact and decreased propulsive GRF are suggestive of compensatory responses, perhaps to manage pain. Copyright © 2014 Elsevier Ltd. All rights reserved.
Wouda, Frank J; Giuberti, Matteo; Bellusci, Giovanni; Maartens, Erik; Reenalda, Jasper; van Beijnum, Bert-Jan F; Veltink, Peter H
2018-01-01
Analysis of running mechanics has traditionally been limited to a gait laboratory using either force plates or an instrumented treadmill in combination with a full-body optical motion capture system. With the introduction of inertial motion capture systems, it becomes possible to measure kinematics in any environment. However, kinetic information could not be provided with such technology. Furthermore, numerous body-worn sensors are required for a full-body motion analysis. The aim of this study is to examine the validity of a method to estimate sagittal knee joint angles and vertical ground reaction forces during running using an ambulatory minimal body-worn sensor setup. Two concatenated artificial neural networks were trained (using data from eight healthy subjects) to estimate the kinematics and kinetics of the runners. The first artificial neural network maps the information (orientation and acceleration) of three inertial sensors (placed at the lower legs and pelvis) to lower-body joint angles. The estimated joint angles in combination with measured vertical accelerations are input to a second artificial neural network that estimates vertical ground reaction forces. To validate our approach, estimated joint angles were compared to both inertial and optical references, while kinetic output was compared to measured vertical ground reaction forces from an instrumented treadmill. Performance was evaluated using two scenarios: training and evaluating on a single subject and training on multiple subjects and evaluating on a different subject. The estimated kinematics and kinetics of most subjects show excellent agreement (ρ>0.99) with the reference, for single subject training. Knee flexion/extension angles are estimated with a mean RMSE forces are estimated with a mean RMSE force, loading rate and maximal knee flexion during stance were compared, however, no significant differences were found. With multiple subject training the accuracy of estimating discrete and
Zhao, Zhiqiang; Zhang, Zhaojun; Liu, Shu; Zhang, Dong H.
2017-02-01
Reactions occurring at a carbon atom through the Walden inversion mechanism are one of the most important and useful classes of reactions in chemistry. Here we report an accurate theoretical study of the simplest reaction of that type: the H+CH4 substitution reaction and its isotope analogues. It is found that the reaction threshold versus collision energy is considerably higher than the barrier height. The reaction exhibits a strong normal secondary isotope effect on the cross-sections measured above the reaction threshold, and a small but reverse secondary kinetic isotope effect at room temperature. Detailed analysis reveals that the reaction proceeds along a path with a higher barrier height instead of the minimum-energy path because the umbrella angle of the non-reacting methyl group cannot change synchronously with the other reaction coordinates during the reaction due to insufficient energy transfer from the translational motion to the umbrella mode.
Zhang, Y.; Dalguer, L. A.; Song, S.; Clinton, J. F.
2013-12-01
Detailed source imaging of the spatial and temporal slip distribution of earthquakes is a main research goal for seismology. In this study we investigate how the number and geometrical distribution of seismic stations affect finite kinematic source inversion results by inverting ground motions derived from a known synthetic dynamic earthquake rupture model, which is governed by the slip weakening friction law with heterogeneous stress distribution. Our target dynamic rupture model is a buried strike-slip event (Mw 6.5) in a layered half space (Dalguer & Mai, 2011) with broadband synthetic ground motions created at 168 near-field stations. In the inversion, we modeled low frequency (under 1Hz) waveforms using a genetic algorithm in a Bayesian framework (Moneli et al. 2008) to retrieve peak slip velocity, rupture time, and rise time of the source. The dynamic consistent regularized Yoffe function (Tinti et al. 2005) was applied as a single window slip velocity function. Tikhonov regularization was used to smooth final slip. We tested three station network geometry cases: (a) single station, in which we inverted 3 component waveforms from a single station varying azimuth and epicentral distance; (b) multi-station configurations with similar numbers of stations all at similar distances from, but regularly spaced around the fault; (c) irregular multi-station configurations using different numbers of stations. For analysis, waveform misfits are calculated using all 168 stations. Our results show: 1) single station tests suggest that it may be possible to obtain a relatively good source model even using one station, with a waveform misfit comparable to that obtained with the best source model. The best single station performance occurs with stations in which amplitude ratios between the three components are not large, indicating that P & S waves are all present. We infer that both body wave radiation pattern and distance play an important role in selection of optimal
Hughes, Gerwyn; Watkins, James; Owen, Nick
2010-01-01
The aim of this study was to examine the effect of opposition and gender on knee kinematics and ground reaction force during landing from a volleyball block jump. Six female and six male university volleyball players performed two landing tasks: (a) an unopposed and (b) an opposed volleyball block jump and landing. A 12-camera motion analysis…
James, C. Roger; Sizer, Phillip S.; Starch, David W.; Lockhart, Thurmon E.; Slauterbeck, James
2004-01-01
Women are more prone to anterior cruciate ligament (ACL) injury during cutting sports than men. The purpose of this study was to examine knee kinematic and ground reaction forces (GRF) differences between genders during cutting. Male and female athletes performed cutting trials while force platform and video data were recorded (180 Hz).…
2014-01-01
Background There is still uncertainty concerning the beneficial effects of shoe collar height for ankle sprain prevention and very few data are available in the literature regarding the effect of high-top and low-top shoes on muscle responses during landing. The purpose of this study was to quantify the effect of high-top and low-top shoes on ankle inversion kinematics and pre-landing EMG activation of ankle evertor muscles during landing on a tilted surface. Methods Thirteen physical education students landed on four types of surfaces wearing either high-top shoes (HS) or low-top shoes (LS). The four conditions were 15° inversion, 30° inversion, combined 25° inversion + 10° plantar flexion, and combined 25° inversion + 20° plantar flexion. Ankle inversion kinematics and EMG data of the tibialis anterior (TA), peroneus longus (PL), and peroneus brevis (PB) muscles were measured simultaneously. A 2 × 4 (shoe × surface) repeated measures ANOVA was performed to examine the effect of shoe and landing surfaces on ankle inversion and EMG responses. Results No significant differences were observed between the various types of shoes in the maximum ankle inversion angle, the ankle inversion range of motion, and the maximum ankle inversion angular velocity after foot contact for all conditions. However, the onset time of TA and PB muscles was significantly later wearing HS compared to LS for the 15° inversion condition. Meanwhile, the mean amplitude of the integrated EMG from the 50 ms prior to contact (aEMGpre) of TA was significantly lower with HS compared to LS for the 15° inversion condition and the combined 25° inversion + 20° plantarflexion condition. Similarly, the aEMGpre when wearing HS compared to LS also showed a 37.2% decrease in PL and a 31.0% decrease in PB for the combined 25° inversion + 20° plantarflexion condition and the 15° inversion condition, respectively. Conclusion These findings provide preliminary evidence
Exploring the island of inversion with the d({sup 30}Mg,p){sup 31}Mg reaction
Energy Technology Data Exchange (ETDEWEB)
Bildstein, Vinzenz
2010-12-07
In this thesis the results of a d({sup 30}Mg,p){sup 31}Mg experiment at REX-ISOLDE are presented. {sup 31}Mg is located directly on the border of the so-called ''Island of Inversion'', a region of the nuclear chart around {sup 32}Mg where deformed intruder states of the fp shell form the ground states of the nuclei instead of the normal spherical states of the sd shell. A recent experiment has shown the ground state of {sup 31}Mg to be a 1/2{sup +} state and indicates more than 90% intruder configuration. The question whether the low-lying excited states of {sup 31}Mg are deformed intruder states as well or rather spherical states from the sd shell, indicating shape coexistence, is still open. The d({sup 30}Mg,p) {sup 31}Mg reaction is thus a good tool to gain more insight into the nature of the Island of Inversion. In the framework of this thesis the angular distribution of protons was measured for the second excited state at 221 keV in coincidence with de-excitation {gamma}-rays. The angular distribution was compared to DWBA calculations for different transferred orbital momenta, identifying the state for the first time as an l=1 state. The experiment was performed with the new charged particle detector setup T-REX. The setup is optimized for transfer reactions with radioactive beams in inverse kinematics. T-REX was developed, built, installed, and used for this first one neutron transfer experiment in the context of this thesis. The T-REX setup consists of {delta}E-E{sub Rest} telescopes made out of position sensitive silicon detectors that cover almost 4{pi} of the solid angle and can be combined with the MINIBALL {gamma}-ray detector array. It has a large solid angle for the detection and identification of the light recoils from transfer reactions. T-REX allows in combination with the MINIBALL Germanium detector array the tagging of the excited states by their characteristic {gamma}-rays. The combination of T-REX and MINIBALL achieves an
Directory of Open Access Journals (Sweden)
Jose Mauricio S.T. Motta
2016-06-01
Full Text Available This paper presents and discusses the results of an ongoing R&D project aiming to design and build a fully automated prototype of a specialized spherical robotic welding system for repairing hydraulic turbine surfaces eroded by cavitation pitting and/or cracks produced by cyclic loading. The system has an embedded vision sensor built to acquire range images by laser scanning over the blade's surface and produce 3D models to locate the damaged spots to be registered in a 3D coordinate system into the robot controller, enabling the robot to repair the flaws automatically by welding in layers. The paper is focused on the robot kinematic model and describes an iterative algorithm to process the inverse kinematics with only five degrees-of-freedom. The algorithm makes use of data collected from a vision sensor to ensure that the welding gun axis is perpendicular to the blade's surface. Besides this, it proposes a modelling and optimization mathematical routine for more efficient robot calibration, which can be used with any type of robot. This robot calibration optimization scheme finds the optimal error parameter vector based on the condition number of the manipulator transformation composed from the partial derivatives of the error parameters. Experimental results proved both the iterative algorithm to perform the inverse kinematics and the technique to optimize robot calibration to be very efficient.
Directory of Open Access Journals (Sweden)
A. V. Romanov
2015-01-01
Full Text Available The paper discusses a mechanism, which is a modification of the parallel kinematics mechanisms with three degrees of freedom (DOF based on the slider-crank mechanism. The mechanism comprises a lower fixed and an upper movable platforms. The upper platform is connected to the lower one by six movable elements. Three of these elements are rods attached to the bases by means of spherical joints and three other ones have a slider-crank structure.An approach based on the mathematical modeling methods to solve an inverse kinematics is presented. The inverse kinematics problem was formulated as follows: to determine the value of crank angles, allowing us to achieve a specified position of the upper platform in space. To check the correctness of the solution was made an experimental unit. Also a set of required sensors and control boards were defined and an experiment design was provided. The paper presents comparison results of measurements with the calculated values of the generalized coordinates and draws appropriate conclusions. One of the distinctive features of the proposed approach is that the motor rotation angles are used as the generalized coordinates. So the paper formulates the possibilities to use the constructed model for the further development of control systems on its basis.
Slangen, Arjen H.L.; Baaij, Marc; Valboni, R.
2017-01-01
Internationally disaggregated headquarters arise from cross-border relocations of headquarters components. To shed more light on the business consequences of such component relocations, we analyse stock market reactions to inversion initiatives, which are plans by US firms to offshore their
Omisore, Olatunji Mumini; Han, Shipeng; Ren, Lingxue; Zhang, Nannan; Ivanov, Kamen; Elazab, Ahmed; Wang, Lei
2017-08-01
Snake-like robot is an emerging form of serial-link manipulator with the morphologic design of biological snakes. The redundant robot can be used to assist medical experts in accessing internal organs with minimal or no invasion. Several snake-like robotic designs have been proposed for minimal invasive surgery, however, the few that were developed are yet to be fully explored for clinical procedures. This is due to lack of capability for full-fledged spatial navigation. In rare cases where such snake-like designs are spatially flexible, there exists no inverse kinematics (IK) solution with both precise control and fast response. In this study, we proposed a non-iterative geometric method for solving IK of lead-module of a snake-like robot designed for therapy or ablation of abdominal tumors. The proposed method is aimed at providing accurate and fast IK solution for given target points in the robot's workspace. n-1 virtual points (VPs) were geometrically computed and set as coordinates of intermediary joints in an n-link module. Suitable joint angles that can place the end-effector at given target points were then computed by vectorizing coordinates of the VPs, in addition to coordinates of the base point, target point, and tip of the first link in its default pose. The proposed method is applied to solve IK of two-link and redundant four-link modules. Both two-link and four-link modules were simulated with Robotics Toolbox in Matlab 8.3 (R2014a). Implementation result shows that the proposed method can solve IK of the spatially flexible robot with minimal error values. Furthermore, analyses of results from both modules show that the geometric method can reach 99.21 and 88.61% of points in their workspaces, respectively, with an error threshold of 1 mm. The proposed method is non-iterative and has a maximum execution time of 0.009 s. This paper focuses on solving IK problem of a spatially flexible robot which is part of a developmental project for abdominal
Directory of Open Access Journals (Sweden)
Bruno Bazuelo-Ruiz
2018-03-01
Full Text Available The presence of fatigue has been shown to modify running biomechanics. Overall in terms of gender, women are at lower risk than men for sustaining running-related injuries, although it depends on the factors taken into account. One possible reason for these differences in the injury rate and location might be the dissimilar running patterns between men and women. The purpose of this study was to determine the effect of fatigue and gender on the kinematic and ground reaction forces (GRF parameters in recreational runners. Fifty-seven participants (28 males and 29 females had kinematic and GRF variables measured while running at speed of 3.3 m s−1 before and after a fatigue test protocol. The fatigue protocol included (1 a running Course-Navette test, (2 running up and down a flight of stairs for 5 min, and (3 performance of alternating jumps on a step (five sets of 1 minute each with 30 resting seconds between the sets. Fatigue decreased dorsiflexion (14.24 ± 4.98° in pre-fatigue and 12.65 ± 6.21° in fatigue condition, p < 0.05 at foot strike phase in females, and plantar flexion (−19.23 ± 4.12° in pre-fatigue and −18.26 ± 5.31° in fatigue condition, p < 0.05 at toe-off phase in males. These changes led to a decreased loading rate (88.14 ± 25.82 BW/s in pre-fatigue and 83.97 ± 18.83 BW/s in fatigue condition, p < 0.05 and the impact peak in females (1.95 ± 0.31 BW in pre-fatigue and 1.90 ± 0.31 BW in fatigue condition, p < 0.05, and higher peak propulsive forces in males (−0.26 ± 0.04 BW in pre-fatigue and −0.27 ± 0.05 BW in fatigue condition, p < 0.05 in the fatigue condition. It seems that better responses to impact under a fatigue condition are observed among women. Further studies should confirm whether these changes represent a strategy to optimize shock attenuation, prevent running injuries and improve running economy.
Inverse-Electron-Demand Diels-Alder Reactions: Principles and Applications.
Png, Zhuang Mao; Zeng, Huining; Ye, Qun; Xu, Jianwei
2017-09-05
Inverse-electron-demand Diels-Alder (iEDDA) reactions are an intriguing class of cycloaddition reactions that have attracted increasing attention for their application in bioorthogonal chemistry, the total synthesis of natural products, and materials science. In many cases, the application of the iEDDA reaction has been demonstrated as an innovative approach to achieve target structures. The theoretical aspects of this class of reactions are of particular interest for scientists as a means to understand the various factors, such as steric strain and electron density of the attached groups, that govern the reaction and thus to elucidate the reaction mechanism. This review aims to summarize both theoretical investigations and application-driven research work on the iEDDA reaction. First, the historical aspects and the theoretical basis of the reaction, especially recent advances in time-dependent density functional theory (TD-DFT) calculations, as well as catalysis strategies will be highlighted and discussed. Second, the applications of this novel reaction in the context of materials science, bioorthogonal chemistry, and total synthesis of natural products will be elaborated with selected recent examples. The challenges and opportunities of the iEDDA reaction will be highlighted to give more insight into its potential applications in many other research areas. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.
Measurement of p+d→3He+γ and comparison with the inverse reaction
International Nuclear Information System (INIS)
Nefkens, B.M.K.; Bauer, T.S.; Baba, K.; Boudard, A.; Briscoe, W.J.; Bruge, G.; Faure, J.L.; Gosset, J.; Hegerath, A.; Lugol, J.C.; Silverman, B.H.; Terrien, Y.
1980-01-01
Seven differential cross sections of the reaction p+d→ 3 He+γ have been measured at T/sub p/=450 and 550 MeV between 52 0 and 92 0 (theta/sub γ/ c.m.). 3 He's were analyzed by the SPES I spectrometer in coincidence with photons detected by Cerenkov counters. The results are about twice the cross sections of the inverse reaction measured recently by Hegerath et al. and by Argan et al. The data are consistent, however, with the γ+ 3 Hearrow-right-leftp+d data of Heusch et al
Energy Technology Data Exchange (ETDEWEB)
Ducret, J.E
2006-07-15
The Spaladin installation has been designed to study spallation reactions in reverse kinematics. Furthermore, the heavy and light fragments are detected by coincidence which allows us to get an instantaneous picture of the reaction at a level of accuracy better than that obtained through inclusive measurement. The first part is dedicated to the theoretical description of the different mechanisms involved in the spallation reactions. In the second part we describe the Spaladin installation and report some results on the reaction: Fe{sup 56} + p at an energy of 1 GeV/nucleon. In the third part we expose the performance of the installation through its simulation with the Geant-IV model. We present a study about the sensitivity of the Spaladin installation to theoretical predictions. The fourth part is dedicated to the future experiments that will be performed with the Spaladin installation. (A.C.)
Energy Technology Data Exchange (ETDEWEB)
Hacker, C.J.; Fries, G.A.; Pin, F.G.
1997-01-01
Few optimization methods exist for path planning of kinematically redundant manipulators. Among these, a universal method is lacking that takes advantage of a manipulator`s redundancy while satisfying possibly varying constraints and task requirements. Full Space Parameterization (FSP) is a new method that generates the entire solution space of underspecified systems of algebraic equations and then calculates the unique solution satisfying specific constraints and optimization criteria. The FSP method has been previously tested on several configurations of the redundant manipulator HERMIES-III. This report deals with the extension of the FSP driver, Inverse Kinematics On Redundant systems (IKOR), to include three-dimensional manipulation systems, possibly incorporating a mobile platform, with and without orientation control. The driver was also extended by integrating two optimized versions of the FSP solution generator as well as the ability to easily port to any manipulator. IKOR was first altered to include the ability to handle orientation control and to integrate an optimized solution generator. The resulting system was tested on a 4 degrees-of-redundancy manipulator arm and was found to successfully perform trajectories with least norm criteria while avoiding obstacles and joint limits. Next, the system was adapted and tested on a manipulator arm placed on a mobile platform yielding 7 degrees of redundancy. After successful testing on least norm trajectories while avoiding obstacles and joint limits, IKORv1.0 was developed. The system was successfully verified using comparisons with a current industry standard, the Moore Penrose Pseudo-Inverse. Finally, IKORv2.0 was created, which includes both the one shot and two step methods, manipulator portability, integration of a second optimized solution generator, and finally a more robust and usable code design.
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.
Zheng, Ao; Wang, Mingfeng; Yu, Xiangwei; Zhang, Wenbo
2018-03-01
On 2016 November 13, an Mw 7.8 earthquake occurred in the northeast of the South Island of New Zealand near Kaikoura. The earthquake caused severe damages and great impacts on local nature and society. Referring to the tectonic environment and defined active faults, the field investigation and geodetic evidence reveal that at least 12 fault sections ruptured in the earthquake, and the focal mechanism is one of the most complicated in historical earthquakes. On account of the complexity of the source rupture, we propose a multisegment fault model based on the distribution of surface ruptures and active tectonics. We derive the source rupture process of the earthquake using the kinematic waveform inversion method with the multisegment fault model from strong-motion data of 21 stations (0.05-0.35 Hz). The inversion result suggests the rupture initiates in the epicentral area near the Humps fault, and then propagates northeastward along several faults, until the offshore Needles fault. The Mw 7.8 event is a mixture of right-lateral strike and reverse slip, and the maximum slip is approximately 19 m. The synthetic waveforms reproduce the characteristics of the observed ones well. In addition, we synthesize the coseismic offsets distribution of the ruptured region from the slips of upper subfaults in the fault model, which is roughly consistent with the surface breaks observed in the field survey.
Kinematic source inversion of the 2017 Puebla-Morelos, Mexico earthquake (2017/09/19, Mw.7.1)
Iglesias, A.; Castro-Artola, O.; Hjorleifsdottir, V.; Singh, S. K.; Ji, C.; Franco-Sánchez, S. I.
2017-12-01
On September 19th 2017, an Mw 7.1 earthquake struck Central Mexico, causing severe damage in the epicentral region, especially in several small and medium size houses as well as historical buildings like churches and government offices. In Mexico City, at a distance of 100km from the epicenter, 38 buildings collapsed. Authorities reported that 369 persons were killed by the earthquake (> 60% in the Mexico City). We determined the hypocentral location (18.406N, 98.706W, d=57km), from regional data, situating this earthquake inside the subducted Cocos Plate, with a normal fault mechanism (Globalcmt: =300°, =44°, and =-82°). In this presentation we show the the slip on the fault plane, determined by 1) a frequency-domain inversion using local and regional acceleration records that have been numerically integrated twice and bandpass filtered between 2 and 30, and 2) a wavelet domain inversion using teleseismic body and surface-waves, filtered between 1-100 s and 50-150 s respectively, as well as static offsets. In both methods the fault plane is divided into subfaults, and for each subfault we invert for the average slip, and timing of initiation of slip. In the first method the slip direction is fixed to the ? direction and we invert for the rise time. In the second method the direction of slip is estimated, with values between -90 and +90 allowed, and the time history is an asymmetric cosine time function, for which we determine the "rise" and "fall" durations. For both methods, synthetic seismograms, based on the GlobalCMT focal mechanism, are computed for each subfault-station pair and for three components (Z, N-S, EW). Preliminary results, using local data, show some slip concentrated close to the hypocentral location and a large patch 20 km in NW direction far from the origin. Using teleseismic data, it is difficult to distinguish between the two fault planes, as the waveforms are equally well fit using either one of them. However, both are consistent with a
Nucleon transfer reactions with radioactive beams
Wimmer, K.
2018-03-01
Transfer reactions are a valuable tool to study the single-particle structure of nuclei. At radioactive beam facilities transfer reactions have to be performed in inverse kinematics. This creates a number of experimental challenges, but it also has some advantages over normal kinematics measurements. An overview of the experimental and theoretical methods for transfer reactions, especially with radioactive beams, is presented. Recent experimental results and highlights on shell evolution in exotic nuclei are discussed.
Thakkar, Balmukund S; Svendsen, John-Sigurd M; Engh, Richard A
2017-09-14
Cis/trans isomerization of 2°-amide bonds is a key step in a wide range of important processes. Here we present a theoretical assessment of cis/trans isomerization of 2°-amide bonds using B3LYP density functional methods, describing two reaction paths and corresponding geometry changes during isomerization of N-methylacetamide (NMA) and glycylglycine methyl ester (GGMe). The isomerization begins via a common path, as the extended π-bonding of the amide bond maintains approximate planarity of the O-C-N-H dihedral angle, with only gradually increasing pyramidalization of the nitrogen atom, until a bifurcation point is reached. Both subsequent paths comprise two phases, an "ω phase" (characterized by a major change in C-C-N-C dihedral) and a "θ phase" (characterized by major change in O-C-N-H dihedral), with two distinct transition states. The θ phase involves inversion of the pyramidal amide-nitrogen geometry. Both reaction paths converge at another bifurcation point near the opposite geometry. Studies on the larger GGMe show in addition that the multiple additional rotamers do not change the qualitative properties of the isomerization, but do affect the energies of the differing transition states. These detailed results provide significant new insights into cis/trans isomerization paths in 2°-amides, and serve as a basis for theoretical studies on larger peptidic systems.
Cirella, A.; Piatanesi, A.; Molinari, I.
2015-12-01
In this study, we investigate the rupture process of the 2012, May 20 and 29, Mw 6.1 and 5.9, respectively, Emilia-Romagna, Northern Italy, earthquakes. The two earthquakes struck a densely populated region, causing 26 fatalities and significantly damaging the economy of the region. We image the rupture history of these events, by separately and jointly inverting strong motions, GPS displacements and High-Rate GPS data. The region of interest is a sedimentary basin (the Po Plain) surrounded by the northern Apennines; and it is characterized by a significant presence of fluid and strong heterogeneities leading to remarkable site effects and liquefaction phenomena; for these reasons we adopt an ad-hoc velocity profiles at each station, by inverting in a low-intermediate frequency band (0 - 0.25 Hz). We use a two-stage non-linear inversion technique that, rather than simply looking at the best model, extracts the most stable features of the earthquake rupture that are consistent with the data and gives an estimate of the variability of each model parameter. During the first stage, an algorithm based on the heat-bath simulated annealing generates an ensemble of models that efficiently sample the good data-fitting regions of parameter space. In the second stage the algorithm performs a statistical analysis of the ensemble providing us the best-fitting model, the average model, and the associated standard deviation, coefficient of variation, moda and median distributions. The goal of our work is to constrain the earthquake rupture history and to assess the associated model uncertainty, to better understand the mechanics of the causative fault as well as the observed ground shaking.
Bideau, Benoit; Multon, Franck; Kulpa, Richard; Fradet, Laetitia; Arnaldi, Bruno; Delamarche, Paul
2004-11-30
This work investigates the design of a new method to evaluate the importance of visual elements taken into account by a handball goalkeeper facing a thrower. Virtual reality was used to design and reproduce standardised situations in a controlled environment. Under such conditions, it was possible to isolate for investigation one visual element in the thrower's gestures. The goalkeeper's movements were recorded in order to compare his reactions to two separate throws where only one visual element was modified. Our systems allowed us to measure and record the effects of small changes in the thrower's movements. With the numerical values we obtained from our results we were able to come up with a scale of significance for each isolated element. These preliminary results look promising for neuroscience, allowing us to better understand the strategies used in duel situations.
Parkhurst, D.L.
1995-01-01
PHREEQC is a computer program written in the C pwgranuning language that is designed to perform a wide variety of aqueous geochemical calculations. PHREEQC is based on an ion-association aqueous model and has capabilities for (1) speciation and saturation-index calculations, (2) reaction-path and advective-transport calculations involving specified irreversible reactions, mixing of solutions, mineral and gas equilibria surface-complex-ation reactions, and ion-exchange reactions, and (3) inverse modeling, which finds sets of mineral and gas mole transfers that account for composition differences between waters, within specified compositional uncertainties. PHREEQC is derived from the Fortran program PHREEQE, but it has been completely rewritten in C with the addition many new capabilities. New features include the capabilities to use redox couples to distribute redox elements among their valence states in speciation calculations; to model ion-exchange and surface-compiexation reactions; to model reactions with a fixed-pressure, multicomponent gas phase (that is, a gas bubble); to calculate the mass of water in the aqueous phase during reaction and transport calculations; to keep track of the moles of minerals present in the solid phases and determine antomaticaHy the thermodynamically stable phase assemblage; to simulate advective transport in combination with PHREEQC's reaction-modeling capability; and to make inverse modeling calculations that allow for uncertainties in the analytical data. The user interface is improved through the use of a simplified approach to redox reactions, which includes explicit mole-balance equations for hydrogen and oxygen; the use of a revised input that is modular and completely free format; and the use of mineral names and standard chemical symbolism rather than index numbers. The use of (2 eliminates nearly all limitations on army sizes, including numbers of elements, aqueous species, solutions, phases, and lengths of character
Energy Technology Data Exchange (ETDEWEB)
Aguilera, E.F.; Lizcano, D.; Martinez Q, E.; Fernandez, M.C.; Murillo, G. [ININ, 52045 Ocoyoacac, Estado de Mexico (Mexico); Goldberg, V. [Cyclotron Institute, Texas A and M University, College Station, TX 77843 (United States); Skorodumov, B.B.; Rogachev, G. [Physics Department, University of Notre Dame, IN 46556 (United States)
2003-07-01
The excitation function of elastic scattering for the system {sup 12} C + {sup 4} He to energy from 0.5 to 3.5 MeV in the center of mass system (c.m.) was measured. We use a gassy thick target and the technique of inverse kinematics which allows to make measurements at 180 degrees in c.m. Using the R matrix theory those was deduced parameters of the resonances and the results were compared with measurements reported in the literature made with other techniques. (Author)
Catalysis of Nuclear Reactions by Electrons
Lipoglavšek, Matej
2018-01-01
Electron screening enhances nuclear reaction cross sections at low energies. We studied the nuclear reaction 1H(19F,αγ)16O in inverse kinematics in different solid hydrogen targets. Measured resonance strengths differed by up to a factor of 10 in different targets. We also studied the 2H(p,γ)3He fusion reaction and observed electrons emitted as reaction products instead of γ rays. In this case electron screening greatly enhances internal conversion probability.
Catalysis of Nuclear Reactions by Electrons
Directory of Open Access Journals (Sweden)
Lipoglavšek Matej
2017-01-01
Full Text Available Electron screening enhances nuclear reaction cross sections at low energies. We studied the nuclear reaction 1H(19F,αγ16O in inverse kinematics in different solid hydrogen targets. Measured resonance strengths differed by up to a factor of 10 in different targets. We also studied the 2H(p,γ3He fusion reaction and observed electrons emitted as reaction products instead of γ rays. In this case electron screening greatly enhances internal conversion probability.
Nuclei in the vicinity of 'island of inversion' through the fusion reaction
Indian Academy of Sciences (India)
in this region, which is referred to as the 'island-of-inversion' [1]. These observa- tions are attributed to the reduced shell gap between the d3/2 and f7/2 orbitals. The interactions between the orbitals within the major shell also has a pronounced effect on the single particle energies. Hence the region of nuclei with Z near the ...
π minus Photoproduction on neutrons via the inverse reaction or Cebaf at LAMPF
International Nuclear Information System (INIS)
Nefkens, B.M.K.
1989-01-01
The investigation of π minus photoproduction on neutrons is presented. The double experimental handicap of the lack of a free neutron target and a monochromatic photon beam was overcome in the π minus-proton channel by measuring the inverse process, or radiative exchange π minus + p → γ+n. The detector configuration is shown and the experimental results are discussed. The energy regions included the δ (1232), the P 11 (1440) and the S 11 (1535). Comparison between data concerning the radiative exchange cross sections is shown
Calculating gait kinematics using MR-based kinematic models.
Scheys, Lennart; Desloovere, Kaat; Spaepen, Arthur; Suetens, Paul; Jonkers, Ilse
2011-02-01
Rescaling generic models is the most frequently applied approach in generating biomechanical models for inverse kinematics. Nevertheless it is well known that this procedure introduces errors in calculated gait kinematics due to: (1) errors associated with palpation of anatomical landmarks, (2) inaccuracies in the definition of joint coordinate systems. Based on magnetic resonance (MR) images, more accurate, subject-specific kinematic models can be built that are significantly less sensitive to both error types. We studied the difference between the two modelling techniques by quantifying differences in calculated hip and knee joint kinematics during gait. In a clinically relevant patient group of 7 pediatric cerebral palsy (CP) subjects with increased femoral anteversion, gait kinematic were calculated using (1) rescaled generic kinematic models and (2) subject-specific MR-based models. In addition, both sets of kinematics were compared to those obtained using the standard clinical data processing workflow. Inverse kinematics, calculated using rescaled generic models or the standard clinical workflow, differed largely compared to kinematics calculated using subject-specific MR-based kinematic models. The kinematic differences were most pronounced in the sagittal and transverse planes (hip and knee flexion, hip rotation). This study shows that MR-based kinematic models improve the reliability of gait kinematics, compared to generic models based on normal subjects. This is the case especially in CP subjects where bony deformations may alter the relative configuration of joint coordinate systems. Whilst high cost impedes the implementation of this modeling technique, our results demonstrate that efforts should be made to improve the level of subject-specific detail in the joint axes determination. Copyright © 2010 Elsevier B.V. All rights reserved.
Holden, C.; Kaneko, Y.; D'Anastasio, E.; Benites, R.; Fry, B.; Hamling, I. J.
2017-11-01
The 2016 Kaikōura (New Zealand) earthquake generated large ground motions and resulted in multiple onshore and offshore fault ruptures, a profusion of triggered landslides, and a regional tsunami. Here we examine the rupture evolution using two kinematic modeling techniques based on analysis of local strong-motion and high-rate GPS data. Our kinematic models capture a complex pattern of slowly (Vr source region, mostly on the Kekerengu fault, 60 s after the origin time. Both models indicate rupture reactivation on the Kekerengu fault with the time separation of 11 s between the start of the original failure and start of the subsequent one. We further conclude that most near-source waveforms can be explained by slip on the crustal faults, with little (<8%) or no contribution from the subduction interface.
International Nuclear Information System (INIS)
Bernas, M.; Casarejos, E.; Pereira, J.
2002-09-01
In this paper, we report on the first systematic study of nuclide production in isotopic chains from nitrogen (Z=7) to uranium (Z=92). In the second section, we present some characteristics of the experimental set up and the analysis techniques. In the third and in the forth part, we report on the obtained cross sections and kinematical properties of the studied nuclei, respectively. In the last section, we discuss the results and compare them to data obtained previously with conventional techniques. (orig.)
Nuclei in the vicinity of 'island of inversion' through the fusion reaction
Indian Academy of Sciences (India)
8, Bidhan Nagar, Kolkata 700 098, India. E-mail: ssg@alpha.iuc.res.in. Abstract. The level structures of N ∼ 19 nuclei such as 32,34P have been investigated using the 18O(18O,xnyp) and 18O(16O,xnyp) reactions at an incident beam energy ...
International Nuclear Information System (INIS)
Penel-Nottaris, E.
2004-07-01
The Jefferson Lab Hall A E89-044 experiment has measured the He 3 (e,e'p) reaction cross-sections. The extraction of the longitudinal and transverse response functions for the two-body break-up He 3 (e,e'p)d reaction in parallel kinematics allows the study of the bound proton electromagnetic properties inside the He 3 nucleus and the involved nuclear mechanisms beyond plane waves approximations, for missing momenta of 0 and +- 300 MeV/c and transferred momenta from 0.8 to 4.1 GeV 2 . Preliminary cross-sections have been obtained after calibration of the experimental setup by fitting theoretical models averaged over the experimental phase-space using a Monte-Carlo simulation. The 8% systematic error on cross-sections is linked mainly to the absolute normalization of the target density: the elastic scattering data analysis will allow to reduce this error. The preliminary results show some disagreement with theoretical predictions for the forward angles kinematics around 0 MeV/c missing momenta and sensitivity to final state interactions and He 3 waves functions for missing momenta of 300 MeV/c. The longitudinal and transverse separation should constraint theoretical models more strongly. (author)
Müller, Juliane; Müller, Steffen; Engel, Tilman; Reschke, Antje; Baur, Heiner; Mayer, Frank
2016-04-11
Reflex activity of the lower leg muscles involved when compensating for falls has already been thoroughly investigated. However, the trunk׳s role in this compensation strategy remains unclear. The purpose of this study, therefore, was to analyze the kinematics and muscle activity of the trunk during perturbed walking. Ten subjects (29 ± 3 yr;79 ± 11 cm;74 ± 14 kg) walked (1m/s) on a split-belt treadmill, while 5 randomly timed, right-sided perturbations (treadmill belt deceleration: 40 m/s(2)) were applied. Trunk muscle activity was assessed with a 12-lead-EMG. Trunk kinematics were measured with a 3D-motion analysis system (12 markers framing 3 segments: upper thoracic area (UTA), lower thoracic area (LTA), lumbar area (LA)). The EMG-RMS [%] (0-200 ms after perturbation) was analyzed and then normalized to the RMS of normal walking. The total range of motion (ROM;[°]) for the extension/flexion, lateral flexion and rotation of each segment were calculated. Individual kinematic differences between walking and stumbling [%; ROM] were also computed. Data analysis was conducted descriptively, followed by one- and two-way ANOVAs (α=0.05). Stumbling led to an increase in ROM, compared to unperturbed gait, in all segments and planes. These increases ranged between 107 ± 26% (UTA/rotation) and 262 ± 132% (UTS/lateral flexion), significant only in lateral flexion. EMG activity of the trunk was increased during stumbling (abdominal: 665 ± 283%; back: 501 ± 215%), without significant differences between muscles. Provoked stumbling leads to a measurable effect on the trunk, quantifiable by an increase in ROM and EMG activity, compared to normal walking. Greater abdominal muscle activity and ROM of lateral flexion may indicate a specific compensation pattern occurring during stumbling. Copyright © 2015 Elsevier Ltd. All rights reserved.
Liu, Peng; Zhang, Jingxue; Wang, Dunyou
2017-06-07
A double-inversion mechanism of the F - + CH 3 I reaction was discovered in aqueous solution using combined multi-level quantum mechanics theories and molecular mechanics. The stationary points along the reaction path show very different structures to the ones in the gas phase due to the interactions between the solvent and solute, especially strong hydrogen bonds. An intermediate complex, a minimum on the potential of mean force, was found to serve as a connecting-link between the abstraction-induced inversion transition state and the Walden-inversion transition state. The potentials of mean force were calculated with both the DFT/MM and CCSD(T)/MM levels of theory. Our calculated free energy barrier of the abstraction-induced inversion is 69.5 kcal mol -1 at the CCSD(T)/MM level of theory, which agrees with the one at 72.9 kcal mol -1 calculated using the Born solvation model and gas-phase data; and our calculated free energy barrier of the Walden inversion is 24.2 kcal mol -1 , which agrees very well with the experimental value at 25.2 kcal mol -1 in aqueous solution. The calculations show that the aqueous solution makes significant contributions to the potentials of mean force and exerts a big impact on the molecular-level evolution along the reaction pathway.
Energy Technology Data Exchange (ETDEWEB)
McGraw, David [Desert Research Inst. (DRI), Reno, NV (United States); Hershey, Ronald L. [Desert Research Inst. (DRI), Reno, NV (United States)
2016-06-01
Methods were developed to quantify uncertainty and sensitivity for NETPATH inverse water-rock reaction models and to calculate dissolved inorganic carbon, carbon-14 groundwater travel times. The NETPATH models calculate upgradient groundwater mixing fractions that produce the downgradient target water chemistry along with amounts of mineral phases that are either precipitated or dissolved. Carbon-14 groundwater travel times are calculated based on the upgradient source-water fractions, carbonate mineral phase changes, and isotopic fractionation. Custom scripts and statistical code were developed for this study to facilitate modifying input parameters, running the NETPATH simulations, extracting relevant output, postprocessing the results, and producing graphs and summaries. The scripts read userspecified values for each constituent’s coefficient of variation, distribution, sensitivity parameter, maximum dissolution or precipitation amounts, and number of Monte Carlo simulations. Monte Carlo methods for analysis of parametric uncertainty assign a distribution to each uncertain variable, sample from those distributions, and evaluate the ensemble output. The uncertainty in input affected the variability of outputs, namely source-water mixing, phase dissolution and precipitation amounts, and carbon-14 travel time. Although NETPATH may provide models that satisfy the constraints, it is up to the geochemist to determine whether the results are geochemically reasonable. Two example water-rock reaction models from previous geochemical reports were considered in this study. Sensitivity analysis was also conducted to evaluate the change in output caused by a small change in input, one constituent at a time. Results were standardized to allow for sensitivity comparisons across all inputs, which results in a representative value for each scenario. The approach yielded insight into the uncertainty in water-rock reactions and travel times. For example, there was little
Roling, Oliver; Mardyukov, Artur; Lamping, Sebastian; Vonhören, Benjamin; Rinnen, Stefan; Arlinghaus, Heinrich F; Studer, Armido; Ravoo, Bart Jan
2014-10-21
Bioorthogonal ligation methods are the focus of current research due to their versatile applications in biotechnology and materials science for post-functionalization and immobilization of biomolecules. Recently, inverse electron demand Diels-Alder (iEDDA) reactions employing 1,2,4,5-tetrazines as electron deficient dienes emerged as powerful tools in this field. We adapted iEDDA in microcontact chemistry (μCC) in order to create enhanced surface functions. μCC is a straightforward soft-lithography technique which enables fast and large area patterning with high pattern resolutions. In this work, tetrazine functionalized surfaces were reacted with carbohydrates conjugated with norbornene or cyclooctyne acting as strained electron rich dienophiles employing μCC. It was possible to create monofunctional as well as bifunctional substrates which were specifically addressable by proteins. Furthermore we structured glass supported alkene terminated self-assembled monolayers with a tetrazine conjugated atom transfer radical polymerization (ATRP) initiator enabling surface grafted polymerizations of poly(methylacrylate) brushes. The success of the surface initiated iEDDA via μCC as well as the functionalization with natural and synthetic polymers was verified via fluorescence and optical microscopy, X-ray photoelectron spectroscopy (XPS), time-of-flight secondary ion mass spectrometry (ToF-SIMS), atomic force microscopy (AFM) and attenuated total reflection Fourier transform infrared spectroscopy (ATR-FTIR).
Yuan, Wen-Kui; Cui, Tao; Liu, Wei; Wen, Li-Rong; Li, Ming
2018-03-16
A new CuI/1,10-phen-catalyzed reaction for the synthesis of 3-ylideneoxindoles from readily available isatins and ethyl isocyanoacetate, in which ethyl isocyanoacetate acts as a latent two-carbon donor like the Wittig reagent, is reported. A tandem procedure including 1,3-dipolar cycloaddition/inverse 1,3-dipolar ring opening/olefination allows the preparation of 3-ylideneoxindoles with broad functional group tolerance.
Parkhurst, David L.; Appelo, C.A.J.
1999-01-01
PHREEQC version 2 is a computer program written in the C programming language that is designed to perform a wide variety of low-temperature aqueous geochemical calculations. PHREEQC is based on an ion-association aqueous model and has capabilities for (1) speciation and saturation-index calculations; (2) batch-reaction and one-dimensional (1D) transport calculations involving reversible reactions, which include aqueous, mineral, gas, solid-solution, surface-complexation, and ion-exchange equilibria, and irreversible reactions, which include specified mole transfers of reactants, kinetically controlled reactions, mixing of solutions, and temperature changes; and (3) inverse modeling, which finds sets of mineral and gas mole transfers that account for differences in composition between waters, within specified compositional uncertainty limits.New features in PHREEQC version 2 relative to version 1 include capabilities to simulate dispersion (or diffusion) and stagnant zones in 1D-transport calculations, to model kinetic reactions with user-defined rate expressions, to model the formation or dissolution of ideal, multicomponent or nonideal, binary solid solutions, to model fixed-volume gas phases in addition to fixed-pressure gas phases, to allow the number of surface or exchange sites to vary with the dissolution or precipitation of minerals or kinetic reactants, to include isotope mole balances in inverse modeling calculations, to automatically use multiple sets of convergence parameters, to print user-defined quantities to the primary output file and (or) to a file suitable for importation into a spreadsheet, and to define solution compositions in a format more compatible with spreadsheet programs. This report presents the equations that are the basis for chemical equilibrium, kinetic, transport, and inverse-modeling calculations in PHREEQC; describes the input for the program; and presents examples that demonstrate most of the program's capabilities.
Angeles, Jorge
1988-01-01
A rational study of kinematics is a treatment of the subject based on invariants, i.e., quantities that remain essentially unchanged under a change of observer. An observer is understood to be a reference frame supplied with a clock (Truesdell 1966). This study will therefore include an introduction to invariants. The language of these is tensor analysis and multilinear algebra, both of which share many isomorphic relations, These subjects are treated in full detail in Ericksen (1960) and Bowen and Wang (1976), and hence will not be included here. Only a short account of notation and definitions will be presented. Moreover, definitions and basic concepts pertaining to the kinematics of rigid bodies will be also included. Although the kinematics of rigid bodies can be regarded as a particular case of the kinematics of continua, the former deserves attention on its own merits for several reasons. One of these is that it describes locally the motions undergone by continua. Another reason is that a whole area of ...
De Rosa, Michael; Arnold, David; Hartline, Douglas
2013-09-06
Reaction of 3-aminopyrrole with seven 1,3,5-triazines was studied in a one-step reaction (in situ formation of 3-aminopyrrole) and a two-step reaction (using the tetraphenylborate salt and an amine base). An inverse-electron demand Diels-Alder reaction (IEDDA) was observed with R1 = CF3, CO2Et, and H with the formation of 5H-pyrrolo[3,2-d]pyrimidine derivatives. S(N)Ar was observed when 2,4,6-trifluoro- or 2,4,6-trichloro-1,3,5-triazine were used--1,3,5-triazines that had leaving groups. If excess 1,3,5-triazine was present the initial S(N)Ar product reacted further, in the presence of acid and water, with another equivalent of 1,3,5-triazine to give compounds containing three linked heterocyclic rings. No reaction was observed with R1 = C6H5 and OCH3. Four mechanisms are proposed to explain the experimental results: uncatalyzed and acid catalyzed inverse electron demand Diels-Alder cascades leading to cycloaddition, and uncatalyzed and acid-catalyzed S(N)Ar reactions leading, respectively, to single and double substitution products. Acid catalysis was a factor when there was reduced reactivity in either reactant.
Real-Time Inverse Kinematics for Humans
2004-03-15
applied at p, where is the dimension of the operational space of interest (typically six). m Using the principle of virtual work , we can determine a...its configuration only depends on the joint variables q (not explicitly on time). Consider the virtual work performed by the two force systems. As...for the joint torques, its associated virtual work is (9) TdW d=τ τ q For the hand forces , comprised of a force vector f and moment vector
Senanayake, Sanjaya D; Stacchiola, Dario; Rodriguez, Jose A
2013-08-20
Oxides play a central role in important industrial processes, including applications such as the production of renewable energy, remediation of environmental pollutants, and the synthesis of fine chemicals. They were originally used as catalyst supports and were thought to be chemically inert, but now they are used to build catalysts tailored toward improved selectivity and activity in chemical reactions. Many studies have compared the morphological, electronic, and chemical properties of oxide materials with those of unoxidized metals. Researchers know much less about the properties of oxides at the nanoscale, which display distinct behavior from their bulk counterparts. More is known about metal nanoparticles. Inverse-model catalysts, composed of oxide nanoparticles supported on metal or oxide substrates instead of the reverse (oxides supporting metal nanoparticles), are excellent tools for systematically testing the properties of novel catalytic oxide materials. Inverse models are prepared in situ and can be studied with a variety of surface science tools (e.g. scanning tunneling microscopy, X-ray photoemission spectroscopy, ultraviolet photoemission spectroscopy, low-energy electron microscopy) and theoretical tools (e.g. density functional theory). Meanwhile, their catalytic activity can be tested simultaneously in a reactor. This approach makes it possible to identify specific functions or structures that affect catalyst performance or reaction selectivity. Insights gained from these tests help to tailor powder systems, with the primary objective of rational design (experimental and theoretical) of catalysts for specific chemical reactions. This Account describes the properties of inverse catalysts composed of CeOx nanoparticles supported on Cu(111) or CuOx/Cu(111) as determined through the methods described above. Ceria is an important material for redox chemistry because of its interchangeable oxidation states (Ce⁴⁺ and Ce³⁺). Cu(111), meanwhile, is
Theory of Square-Wave Voltammetry of Two-Step Electrode Reaction Using an Inverse Scan Direction
Lovrić, Milivoj; Komorsky-Lovrić, Šebojka
2011-01-01
A theory of square-wave voltammetry of two-step electrode reaction with kinetically controlled electron transfers is developed, and a special case of thermodynamically unstable intermediate is analyzed. If the first reaction step is reversible and the second one is quasireversible, the response splits into two peaks if the scan direction is inverted. The separation of these peaks increases with frequency.
Theory of Square-Wave Voltammetry of Two-Step Electrode Reaction Using an Inverse Scan Direction
Directory of Open Access Journals (Sweden)
Milivoj Lovrić
2011-01-01
Full Text Available A theory of square-wave voltammetry of two-step electrode reaction with kinetically controlled electron transfers is developed, and a special case of thermodynamically unstable intermediate is analyzed. If the first reaction step is reversible and the second one is quasireversible, the response splits into two peaks if the scan direction is inverted. The separation of these peaks increases with frequency.
Essential kinematics for autonomous vehicles
Kelly, Alonzo
1994-05-01
A short tutorial on Homogeneous Transforms is presented covering the triple interpretation of a homogeneous transform as an operator, a coordinate frame, and a coordinate transform. The operator transform duality is derived and its use in the Denavit Hartenberg convention is explained. Forward, inverse, and differential kinematics are derived for a simple manipulator to illustrate concepts. A standard set of coordinate frames is proposed for wheeled mobile robots. It is shown that the RPY transform serves the same purpose as the DH matrix in this case. It serves to interface with vehicle position estimation systems of all kinds, to control and model pan/tilt mechanisms and stabilized platforms, and to model the rigid transforms from place to place on the vehicle. Forward and inverse kinematics and the Euler angle rate to the angular velocity transform are derived for the RPY transform. Projective kinematics for ideal video cameras and laser rangefinders, and the imaging Jacobian relating world space and image space is derived. Finally, the kinematics of the Ackerman steer vehicle is presented for reference purposes. This report is both a tutorial and a reference for the transforms used in the RANGER vehicle controller. It is both because the models keep evolving and it was necessary to provide the tools, mechanisms, and discipline required to continue the evolution.
Lithium induced nuclear reactions of astrophysical interest
Energy Technology Data Exchange (ETDEWEB)
Liu, W.P. [CIAE, China Institute of Atomic Energy, P. O. Box 275(1), Beijing 102413 (China); Li, Z.H.; Bai, X.X.; Wang, Y.B.; Lian, G.; Guo, B.; Su, J.; Zeng, S.; Wang, B.X.; Yan, S.Q.; Li, Y.J.; Li, E.T. [CIAE, China Institute of Atomic Energy, P. O. Box 275(46), Beijing 102413 (China)
2010-03-01
Systematic studies of nuclear astrophysical reactions induced by lithium isotopes using the unstable ion beam facility GIRAFFE in CIAE were performed. We have measured the angular distributions of some single nucleon transfer reactions, such as {sup 8}Li(d,p){sup 9}Li, {sup 8}Li(d,n){sup 9}Be and {sup 8}Li(p,d){sup 7}Li in inverse kinematics, and derived the astrophysical S-factors or reaction rates for {sup 8}Li(n,gamma){sup 9}Li and {sup 8}Li(p,gamma){sup 9}Be by using asymptotic normalization coefficient (ANC) or spectroscopic factor.
Investigation of the $^{9}$Li + $^{2}$H $\\to ^{8}$Li + t reaction at REX-ISOLDE
Jeppesen, H B; Nilsson, T; Ames, F
2006-01-01
The one-neutron transfer reaction has been investigated in an inverse kinematics experiment by bombarding a deuterated polypropylene target with a 2.36 MeV/u $^{9}$Li beam from the post-accelerator REX-ISOLDE at CERN. Excitation energies in $^{8}$Li as well as angular distributions of the tritons were obtained and spectroscopic factors deduced.
International Nuclear Information System (INIS)
Adamatzky, Andrew; Lacy Costello, Benjamin de
2003-01-01
A reaction-diffusion chemical computer in this context is a planar uniform chemical reactor, where data and results of a computation are represented by concentration profiles of reactants and the computation itself is implemented via the spreading and interaction of diffusive and phase waves. This class of chemical computers are efficient at solving problems with a 'natural' parallelism where data sets are decomposable onto a large number of geographically neighboring domains which are then processed in parallel. Typical problems of this type include image processing, geometrical transformations and optimisation. When chemical based devices are used to solve such problems questions regarding their reproducible, efficiency and the accuracy of their computations arise. In addition to these questions what are the limitations of reaction-diffusion chemical processors--what type of problems cannot currently and are unlikely ever to be solved? To answer the questions we study how a Voronoi diagram is constructed and how it is inverted in a planar chemical processor. We demonstrate that a Voronoi diagram is computed only partially in the chemical processor. We also prove that given a specific Voronoi diagram it is impossible to reconstruct the planar set (from which diagram was computed) in the reaction-diffusion chemical processor. In the Letter we open the first ever line of enquiry into the computational inability of reaction-diffusion chemical computers
Foot kinematics and loading of professional athletes in American football-specific tasks.
Riley, Patrick O; Kent, Richard W; Dierks, Tracy A; Lievers, W Brent; Frimenko, Rebecca E; Crandall, Jeff R
2013-09-01
The purpose of this study was to describe stance foot and ankle kinematics and the associated ground reaction forces at the upper end of human performance in professional football players during commonly performed football-specific tasks. Nine participants were recruited from the spring training squad of a professional football team. In a motion analysis laboratory setting, participants performed three activities used at the NFL Scouting Combine to assess player speed and agility: the 3-cone drill, the shuttle run, and the standing high jump. The talocrural and first metatarsophalangial joint dorsiflexion, subtalar joint inversion, and the ground reaction forces were determined for the load bearing portions of each activity. We documented load-bearing foot and ankle kinematics of elite football players performing competition-simulating activities, and confirmed our hypothesis that the talocrural, subtalar, and metatarsophalangeal joint ranges of motion for the activities studied approached or exceeded reported physiological limits. Copyright © 2012 Elsevier B.V. All rights reserved.
Kaur, Ramanpreet; Vikas
2015-02-21
2-Aminopropionitrile (APN), a probable candidate as a chiral astrophysical molecule, is a precursor to amino-acid alanine. Stereochemical pathways in 2-APN are explored using Global Reaction Route Mapping (GRRM) method employing high-level quantum-mechanical computations. Besides predicting the conventional mechanism for chiral inversion that proceeds through an achiral intermediate, a counterintuitive flipping mechanism is revealed for 2-APN through chiral intermediates explored using the GRRM. The feasibility of the proposed stereochemical pathways, in terms of the Gibbs free-energy change, is analyzed at the temperature conditions akin to the interstellar medium. Notably, the stereoinversion in 2-APN is observed to be more feasible than the dissociation of 2-APN and intermediates involved along the stereochemical pathways, and the flipping barrier is observed to be as low as 3.68 kJ/mol along one of the pathways. The pathways proposed for the inversion of chirality in 2-APN may provide significant insight into the extraterrestrial origin of life.
Blazhev, A A; Nardelli, S; Kruecken, R; Voulot, D; Hadinia, B; Kalkuehler, M; Clement, E; Habs, D; Diriken, J V J; Wady, P T; Angus, L J
2008-01-01
We aim to study the structure of neutron-rich nuclei in the "island of inversion" where intruder $\\textit{fp}$-orbitals favouring deformed states compete with the normal spherical $\\textit{sd}$-orbitals. In particular, we search for the spherical 0$^{+}_{2}$ state in $^{32}$Mg which should coexist with the deformed ground state but has not been observed so far. We propose to populate this state by a (t,p) two-neutron transfer reaction with a $^{30}$Mg beam at around 2 MeV/u from REX-ISOLDE impinging on a tritium-loaded Ti target. The $\\gamma$-rays are detected by MINIBALL and the particles by our new set-up of segmented Si detectors. The results will shed new light on the breaking of the shell closure at $\\textit{N}$ = 20 in this region.
Kinematic and Dynamic Analysis of a Lower Limb Exoskeleton
Tawakal Hasnain Baluch; Adnan Masood; Javaid Iqbal; Umer Izhar; Umar Shahbaz Khan
2012-01-01
This paper will provide the kinematic and dynamic analysis of a lower limb exoskeleton. The forward and inverse kinematics of proposed exoskeleton is performed using Denevit and Hartenberg method. The torques required for the actuators will be calculated using Lagrangian formulation technique. This research can be used to design the control of the proposed exoskeleton.
Parallel kinematics type, kinematics, and optimal design
Liu, Xin-Jun
2014-01-01
Parallel Kinematics- Type, Kinematics, and Optimal Design presents the results of 15 year's research on parallel mechanisms and parallel kinematics machines. This book covers the systematic classification of parallel mechanisms (PMs) as well as providing a large number of mechanical architectures of PMs available for use in practical applications. It focuses on the kinematic design of parallel robots. One successful application of parallel mechanisms in the field of machine tools, which is also called parallel kinematics machines, has been the emerging trend in advanced machine tools. The book describes not only the main aspects and important topics in parallel kinematics, but also references novel concepts and approaches, i.e. type synthesis based on evolution, performance evaluation and optimization based on screw theory, singularity model taking into account motion and force transmissibility, and others. This book is intended for researchers, scientists, engineers and postgraduates or above with interes...
International Nuclear Information System (INIS)
Qureshi, I.E.; Khan, H.A.; Rashid, K.; Vater, P.; Brand, R.; Gottschalk, P.A.
1987-09-01
The exclusive measurements of reactions induced by 1050 MeV Kr ions incident on natural uranium have been made with the help of mica track detectors used in 2 pie-configuration. The cross-sections for ternary and quarternary events have been determined by directly complete kinematical picture of the reaction process has been deduced by converting the three dimensional track parameters (lengths and angles) into parameters of reaction products (masses and energies) on an event basis. An empirical velocity-range relation has been used for this purpose, which has been obtained by an internal calibration procedure. It has been found that the reaction mechanism for the bulk of the data can be described as a sequential fission process. Final mass distributions and total kinetic energy losses have been obtained for all channels. In order to estimate the uncertainties of computed quantities in relation to the measurement errors, Monte-Carlo simulation of the selected data sets has also been performed. (orig./A.B.)
Light charged particle emission in 19F+12C reaction
International Nuclear Information System (INIS)
Bandyopadhyay, D.; Bhattacharya, C.; Krishan, K.; Bhattacharya, S.; Basu, S.K.; Chatterjee, A.; Kailas, S.; Singh, P.; Navin, A.; Shrivastava, A.; Samant, A.M.
1997-01-01
The light charged particle emission in the inverse kinematical reaction with 96 MeV 19 F beam on 12 C target have been studied experimentally. Light charged particles were detected in coincidence with the IMFs and ERs in three solid state telescopes in the angular range 10 deg-70 deg. The data of alpha particles in coincidence with the IMFs as well as with the ERs is reported
Reiter, P; Blazhev, A A; Riisager, K; Bastin, B; Tengborn, E A; Kruecken, R; Voulot, D; Jeppesen, H B; Hadinia, B; Gernhaeuser, R A; Fynbo, H O U; Georgiev, G P; Habs, D; Fraile prieto, L M; Chapman, R; Nilsson, T; Diriken, J V J; Jenkins, D G; Kroell, T; Leske, J; Huyse, M L; Patronis, N
We aim at the investigation of single particle properties of neutron-rich Na isotopes around the "shore of the island of inversion". As first experiment of this programme, we propose to study excited states in the isotope $^{29}$Na by a one-neutron transfer reaction with a $^{28}$Na beam at 3 MeV/u obtained from REX-ISOLDE impinging on a CD$_{2}$-target. The $\\gamma$-rays will be detected by the MINIBALL array and the particles by the T-REX array of segmented Si detectors. The main physics aims are to extract from the relative spectroscopic factors information on the configurations contributing to the wave functions of the populated states and, secondly, to identify and characterize negative parity states whose excitation energies reflect directly the N= 28 gap in this region. The results will be compared to recent shell model calculations involving new residual interactions. This will shed new light on the evolution of single particle structure and help to understand the underlying physics relevant for the f...
Kruecken, R; Voulot, D
2007-01-01
We are aiming at the investigation of single particle properties of neutron-rich nuclei in the region of the "island of inversion" where intruder states from the $\\{fp}$-shell favour deformed ground states instead of the normal spherical $\\textit{sd}$-shell states. As first experiment, we propose to study single particle states in the neutron-rich isotope $^{31}$Mg. The nucleus will be populated by a one-neutron transfer reaction with a $^{30}$Mg beam at 3 MeV/u obtained from REX-ISOLDE impinging on a CD$_{2}$ target. The $\\gamma$-rays will be detected by the MINIBALL array and the particles by a newly built set-up of segmented Si detectors with a angular coverage of nearly 4$\\pi$. Relative spectroscopic factors extracted from the cross sections will enable us to pin down the configurations of the populated states. These will be compared to recent shell model calculations involving new residual interactions. This will shed new light on the evolution of single particle structure leading to the breaking of the ...
Kinematic Analysis of 2-DOF Planer Robot Using Artificial Neural Network
Jolly Shah; S.S.Rattan; B.C.Nakra
2011-01-01
Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the Denavit- Hartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks for 2-DOF robotic manipulator. It shows that by using artificial neural networ...
Experimental study of bound states in ^{12}Be through low-energy ^{11}Be(d,p)-transfer reactions
DEFF Research Database (Denmark)
Johansen, Jacob S.; Bildstein, V.; Borge, M. J. G.
2013-01-01
The bound states of 12Be have been studied through a 11Be(d,p)12Be transfer reaction experiment in inverse kinematics. A 2.8 MeV/u beam of 11Be was produced using the REX-ISOLDE facility at CERN. The outgoing protons were detected with the T-REX silicon detector array. The MINIBALL germanium arra...
Coordinate transformations, orthographic projections, and robot kinematics
International Nuclear Information System (INIS)
Crochetiere, W.J.
1984-01-01
Humans do not consciously think of moving each of their joints while they move their hands from one place to another. Likewise, robot arms can be commanded to move about in cartesian space without the need to address the individual joints. To do this, the direct and inverse kinematic equations of any robot arm must be derived. The direct kinematic equations uniquely transform the joint positions into the position (and orientation) of the hand, whereas the inverse kinematic equations transform the position (and orientation) of the hand into joint positions. The derivation of the inverse kinematic equations for any particular robot is a difficult problem which may have more than one solution. In this paper, these equations are derived for a six degree of freedom robot arm. A combination of matrix operations to perform coordinate rotations, and trigonometry within the appropriate orthographic projects to perform coordinate translations is employed. This complementary approach yields a solution which is more easily obtained, and also more easily visualized. The resulting solution was programmed into a real-time computer as a part of a higher level software system to control the motion of the arm
Software Development for the Kinematic Analysis of a Lynx 6 Robot Arm
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...
Spallation reactions - physics and applications
International Nuclear Information System (INIS)
Kelic, A.; Ricciardi, M.; Schmidt, K-H.
2009-01-01
Spallation reactions have become an ideal tool for studying the equation of state and thermal instabilities of nuclear matter. In astrophysics, the interactions of cosmic rays with the interstellar medium have to be understood in detail for deducing their original composition and their production mechanisms. Renewed interest in spallation reactions with protons around 1 GeV came up recently with the developments of spallation neutron sources. The project of an accelerator-driven system (ADS) as a technological solution for incinerating the radioactive waste even intensified the efforts for better understanding the physics involved in the spallation process. Experiments on spallation reactions were performed for determining the production cross sections and properties of particles, fragments and heavy residues. Traditional experiments on heavy residues, performed in direct kinematics, were limited to the direct observation of long-lived radioactive nuclides and did not provide detailed information on the kinematics of the reaction. Therefore, an innovative experimental method has been developed, based on inverse kinematics, which allowed to identify all reaction residues in-flight, using the high resolution magnetic spectrometer FRS of GSL Darmstadt. It also gives direct access to the reaction kinematics. An experimental campaign has been carried out in a Europe-wide collaboration, investigating the spallation of several nuclei ranging from 56 Fe to 238 U Complementary experiments were performed with a full-acceptance detection system, yielding total fission cross sections. Recently, another detection system using the large acceptance ALADIN dipole and the LAND neutron detector was introduced to measure light particles in coincidence with the heavy residues. Another intense activity was dedicated to developing codes, which cover nuclear reactions occurring in an ADS. The first phase of the reaction is successfully described by a sequence of quasi-free nucleon
Advanced control schemes and kinematic analysis for a kinematically redundant 7 DOF manipulator
Nguyen, Charles C.; Zhou, Zhen-Lei
1990-01-01
The kinematic analysis and control of a kinematically redundant manipulator is addressed. The manipulator is the slave arm of a telerobot system recently built at Goddard Space Flight Center (GSFC) to serve as a testbed for investigating research issues in telerobotics. A forward kinematic transformation is developed in its most simplified form, suitable for real-time control applications, and the manipulator Jacobian is derived using the vector cross product method. Using the developed forward kinematic transformation and quaternion representation of orientation matrices, we perform computer simulation to evaluate the efficiency of the Jacobian in converting joint velocities into Cartesian velocities and to investigate the accuracy of Jacobian pseudo-inverse for various sampling times. The equivalence between Cartesian velocities and quaternion is also verified using computer simulation. Three control schemes are proposed and discussed for controlling the motion of the slave arm end-effector.
Neutron transfer reactions in the fp-shell region
International Nuclear Information System (INIS)
Mahgoub, Mahmoud
2008-01-01
Neutron transfer reactions were used to study the stability of the magic number N=28 near 56 Ni. On one hand the one-neutron pickup (d,p) reaction was used for precision spectroscopy of single-particle levels in 55 Fe. On the other hand we investigated the two-neutron transfer mechanism into 56 Ni using the pickup reaction 58 Ni(vectorp,t) 56 Ni. In addition the reliability of inverse kinematics reactions at low energy to study exotic nuclei was tested by the neutron transfer reactions t( 40 Ar,p) 42 Ar and d( 54 Fe,p) 55 Fe using tritium and deuterium targets, respectively, and by comparing the results with those of the normal kinematics reactions. The experimental data, differential cross-section and analyzing powers, are compared to DWBA and coupled channel calculations utilizing the code CHUCK3. By performing the single-neutron stripping reaction (vectord,p) on 54 Fe the 1f 7/2 shell in the ground state configuration was found to be partly broken. The instability of the 1f 7/2 shell and the magic number N=28 was confirmed once by observing a number of levels with J π = 7/2 - at low excitation energies, which should not be populated if 54 Fe has a closed 1f 7/2 shell, and also by comparing our high precision experimental data with a large scale shell model calculation using the ANTOINE code [5]. Calculations including a partly broken 1f 7/2 shell show better agreement with the experiment. The instability of the 1f 7/2 shell was confirmed also by performing the two-neutron pick-up reaction (vectorp,t) on 58 Ni to study 56 Ni, where a considerable improvement in the DWBA calculation was observed after considering 1f 7/2 as a broken shell. To prove the reliability of inverse kinematics transfer reactions at low energies (∝ 2 AMeV), the aforementioned single-neutron transfer reaction (d,p) was repeated using a beam of 54 Fe ions and a deuteron target. From this inverse kinematics experiment we were able to reproduce the absolute cross-section and angular
Driscoll, J. M.; Meixner, T.; Molotch, N. P.; Sickman, J. O.; Williams, M. W.; McIntosh, J. C.; Brooks, P. D.
2011-12-01
Snowmelt from alpine catchments provides 70-80% of the American Southwest's water resources. Climate change threatens to alter the timing and duration of snowmelt in high elevation catchments, which may also impact the quantity and the quality of these water resources. Modelling of these systems provides a robust theoretical framework to process the information extracted from the sparse physical measurement available in these sites due to their remote locations. Mass-balance inverse geochemical models (via PHREEQC, developed by the USGS) were applied to two snowmelt-dominated catchments; Green Lake 4 (GL4) in the Rockies and Emerald Lake (EMD) in the Sierra Nevada. Both catchments primarily consist of granite and granodiorite with a similar bulk geochemistry. The inputs for the models were the initial (snowpack) and final (catchment output) hydrochemistry and a catchment-specific suite of mineral weathering reactions. Models were run for wet and dry snow years, for early and late time periods (defined hydrologically as 1/2 of the total volume for the year). Multiple model solutions were reduced to a representative suite of reactions by choosing the model solution with the fewest phases and least overall phase change. The dominant weathering reactions (those which contributed the most solutes) were plagioclase for GL4 and albite for EMD. Results for GL4 show overall more plagioclase weathering during the dry year (214.2g) than wet year (89.9g). Both wet and dry years show more weathering in the early time periods (63% and 56%, respectively). These results show that the snowpack and outlet are chemically more similar during wet years than dry years. A possible hypothesis to explain this difference is a change in contribution from subsurface storage; during the wet year the saturated catchment reduces contact with surface materials that would result in mineral weathering reactions by some combination of reduced infiltration and decreased subsurface transit time. By
Kinematic Fitting of Detached Vertices
Energy Technology Data Exchange (ETDEWEB)
Mattione, Paul [Rice Univ., Houston, TX (United States)
2007-05-01
The eg3 experiment at the Jefferson Lab CLAS detector aims to determine the existence of the $\\Xi_{5}$ pentaquarks and investigate the excited $\\Xi$ states. Specifically, the exotic $\\Xi_{5}^{--}$ pentaquark will be sought by first reconstructing the $\\Xi^{-}$ particle through its weak decays, $\\Xi^{-}\\to\\pi^{-}\\Lambda$ and $\\Lambda\\to\\pi^{-}$. A kinematic fitting routine was developed to reconstruct the detached vertices of these decays, where confidence level cuts on the fits are used to remove background events. Prior to fitting these decays, the exclusive reaction $\\gamma D\\rightarrow pp\\pi^{-}$ was studied in order to correct the track measurements and covariance matrices of the charged particles. The $\\Lambda\\rightarrow p\\pi^{-}$ and $\\Xi^{-}\\to\\pi^{-}\\Lambda$ decays were then investigated to demonstrate that the kinematic fitting routine reconstructs the decaying particles and their detached vertices correctly.
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.)
Testing earthquake source inversion methodologies
Page, Morgan T.
2011-01-01
Source Inversion Validation Workshop; Palm Springs, California, 11-12 September 2010; Nowadays earthquake source inversions are routinely performed after large earthquakes and represent a key connection between recorded seismic and geodetic data and the complex rupture process at depth. The resulting earthquake source models quantify the spatiotemporal evolution of ruptures. They are also used to provide a rapid assessment of the severity of an earthquake and to estimate losses. However, because of uncertainties in the data, assumed fault geometry and velocity structure, and chosen rupture parameterization, it is not clear which features of these source models are robust. Improved understanding of the uncertainty and reliability of earthquake source inversions will allow the scientific community to use the robust features of kinematic inversions to more thoroughly investigate the complexity of the rupture process and to better constrain other earthquakerelated computations, such as ground motion simulations and static stress change calculations.
Kinematic modeling of mobile robot with rocker-bogie link structure
Gang, Taig-Gi; Yi, Soo-Yeong
2005-12-01
A method for kinematic modeling of a mobile robot with rocker-bogie link mechanism was described. By using the well-known concept of the instantaneous coordinates, it derives the kinematic model for the full six degree of freedom motion including the x, y, and z motions and the pitch, roll, and yaw rotations. The kinematic model here implies both of the forward and the inverse kinematic equations. The forward kinematic equation with the wheel Jacobian matrices can be used to obtain the robot position and orientation from the measured wheel velocities and the rocker-bogie joint angles. On the contrary, the inverse kinematic equation implies a resulting robot motions consisting of body velocity and turning rate from the individual wheel velocities. Through the computer simulation, the kinematic model of the mobile robot was verified.
Energy Technology Data Exchange (ETDEWEB)
Zhang, Jian-dong [TianQin Research Center for Gravitational Physics, Sun Yat-sen University, Zhuhai 519082, Guangdong (China); Chen, Bin [Department of Physics and State Key Laboratory of Nuclear Physics and Technology, Peking University, Beijing 100871 (China); Collaborative Innovation Center of Quantum Matter, 5 Yiheyuan Rd, Beijing 100871 (China); Center for High Energy Physics, Peking University, 5 Yiheyuan Rd, Beijing 100871 (China)
2017-01-23
The kinematic space could play a key role in constructing the bulk geometry from dual CFT. In this paper, we study the kinematic space from geometric points of view, without resorting to differential entropy. We find that the kinematic space could be intrinsically defined in the embedding space. For each oriented geodesic in the Poincaré disk, there is a corresponding point in the kinematic space. This point is the tip of the causal diamond of the disk whose intersection with the Poincaré disk determines the geodesic. In this geometric construction, the causal structure in the kinematic space can be seen clearly. Moreover, we find that every transformation in the SL(2,ℝ) leads to a geodesic in the kinematic space. In particular, for a hyperbolic transformation defining a BTZ black hole, it is a timelike geodesic in the kinematic space. We show that the horizon length of the static BTZ black hole could be computed by the geodesic length of corresponding points in the kinematic space. Furthermore, we discuss the fundamental regions in the kinematic space for the BTZ blackhole and multi-boundary wormholes.
(p, p') and (p, n) reactions on halo nuclei
International Nuclear Information System (INIS)
Satou, Y; Nakamura, T; Fukuda, N; Sugimoto, T; Kondo, Y; Matsui, N; Hashimoto, Y; Nakabayashi, T; Okumura, T; Shinohara, M; Motobayashi, T; Yanagisawa, Y; Aoi, N; Takeuchi, S; Gomi, T; Togano, Y; Kawai, S; Sakurai, H; Ong, H J; Onishi, T K; Shimoura, S; Tamaki, M; Kobayashi, T; Otsu, H; Matsuda, Y; Endo, N; Kitayama, M; Ishihara, M
2006-01-01
We have measured the 1 H( 19 C, 18 C+n) 1 H and 1 H( 14 Be, 13 B+n)n reactions at 70 MeV/nucleon using the invariant mass method in inverse kinematics. A new state was identified at 1.49 MeV in 19 C. In the latter (p, n) reaction, a resonance peak corresponding to the 1.28 MeV state in 14 B recently reported in a beta-decay study was clearly observed. Forward peaked character in the differential cross section supports the 1 + assignment for this state
Hyperbolic pseudoinverses for kinematics in the Euclidean group
Donelan, P.; Selig, J. M.
2017-01-01
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\\mathfrak{se}(3)$, the space of twists describing infinitesimal motion of a rigid body. Control methods generally require knowledge of an inverse for the Jacobian. However for an arm with fewer or greater than six actuated joints or at singularities of the kinematic mapping th...
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.
Ingram, WT
2012-01-01
Inverse limits provide a powerful tool for constructing complicated spaces from simple ones. They also turn the study of a dynamical system consisting of a space and a self-map into a study of a (likely more complicated) space and a self-homeomorphism. In four chapters along with an appendix containing background material the authors develop the theory of inverse limits. The book begins with an introduction through inverse limits on [0,1] before moving to a general treatment of the subject. Special topics in continuum theory complete the book. Although it is not a book on dynamics, the influen
Parkhurst, David L.; Appelo, C.A.J.
2013-01-01
PHREEQC version 3 is a computer program written in the C and C++ programming languages that is designed to perform a wide variety of aqueous geochemical calculations. PHREEQC implements several types of aqueous models: two ion-association aqueous models (the Lawrence Livermore National Laboratory model and WATEQ4F), a Pitzer specific-ion-interaction aqueous model, and the SIT (Specific ion Interaction Theory) aqueous model. Using any of these aqueous models, PHREEQC has capabilities for (1) speciation and saturation-index calculations; (2) batch-reaction and one-dimensional (1D) transport calculations with reversible and irreversible reactions, which include aqueous, mineral, gas, solid-solution, surface-complexation, and ion-exchange equilibria, and specified mole transfers of reactants, kinetically controlled reactions, mixing of solutions, and pressure and temperature changes; and (3) inverse modeling, which finds sets of mineral and gas mole transfers that account for differences in composition between waters within specified compositional uncertainty limits. Many new modeling features were added to PHREEQC version 3 relative to version 2. The Pitzer aqueous model (pitzer.dat database, with keyword PITZER) can be used for high-salinity waters that are beyond the range of application for the Debye-Hückel theory. The Peng-Robinson equation of state has been implemented for calculating the solubility of gases at high pressure. Specific volumes of aqueous species are calculated as a function of the dielectric properties of water and the ionic strength of the solution, which allows calculation of pressure effects on chemical reactions and the density of a solution. The specific conductance and the density of a solution are calculated and printed in the output file. In addition to Runge-Kutta integration, a stiff ordinary differential equation solver (CVODE) has been included for kinetic calculations with multiple rates that occur at widely different time scales
Compound nucleus studies withy reverse kinematics
International Nuclear Information System (INIS)
Moretto, L.G.
1985-06-01
Reverse kinematics reactions are used to demonstrate the compound nucleus origin of intermediate mass particles at low energies and the extension of the same mechanism at higher energies. No evidence has appeared in our energy range for liquid-vapor equilibrium or cold fragmentation mechanisms. 11 refs., 12 figs
The decay of hot nuclei formed in La-induced reactions at intermediate energies
International Nuclear Information System (INIS)
Libby, B.; Mignerey, A.C.; Madani, H.; Marchetti, A.A.; Colonna, M.; DiToro, M.
1992-01-01
The decay of hot nuclei formed in lanthanum-induced reactions utilizing inverse kinematics has been studied from E/A = 35 to 55 MeV. At each bombarding energy studied, the probability for the multiple emission of complex fragments has been found to be independent of target. Global features (total charge, source velocity) of the reaction La + Al at E/A = 45 MeV have been reproduced by coupling a dynamical model to study the collision stage of the reaction to a statistical model of nuclear decay
Khatib, Oussama
2014-01-01
The topics addressed in this book cover the whole range of kinematic analysis, synthesis and design and consider robotic systems possessing serial, parallel and cable driven mechanisms. The robotic systems range from being less than fully mobile to kinematically redundant to overconstrained. The fifty-six contributions report the latest results in robot kinematics with emphasis on emerging areas such as design and control of humanoids or humanoid subsystems. The book is of interest to researchers wanting to bring their knowledge up to date regarding modern topics in one of the basic disciplines in robotics, which relates to the essential property of robots, the motion of mechanisms.
Nizam Uddin
2013-01-01
Inverse interpolation is the process of finding the values of the argument corresponding to a given value of the function when the latter is intermediate between two tabulated values. The finite differences are differences between the values of the function or the difference between the past differences. Finite differences are forward difference, backward difference and divide difference. Temperature, concentration of substrate, concentration of enzyme and other factors are affected the rate ...
Energy Technology Data Exchange (ETDEWEB)
Nurmukhanbetova, A.K. [National Laboratory Astana, Nazarbayev University, Astana 010000 (Kazakhstan); Goldberg, V.Z. [Cyclotron Institute, Texas A& M University, College Station, TX (United States); Nauruzbayev, D.K. [National Laboratory Astana, Nazarbayev University, Astana 010000 (Kazakhstan); Saint Petersburg State University, Saint Petersburg (Russian Federation); Rogachev, G.V. [Cyclotron Institute, Texas A& M University, College Station, TX (United States); Golovkov, M.S. [Joint Institute of Nuclear Research, Dubna (Russian Federation); Dubna State University, Dubna (Russian Federation); Mynbayev, N.A. [National Laboratory Astana, Nazarbayev University, Astana 010000 (Kazakhstan); Artemov, S.; Karakhodjaev, A. [Institute of Nuclear Physics, Tashkent (Uzbekistan); Kuterbekov, K. [L.N. Gumilov Eurasian National University, Astana (Kazakhstan); Rakhymzhanov, A. [National Laboratory Astana, Nazarbayev University, Astana 010000 (Kazakhstan); Berdibek, Zh. [School of Science and Technology, Nazarbayev University, Astana (Kazakhstan); Ivanov, I. [Institute of Nuclear Physics, Astana (Kazakhstan); Tikhonov, A. [School of Science and Technology, Nazarbayev University, Astana (Kazakhstan); Zherebchevsky, V.I.; Torilov, S. Yu. [Saint Petersburg State University, Saint Petersburg (Russian Federation); Tribble, R.E. [Cyclotron Institute, Texas A& M University, College Station, TX (United States)
2017-03-01
To study resonance reactions of heavy ions at low energy we have combined the Thick Target Inverse Kinematics Method (TTIK) with Time of Flight method (TF). We used extended target and TF to resolve the identification problems of various possible nuclear processes inherent to the simplest popular version of TTIK. Investigations of the {sup 15}N interaction with hydrogen and helium gas targets by using this new approach are presented.
Kinematic analysis of platform-type robotic manipulators
Shi, Xiaolun
New methods are developed for the kinematic analysis of serial and platform-type parallel robotic manipulators, including forward and inverse kinematic solutions, singularity identifications and workspace evaluation. Differences between serial and platform-type parallel manipulators, which can provide substantially improved end-point rigidity compared with the conventional serial robotic arms, are addressed. The problem of determining the screw parameters of rigid body motion from initial and final position data is discussed, as a basis to search for a general and efficient procedure to solve the complex forward kinematics problem of platform-type manipulators. Several Screw-Theory based approaches for solving the inverse instantaneous problem of 6 DOF serial manipulators are studied and compared in terms of their computational efficiency, accuracy, sensitivity to data error and capability of dealing with singularities. A modified Vector Decomposition method is then proposed for solving the IIK problem and for singularity analysis of serial kinematic chains, the method is especially effective when applied to the wrist partitioned serial manipulators, which are essential components to any platform-type parallel manipulators. By using the data of three point positions, velocities, and accelerations of the end effector a general method is developed for solving the forward kinematics problem, including position, velocity and acceleration kinematics, of platform-type manipulators. The solution procedure can be applied to a wide variety of platform-type manipulators such as the 6 DOF Steward Platform manipulator and other models. It is found that while the solution for the forward position kinematics of a platform-type manipulator can be obtained by solving a non-linear system of equations, the closed-form solutions for forward rate and acceleration kinematics can be found by solving a system of linear equations. Based on the proposed kinematic formulations, an algorithm
Extended methods using thick-targets for nuclear reaction data of radioactive isotopes
Ebata, Shuichiro; Aikawa, Masayuki; Imai, Shotaro
2017-09-01
The nuclear transmutation is a technology to dispose of radioactive wastes. However, we do not have enough basic data for its developments, such as thick-target yields (TTY) and the interaction cross sections for radioactive material. We suggest two methods to estimate the TTY using inverse kinematics and to obtain the excitation function of the interaction cross sections which is named the thick-target transmission (T3) method. We deduce the energy-dependent conversion relation between the TTYs of the original system and its inverse kinematics, which can be replaced to a constant coefficient in the high energy region. Furthermore we show the usefulness of the T3 method to investigate the excitation function of the 12C + 27Al reaction in the simulation.
Yeow, C H; Lee, P V S; Goh, J C H
2009-08-25
Lack of the necessary magnitude of energy dissipation by lower extremity joint muscles may be implicated in elevated impact stresses present during landing from greater heights. These increased stresses are experienced by supporting tissues like cartilage, ligaments and bones, thus aggravating injury risk. This study sought to investigate frontal plane kinematics, kinetics and energetics of lower extremity joints during landing from different heights. Eighteen male recreational athletes were instructed to perform drop-landing tasks from 0.3- to 0.6-m heights. Force plates and motion-capture system were used to capture ground reaction force and kinematics data, respectively. Joint moment was calculated using inverse dynamics. Joint power was computed as a product of joint moment and angular velocity. Work was defined as joint power integrated over time. Hip and knee joints delivered significantly greater joint power and eccentric work (phip joint in response to increasing landing height. Knee and hip joints acted as key contributors to total energy dissipation in the frontal plane with increase in peak ground reaction force (GRF). The hip joint was the top contributor to energy absorption, which indicated a hip-dominant strategy in the frontal plane in response to peak GRF during landing. Future studies should investigate joint motions that can maximize energy dissipation or reduce the need for energy dissipation in the frontal plane at the various joints, and to evaluate their effects on the attenuation of lower extremity injury risk during landing.
Biquaternions and relativistic kinematics
International Nuclear Information System (INIS)
Bogush, A.A.; Kurochkin, Yu.A.; Fedorov, F.I.
1979-01-01
The problems concerning the use of quaternion interpretation of the Lorentz group vector parametrization are considered for solving relativistic kinematics problems. A vector theory convenient for describing the characteristic features of the Lobachevsky space is suggested. The kinematics of elementary particle scattering is investigated on the basis of this theory. A synthesis of vector parametrization and of quaternion calculation has been shown to lead to natural formulation of the theory of vectors in the three-dimensional Lobachevsky space, realized on mass hyperboloids of relativistic particles
Kinematic Analysis of 3-DOF Planer Robot Using Artificial Neural Network
Directory of Open Access Journals (Sweden)
Jolly Atit Shah
2012-07-01
Full Text Available Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 3-DOF robotic manipulator with revolute joints. In this study the Denavit- Hartenberg (D-H model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks for 3-DOF robotic manipulator. It shows that by using artificial neural network the solution we get is faster, acceptable and has zero error.
Kinematics of an infinitely flexible robot arm
Choi, P. J.; Rice, J. A.; Cesarone, J. C.
1993-06-01
An effort is made to define a command-and-control algorithm for a flexible robot arm design which maximizes flexibility through its large number of degrees-of-freedom, in the manner of a 'tentacle'. Algorithms including both forward and inverse kinematics are developed for commanding smooth arm motions in the presence of obstacles, on the basis of Catmull-Rom splines and local radius-of-curvature commands to discrete actuators along the length of the arm. Sample trajectories are examined, and a spline-curve algorithm is successfully applied for this arm configuration; the accuracy and collision-avoidance of the arm are verified by means of a simulation.
Nelson, Jane Bray; Nelson, Jim
2009-01-01
Written by Jim and Jane Nelson, Teaching About Kinematics is the latest AAPT/PTRA resource book. Based on physics education research, the book provides teachers with the resources needed to introduce students to some of the fundamental building blocks of physics. It is a carefully thought-out, step-by-step laboratory-based introduction to the…
Kinematics Analysis and Simulation on Transfer Robot with Six Degrees of Freedom
Directory of Open Access Journals (Sweden)
Yi Lu
2014-08-01
Full Text Available Study focuses on transfer robot with Six Degrees of Freedom, establishing kinematic equation by D-H method, analyzing forward kinematics and obtaining inverse kinematics by using method of inverse transform. Based on vector product, it develops velocity Jacobian matrix of robot. The geometric model of robot virtual prototype is established by SolidWorks software and generates parameters such as mass and moment. Kinematic simulation for robot is performed by Mathematica software and develops curve graph of displacement, velocity and accelerated speed in x, y and z direction in end executor center of robot with measurement, analysis and assessment, which provides foundation for further kinematics analysis and structure optimization as well as motion control of robot.
Studies of (p, γ) reactions with the Daresbury Recoil Separator at ORNL'S HRIBF
International Nuclear Information System (INIS)
Fitzgerald, R.; Abbotoy, E.; Bardayan, D.W.; Blackmon, J.C.; Champagne, A.E.; Chen, A.A.; Greife, U.; Hill, D.W.; James, A.N.; Kozub, R.L.; Lewis, T.A.; Livesay, R.; Ma, Z.; Mahan, S.L.; McConnell, J.W.; Milner, W.T.; Moazen, B.H.; Parker, P.D.; Pierce, D.E.; Roettger, M.E.; Sahin, L.; Shapira, D.; Smith, M.S.; Strieder, F.; Swartz, K.B.; Thomas, J.S.; Visser, D.W.
2005-01-01
The fusion of protons with radioactive nuclei is important in stellar explosions such as novae and X-ray bursts and for the production of neutrinos in the sun. The Daresbury Recoil Separator and a windowless gas target system have been installed at ORNL's Holifield Radioactive Ion Beam Facility (HRIBF) for measurements of proton capture reactions in inverse kinematics with radioactive ion beams. The performance of the system has been characterized with a number of experiments using stable ion beams. We report on results from these commissioning measurements and plans for measurements of the 1 H( 17 F, 18 Ne) and 1 H( 7 Be, 8 B) reactions
Kinematic Analysis Towards Glueballs
Giani, Simone; Trentadue, Luca
2013-01-01
In the present work a consistent kinematic-based framework for glueball states is proposed. It relates the glueball, the Pomeron, QCD lattice calculations, the $0^{++}$ scalar states $f_0(1710)$ and $\\chi_{c0}(1P)$, the $2^{++}$ states $f_J(2220)$ and $\\chi_{c2}(2P)$, the baryonic charmed state $\\Xi_c^+(2645)$ and color transparency.
Speaker independent acoustic-to-articulatory inversion
Ji, An
Acoustic-to-articulatory inversion, the determination of articulatory parameters from acoustic signals, is a difficult but important problem for many speech processing applications, such as automatic speech recognition (ASR) and computer aided pronunciation training (CAPT). In recent years, several approaches have been successfully implemented for speaker dependent models with parallel acoustic and kinematic training data. However, in many practical applications inversion is needed for new speakers for whom no articulatory data is available. In order to address this problem, this dissertation introduces a novel speaker adaptation approach called Parallel Reference Speaker Weighting (PRSW), based on parallel acoustic and articulatory Hidden Markov Models (HMM). This approach uses a robust normalized articulatory space and palate referenced articulatory features combined with speaker-weighted adaptation to form an inversion mapping for new speakers that can accurately estimate articulatory trajectories. The proposed PRSW method is evaluated on the newly collected Marquette electromagnetic articulography -- Mandarin Accented English (EMA-MAE) corpus using 20 native English speakers. Cross-speaker inversion results show that given a good selection of reference speakers with consistent acoustic and articulatory patterns, the PRSW approach gives good speaker independent inversion performance even without kinematic training data.
Energy Technology Data Exchange (ETDEWEB)
Penel-Nottaris, E
2004-07-01
The Jefferson Lab Hall A E89-044 experiment has measured the He{sup 3}(e,e'p) reaction cross-sections. The extraction of the longitudinal and transverse response functions for the two-body break-up He{sup 3}(e,e'p)d reaction in parallel kinematics allows the study of the bound proton electromagnetic properties inside the He{sup 3} nucleus and the involved nuclear mechanisms beyond plane waves approximations, for missing momenta of 0 and +- 300 MeV/c and transferred momenta from 0.8 to 4.1 GeV{sup 2}. Preliminary cross-sections have been obtained after calibration of the experimental setup by fitting theoretical models averaged over the experimental phase-space using a Monte-Carlo simulation. The 8% systematic error on cross-sections is linked mainly to the absolute normalization of the target density: the elastic scattering data analysis will allow to reduce this error. The preliminary results show some disagreement with theoretical predictions for the forward angles kinematics around 0 MeV/c missing momenta and sensitivity to final state interactions and He{sup 3} waves functions for missing momenta of 300 MeV/c. The longitudinal and transverse separation should constraint theoretical models more strongly. (author)
INVERSE ELECTRON TRANSFER IN PEROXYOXALATE CHEMIEXCITATION USING EASILY REDUCIBLE ACTIVATORS
Bartoloni, Fernando Heering; Monteiro Leite Ciscato, Luiz Francisco; Augusto, Felipe Alberto; Baader, Wilhelm Josef
2010-01-01
INVERSE ELECTRON TRANSFER IN PEROXYOXALATE CHEMIEXCITATION USING EASILY REDUCIBLE ACTIVATORS. Chemiluminescence properties of the peroxyoxalate reaction in the presence of activators bearing electron withdrawing substituents were studied, to evaluate the possible occurrence of an inverse electron
Dynamic Inversion of Intraslab Intermediate Depth Earthquakes
Madariaga, R. I.; Ruiz, S.
2011-12-01
We perform kinematic and dynamic inversions of the 24 July 2008 (Mw=6.8) Iwate northern Japan and 16 December 2007 (Mw 6.8) Michilla, Chile earthquakes using near field strong motion digital data. The data were filtered between 0.02 - 1 Hz. The rupture process is simulated with elliptical patches because we are looking for the average properties of the seismic rupture. The direct dynamic simulation problem was solved by a combination of finite difference modeling on a 32 km3 grid with 200 m spacing, and propagation from source to recorders using the AXITRA spectral program. For both earthquakes we used layered models of the structure. The Neighborhood algorithm and Monte Carlo methods are used to obtain the best fitting solutions and to explore the solution space. The optimum solutions are found comparing observed and synthetic records using an L2 norm. Both kinematic and dynamic inversions fit the observed data with misfits lower than 0.3. For both earthquakes, kinematic inversion shows strong trade-off between rupture velocity and maximum slip although the seismic moment remains invariant. Rupture velocities vary between sub-shear speeds to almost Rayleigh wave speeds. In the dynamic inversions 10 seismic source parameters were inverted for the Michilla earthquake and 8 parameters for the Iwate event, among them stress, friction and geometrical parameters. For the Iwate event the properties of the initial asperity at the source were not inverted because they could not be resolved by the data. In the dynamic inversion we observed a strong trade off among the friction law parameters. The best dynamic models form a family of that shares similar values of seismic moment and kappa (the ratio of released strain energy to energy release rate for friction). Kinematic and dynamic inversions in the 0.02 - 1 Hz frequency range form a set of non-unique solutions controlled by specific combinations of seismic source parameters. We discuss the origin of the non-uniqueness of
DeLuca, R.
2005-11-01
The problem of the optimum throw in the shot-put discipline is analysed by relaxing the assumption that the height H, from which the athlete releases the shot, does not depend on the angle θ which the arm of the putter makes with the horizontal axis. In this context, the kinematics of the shot-put is studied and results are compared with the traditional analysis, which considers the height H, the angle θ and the modulus V0 of the initial velocity of the metal sphere as independent parameters.
Dooner, David B
2012-01-01
Building on the first edition published in 1995 this new edition of Kinematic Geometry of Gearing has been extensively revised and updated with new and original material. This includes the methodology for general tooth forms, radius of torsure', cylinder of osculation, and cylindroid of torsure; the author has also completely reworked the '3 laws of gearing', the first law re-written to better parallel the existing 'Law of Gearing" as pioneered by Leonard Euler, expanded from Euler's original law to encompass non-circular gears and hypoid gears, the 2nd law of gearing describing a unique relat
Nguyen, Charles C.; Pooran, Farhad J.
1989-01-01
This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.
Kinematics and design of a class of parallel manipulators
Hertz, Roger Barry
1998-12-01
This dissertation is concerned with the kinematic analysis and design of a class of three degree-of-freedom, spatial parallel manipulators. The class of manipulators is characterized by two platforms, between which are three legs, each possessing a succession of revolute, spherical, and revolute joints. The class is termed the "revolute-spherical-revolute" class of parallel manipulators. Two members of this class are examined. The first mechanism is a double-octahedral variable-geometry truss, and the second is termed a double tripod. The history the mechanisms is explored---the variable-geometry truss dates back to 1984, while predecessors of the double tripod mechanism date back to 1869. This work centers on the displacement analysis of these three-degree-of-freedom mechanisms. Two types of problem are solved: the forward displacement analysis (forward kinematics) and the inverse displacement analysis (inverse kinematics). The kinematic model of the class of mechanism is general in nature. A classification scheme for the revolute-spherical-revolute class of mechanism is introduced, which uses dominant geometric features to group designs into 8 different sub-classes. The forward kinematics problem is discussed: given a set of independently controllable input variables, solve for the relative position and orientation between the two platforms. For the variable-geometry truss, the controllable input variables are assumed to be the linear (prismatic) joints. For the double tripod, the controllable input variables are the three revolute joints adjacent to the base (proximal) platform. Multiple solutions are presented to the forward kinematics problem, indicating that there are many different positions (assemblies) that the manipulator can assume with equivalent inputs. For the double tripod these solutions can be expressed as a 16th degree polynomial in one unknown, while for the variable-geometry truss there exist two 16th degree polynomials, giving rise to 256
Kinematic adjustments to seismic recordings
Energy Technology Data Exchange (ETDEWEB)
Telegin, A.N.; Levii, N.V.; Volovik, U.M.
1981-01-01
The introduction of kinematic adjustments by adding the displaced blocks is studied theoretically and in test seismograms. The advantage to this method resulting from the weight variation in the trace is demonstrated together with its kinematic drawback. A variation on the displaced block addition method that does not involve realignment of the travel time curves and that has improved amplitude characteristics is proposed.
International Nuclear Information System (INIS)
Chang, Pyung-Hun; Park, Joon-Young
2002-01-01
This paper presents a Task Oriented Design method for robot kinematics based on grid method, widely used in finite difference method and heat transfer/fluid flow analyses. This approach drastically reduces complexities and computational burden due to previous approaches. More specifically, the grid method with a new formulation simplifies the design to a problem of three-design-variable unit grid, which does not require to solve inverse/forward kinematics. The effectiveness of the grid method has been confirmed through a kinematics design of a robot for nuclear power plants. (author)
Kinematics and optimization of 2-DOF parallel manipulator with revolute actuators and a passive leg
Energy Technology Data Exchange (ETDEWEB)
Nam, Yun Joo; Park, Myeong Kwan [Pusan National University, Busan (Korea, Republic of)
2006-06-15
In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed : the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are found. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator.
Kinematics and optimization of 2-DOF parallel manipulator with revolute actuators and a passive leg
International Nuclear Information System (INIS)
Nam, Yun Joo; Park, Myeong Kwan
2006-01-01
In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed : the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are found. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator
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
Directory of Open Access Journals (Sweden)
Halis Aygün
2008-01-01
Full Text Available We introduce definitions of fuzzy inverse compactness, fuzzy inverse countable compactness, and fuzzy inverse Lindelöfness on arbitrary -fuzzy sets in -fuzzy topological spaces. We prove that the proposed definitions are good extensions of the corresponding concepts in ordinary topology and obtain different characterizations of fuzzy inverse compactness.
Studies of Nuclei Close to 132Sn Using Single-Neutron Transfer Reactions
International Nuclear Information System (INIS)
Jones, K.L.; Pain, S.D.; Kozub, R.L.; Adekola, Aderemi S.; Bardayan, Daniel W.; Blackmon, Jeff C.; Catford, Wilton N.; Chae, K.Y.; Chipps, K.; Cizewski, J.A.; Erikson, Luke; Gaddis, A.L.; Greife, U.; Grzywacz, R.K.; Harlin, Christopher W.; Hatarik, Robert; Howard, Joshua A.; James, J.; Kapler, R.; Krolas, W.; Liang, J. Felix; Ma, Zhanwen; Matei, Catalin; Moazen, Brian; Nesaraja, Caroline D.; O'Malley, Patrick; Patterson, N.P.; Paulauskas, Stanley; Shapira, Dan; Shriner, J.F. Jr.; Sikora, M.; Sissom, D.J.; Smith, Michael Scott; Swan, T.P.; Thomas, J.S.; Wilson, Gemma L.
2009-01-01
Neutron transfer reactions were performed in inverse kinematics using radioactive ion beams of 132Sn, 130Sn, and 134Te and deuterated polyethylene targets. Preliminary results are presented. The Q-value spectra for 133Sn, 131Sn and 135Te reveal a number of previously unobserved peaks. The angular distributions are compatible with the expected lf7/2 nature of the ground state of 133Sn, and 2p3/2 for the 3.4 MeV state in 131Sn.
Atar, L.; Paschalis, S.; Barbieri, C.; Bertulani, C. A.; Díaz Fernández, P.; Holl, M.; Najafi, M. A.; Panin, V.; Alvarez-Pol, H.; Aumann, T.; Avdeichikov, V.; Beceiro-Novo, S.; Bemmerer, D.; Benlliure, J.; Boillos, J. M.; Boretzky, K.; Borge, M. J. G.; Caamaño, M.; Caesar, C.; Casarejos, E.; Catford, W.; Cederkall, J.; Chartier, M.; Chulkov, L.; Cortina-Gil, D.; Cravo, E.; Crespo, R.; Dillmann, I.; Elekes, Z.; Enders, J.; Ershova, O.; Estrade, A.; Farinon, F.; Fraile, L. M.; Freer, M.; Galaviz Redondo, D.; Geissel, H.; Gernhäuser, R.; Golubev, P.; Göbel, K.; Hagdahl, J.; Heftrich, T.; Heil, M.; Heine, M.; Heinz, A.; Henriques, A.; Hufnagel, A.; Ignatov, A.; Johansson, H. T.; Jonson, B.; Kahlbow, J.; Kalantar-Nayestanaki, N.; Kanungo, R.; Kelic-Heil, A.; Knyazev, A.; Kröll, T.; Kurz, N.; Labiche, M.; Langer, C.; Le Bleis, T.; Lemmon, R.; Lindberg, S.; Machado, J.; Marganiec-Gałązka, J.; Movsesyan, A.; Nacher, E.; Nikolskii, E. Y.; Nilsson, T.; Nociforo, C.; Perea, A.; Petri, M.; Pietri, S.; Plag, R.; Reifarth, R.; Ribeiro, G.; Rigollet, C.; Rossi, D. M.; Röder, M.; Savran, D.; Scheit, H.; Simon, H.; Sorlin, O.; Syndikus, I.; Taylor, J. T.; Tengblad, O.; Thies, R.; Togano, Y.; Vandebrouck, M.; Velho, P.; Volkov, V.; Wagner, A.; Wamers, F.; Weick, H.; Wheldon, C.; Wilson, G. L.; Winfield, J. S.; Woods, P.; Yakorev, D.; Zhukov, M.; Zilges, A.; Zuber, K.; R3B Collaboration
2018-01-01
Quasifree one-proton knockout reactions have been employed in inverse kinematics for a systematic study of the structure of stable and exotic oxygen isotopes at the R3B /LAND setup with incident beam energies in the range of 300 - 450 MeV /u . The oxygen isotopic chain offers a large variation of separation energies that allows for a quantitative understanding of single-particle strength with changing isospin asymmetry. Quasifree knockout reactions provide a complementary approach to intermediate-energy one-nucleon removal reactions. Inclusive cross sections for quasifree knockout reactions of the type O A (p ,2 p )N-1A have been determined and compared to calculations based on the eikonal reaction theory. The reduction factors for the single-particle strength with respect to the independent-particle model were obtained and compared to state-of-the-art ab initio predictions. The results do not show any significant dependence on proton-neutron asymmetry.
Relationship between ankle frontal plane kinematics during different functional tasks.
Donovan, Luke; Feger, Mark A
2017-05-01
Increased inversion following lateral ankle sprain and in patients with chronic ankle instability (CAI) is thought to contribute to recurrent injury and feelings of instability, however, there are no biomechanic assessment tools readily available to evaluate for excessive inversion prior to or following lateral ankle sprains. Before establishing a clinically useful biomechanic assessment tool, it is important to understand whether there is a relationship in the extent of ankle frontal plane motion across various tasks to help determine if one task or a combination of tasks would be most appropriate when evaluating patients. The purpose of this preliminary study was to analyze the relationship between ankle frontal plane kinematics during walking, step-down, and jump-landing tasks. Fifty-six recreationally active adults (gender=M:26;F:30, age=21.2±3.2, height=171.3±8.0cm, mass=75.6±15.4) volunteered. Main outcome measures were ankle frontal plane motion at initial contact and peak inversion during aerial phases across 3 tasks (walking, step-down, and jump-landing). Relationships between ankle frontal plane kinematics were analyzed by Pearson product-moment correlation coefficient (r). There were strong correlations in peak inversion during the aerial phase between the step-down and walking (r=0.68; pbiomechanics. Copyright © 2017 Elsevier Ltd. All rights reserved.
Detailed solution to a complex kinematics chain manipulator
Energy Technology Data Exchange (ETDEWEB)
March-Leuba, S; Jansen, J F; Kress, R L; Babcock, S M
1992-01-01
This paper presents a relatively simple method based on planar geometry to analyze the inverse kinematics for closed kinematics chain (CKC) mechanisms. Although the general problem and method of approach are well defined, the study of the inverse kinematics of a closed-chain mechanism is a very complicated one. The current methodology allows closed-form solutions to be found, if a solution exists, for the displacements and velocities of all manipulator joints. Critical design parameters can be identified and optimized by using symbolic models. This paper will focus on planar closed-chain structures extended with a rotational base. However, with open and CKC mechanisms combined in different planes, the extension to the case is straightforward. Further, real-time algorithms are developed that can be handled by existing microprocessor technology. To clarify the methodology, the Soldier Robot Interface Project (SRIP) manipulator is analyzed, and a graphic simulation is presented as a verification of the results. This manipulator has 17 links, 24 one-degree-of-freedom (DOF) joints, and 7 CKC loops working in a plane and a rotational base, which determine its 3 DOFs. The SRIP manipulator allows a decoupled linear motion along the vertical or horizontal directions using only one of its linear actuators. The symbolic solution for the inverse kinematics allows optimization to be performed to further decouple the Cartesian motions by changing link lengths of the manipulator. The conclusion achieved by the optimization is that only two link lengths need to be changed to tune the manipulator for a perfect decoupling at each area of the workspace.
Detailed solution to a complex kinematics chain manipulator
International Nuclear Information System (INIS)
March-Leuba, S.; Jansen, J.F.; Kress, R.L.; Babcock, S.M.
1992-01-01
This paper presents a relatively simple method based on planar geometry to analyze the inverse kinematics for closed kinematics chain (CKC) mechanisms. Although the general problem and method of approach are well defined, the study of the inverse kinematics of a closed-chain mechanism is a very complicated one. The current methodology allows closed-form solutions to be found, if a solution exists, for the displacements and velocities of all manipulator joints. Critical design parameters can be identified and optimized by using symbolic models. This paper will focus on planar closed-chain structures extended with a rotational base. However, with open and CKC mechanisms combined in different planes, the extension to the case is straightforward. Further, real-time algorithms are developed that can be handled by existing microprocessor technology. To clarify the methodology, the Soldier Robot Interface Project (SRIP) manipulator is analyzed, and a graphic simulation is presented as a verification of the results. This manipulator has 17 links, 24 one-degree-of-freedom (DOF) joints, and 7 CKC loops working in a plane and a rotational base, which determine its 3 DOFs. The SRIP manipulator allows a decoupled linear motion along the vertical or horizontal directions using only one of its linear actuators. The symbolic solution for the inverse kinematics allows optimization to be performed to further decouple the Cartesian motions by changing link lengths of the manipulator. The conclusion achieved by the optimization is that only two link lengths need to be changed to tune the manipulator for a perfect decoupling at each area of the workspace
The kinematics of lopsided galaxies
Noordermeer, Edo; Sparke, Linda S.; Levine, Stephen E.
2001-01-01
Lopsidedness is a common feature in galaxies, both in the distribution of light and in the kinematics. We investigate the kinematics of a model for lopsided galaxies that consists of a disc lying off-centre in a dark halo, and circling around the halo centre. We search for families of stable, closed, non-crossing orbits, and assume that gas in our galaxies moves on these orbits. Several of our models show strong lopsided gas kinematics, especially the ones in which the disc spins around its a...
Energy Technology Data Exchange (ETDEWEB)
Jeong, Kyu Won; Yoo, Ju Sang; Kim, Jong Yoon [Chungbuk National University, Chongju (Korea)
2000-03-01
In the project of 'Development of Spent Fuel Remote Handling Technology', Preprocessing technique, mechanism and teleoperation technique are being developed. One of the mechanisms is a device for disassembling of the spent fuel bundle. However, there may be abnormal fuel bar among the fuel bundle, In this case the unpacking task will be difficult and dangerous. So, in that case, a force reflected teleoperation manipulator is desirable. The system is composed of a anthropomorphic input device at control site, power manipulator at remote site and control system. In this research, the forward and inverse kinematic equations of input device and manipulators has been solved, respectively. In addition, the mapping algorithm is proposed and shown using computer simulation. The reaction force of the telemanipulator with the environmental object is reflected through control system. The reaction force is decomposed into joint torque of the input device based on the jacobian equation. The obtained theoretical relations are verified through computer simulation and they will be used effectively in the spent fuel remote handling technology. 6 refs., 26 figs., 7 tabs. (Author)
Design of SECAR a recoil mass separator for astrophysical capture reactions with radioactive beams
Berg, G. P. A.; Couder, M.; Moran, M. T.; Smith, K.; Wiescher, M.; Schatz, H.; Hager, U.; Wrede, C.; Montes, F.; Perdikakis, G.; Wu, X.; Zeller, A.; Smith, M. S.; Bardayan, D. W.; Chipps, K. A.; Pain, S. D.; Blackmon, J.; Greife, U.; Rehm, K. E.; Janssens, R. V. F.
2018-01-01
A recoil mass separator SECAR has been designed for the purpose of studying low-energy (p , γ) and (α , γ) reactions in inverse kinematics with radioactive beams for masses up to about A = 65. Their reaction rates are of importance for our understanding of the energy production and nucleosynthesis during explosive hydrogen and helium burning. The radiative capture reactions take place in a windowless hydrogen or He gas target at the entrance of the separator, which consists of four Sections. The first Section selects the charge state of the recoils. The second and third Sections contain Wien Filters providing high mass resolving power to separate efficiently the intense beam from the few reaction products. In the following fourth Section, the reaction products are guided into a detector system capable of position, angle and time-of-flight measurements. In order to accept the complete kinematic cone of recoil particles including multiple scattering in the target in the center of mass energy range of 0.2 MeV to 3.0 MeV, the system must have a large polar angle acceptance of ± 25 mrad. This requires a careful minimization of higher order aberrations. The present system will be installed at the NSCL ReA3 accelerator and will be used with the much higher beam intensities of the FRIB facility when it becomes available.
Dynamics of anion-molecule reactions at low energy
Energy Technology Data Exchange (ETDEWEB)
Mikosch, J.
2007-11-15
Anion-molecule reactions must find their way through deeply bound entrance and exit channel complexes separated by a central barrier. This results in low reaction rates and rich dynamics since direct pathways compete with the formation of transient intermediates. In this thesis we examine the probability of proton transfer to a small anion and transient lifetimes of a thermoneutral bimolecular nucleophilic substitution (S{sub N}2) reaction at well defined variable temperature down to 8 Kelvin in a multipole trap. The observed strong inverse temperature dependence is attributed to the deficit of available quantum states in the entrance channel at decreasing temperature. Furthermore we investigate scattering dynamics of S{sub N}2 reactions at defined relative energy between 0.4 and 10 eV by crossed beam slice imaging. A weakly exothermic reaction with high central barrier proceeds via an indirect, complex-mediated mechanism at low relative energies featuring high internal product excitation in excellent quantitative agreement with a statistical model. In contrast, direct backward scattering prevails for higher energies with product velocities close to the kinematical cutoff. For a strongly exothermic reaction, competing S{sub N}2-, dihalide- and proton transfer-channels are explored which proceed by complex mediation for low energy and various rebound-, grazing- and collision induced bond rupture-mechanisms at higher energy. From our data and a collaboration with theory we identify a new indirect roundabout S{sub N}2 mechanism involving CH{sub 3}-rotation. (orig.)
Dynamics of anion-molecule reactions at low energy
International Nuclear Information System (INIS)
Mikosch, J.
2007-11-01
Anion-molecule reactions must find their way through deeply bound entrance and exit channel complexes separated by a central barrier. This results in low reaction rates and rich dynamics since direct pathways compete with the formation of transient intermediates. In this thesis we examine the probability of proton transfer to a small anion and transient lifetimes of a thermoneutral bimolecular nucleophilic substitution (S N 2) reaction at well defined variable temperature down to 8 Kelvin in a multipole trap. The observed strong inverse temperature dependence is attributed to the deficit of available quantum states in the entrance channel at decreasing temperature. Furthermore we investigate scattering dynamics of S N 2 reactions at defined relative energy between 0.4 and 10 eV by crossed beam slice imaging. A weakly exothermic reaction with high central barrier proceeds via an indirect, complex-mediated mechanism at low relative energies featuring high internal product excitation in excellent quantitative agreement with a statistical model. In contrast, direct backward scattering prevails for higher energies with product velocities close to the kinematical cutoff. For a strongly exothermic reaction, competing S N 2-, dihalide- and proton transfer-channels are explored which proceed by complex mediation for low energy and various rebound-, grazing- and collision induced bond rupture-mechanisms at higher energy. From our data and a collaboration with theory we identify a new indirect roundabout S N 2 mechanism involving CH 3 -rotation. (orig.)
Kinematic Calibration of a Six DOF Flexure-based Parallel Manipulator
Timmer Arends, J.H.; Voss, K.H.J.; Hakvoort, W.K.; Aarts, R.G.K.M.
2017-01-01
The absence of friction, hysteresis and backlash makes flexure-based mechanisms well-suited for high precision manipulators. However, the (inverse) kinematic relation between actuators and end-effector is far from trivial due to the non-linear behaviour of the deforming compliant joints. In this
Fission of highly excited nuclei investigated in complete kinematic measurements
International Nuclear Information System (INIS)
Rodriguez-Sanchez, J. L.; Benlliure, J.; Taieb, J.; Avarez-Pol, H.; Audouin, L.; Ayyad, Y.; Belier, G.; Boutoux, G.; Casarejos, E.; Chatillon, A.; Cortina-Gil, D.; Gorbinet, T.; Heinz, A.; Kelic-Heil, A.; Kurz, N.; Laurent, B.; Martin, J. F.; Paradela, C.; Pellereau, E.; Pietras, B.; Prochazka, A.; Ramos, D.; Rodriguez-Tajes, C.; Rossi, D.; Simon, H.; Tassan-Got, L.; Vargas, J.; Voss, B.
2013-01-01
Fission is an extremely complex mechanism that requires a dynamical approach to describe the evolution of the process in terms of intrinsic and collective excitations of the nuclear constituents. In order to determine these effects a complex experimental setup was mounted at GSI, which allowed us for the first time the full identification in charge and mass of all fission fragments thanks to a magnetic separation and the use of the inverse kinematic technique. Moreover, we also measured the neutron multiplicities and the light-charged particles emitted in coincidence with fission. These complete kinematic measurements will be used to define sensitive observables to dissipative and transient effects in fission. In this manuscript we present the first results for the total fission cross sections. (authors)
Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics
Directory of Open Access Journals (Sweden)
Alejandro Said
2015-01-01
Full Text Available This paper presents an explicit, omnidirectional, analytical, and decoupled closed-form solution for the lower limb kinematics of the humanoid robot NAO. The paper starts by decoupling the position and orientation analysis from the overall Denavit-Hartenberg (DH transformation matrices. Here, the joint activation sequence for the DH matrices is based on the geometry of a triangle. Furthermore, the implementation of a forward and a reversed kinematic analysis for the support and swing phase equations is developed to avoid matrix inversion. The allocation of constant transformations allows the position and orientation end-coordinate systems to be aligned with each other. Also, the redefinition of the DH transformations and the use of constraints allow decoupling the shared DOF between the legs and the torso. Finally, a geometric approach to avoid the singularities during the walking process is indicated. Numerical data is presented along with an experimental implementation to prove the validity of the analytical results.
Frossard, Laurent; Cheze, Laurence; Dumas, Raphael
2011-06-01
Calculation of lower limb kinetics is limited by floor-mounted force-plates. Comparison of hip joint moments, power and mechanical work on the prosthetic limb of a transfemoral amputee calculated by inverse dynamics using either the ground reactions (force-plates) or knee reactions (transducer). Comparative analysis. Kinematics, ground reaction and knee reaction data were collected using a motion analysis system, two force-plates, and a multi-axial transducer mounted below the socket, respectively. The inverse dynamics using ground reaction underestimated the peaks of hip energy generation and absorption occurring at 63% and 76% of the gait cycle (GC) by 28% and 54%, respectively. This method also overestimated by 24% a phase of negative work at the hip (37%-56% GC), and underestimated the phases of positive (57%-72% GC) and negative (73%-98%GC) work at the hip by 11% and 58%, respectively. A transducer mounted within the prosthesis has the capacity to provide more realistic kinetics of the prosthetic limb because it enables assessment of multiple consecutive steps and a wide range of activities without the issue of foot placement on force-plates. The hip is the only joint an amputee controls directly to set the prosthesis in motion. Hip joint kinetics are associated with joint degeneration, low back pain, risk of falls, etc. Therefore, realistic assessment of hip kinetics over multiple gait cycles and a wide range of activities is essential.
Kinematic analysis of redundant robotic manipulators: application to Kuka LWR 4+ and ABB Yumi
Directory of Open Access Journals (Sweden)
Isiah Zaplana
2018-03-01
Full Text Available This paper presents a kinematic analysis of two redundant serial manipulators: Kuka LWR 4+ and ABB Yumi. This analysis includes the derivation of the forward kinematics for both manipulators as well as the solution of the inverse kinematic problem. For the Kuka LWR 4+ this solution is analytical whereas for the ABB Yumi an analytical and numerical approach is proposed. Besides, the singularities of the Kuka LWR 4+ are obtained symbolically and the singular directions associated are calculated. This study intends to increase the kinematic knowledge of two actual redundant manipulators as well as to provide valuable information that can be used in the definition of different algorithms or control laws.
Energy Technology Data Exchange (ETDEWEB)
Napolitani, P
2004-09-15
Thermal multifragmentation is the process of multi body disassembly of a hot nucleus when the excitation is almost purely thermal i.e. dynamical effects like compression (characteristic of ion-ion collisions at Fermi energy) are negligible. Suited reactions are proton induced collision or ion-ion abrasion at relativistic incident energy. Thus we measured four systems at FRS (Fragment separator, GSI, Darmstadt) in inverse kinematics: Fe{sup 56}+p, Fe{sup 56}+Ti(nat), Xe{sup 136}+p, Xe{sup 136}+Ti(nat) a 1 A*GeV. The inverse kinematics allows to observe all particles without any threshold in energy. This is a great advantage compared to experiments in direct kinematics, because only in inverse kinematics it is possible to obtain complete velocity spectra (without a hole for low velocities) for fully identified isotopes. The complex shape of the velocity spectra allows to identify the different deexcitation channels and it clearly shows the transition from a chaotic-dominated process (Gaussian cloud in velocity space) to a direct Coulomb- (or eventually expansion-) dominated process (shell of a sphere in velocity space). Different possible descriptions of the reaction process are discussed, based either on asymmetric fission or multifragmentation. The resulting physical picture is especially interesting for the Fe{sup 56}+p, and Xe{sup 136}+p systems: proton induced collisions could result in the split of the system in two or more fragments due to a fast break-up process. In this case, the configuration of the break-up partition is very asymmetric. The discussion will be extended to other characteristics, like the restoring of nuclear structure features in the isotopic production and the temperature dependence of the isotopic composition of the residues. (author)
Kageyama, Masahiro; Sugiyama, Takashi; Takai, Yohei; Kanehisa, Hiroaki; Maeda, Akira
2014-12-01
The purpose of this study was to clarify differences in the kinematic and kinetic profiles of the trunk and lower extremities during baseball pitching in collegiate baseball pitchers, in relation to differences in the pitched ball velocity. The subjects were 30 collegiate baseball pitchers aged 18 to 22 yrs, who were assigned to high- (HG, 37.4 ± 0.8 m·s(-1)) and low-pitched-ball-velocity groups (LG, 33.3 ± 0.8 m·s(-1)). Three-dimensional motion analysis with a comprehensive lower-extremity model was used to evaluate kinematic and kinetic parameters during baseball pitching. The ground-reaction forces (GRF) of the pivot and stride legs during pitching were determined using two multicomponent force plates. The joint torques of hip, knee, and ankle were calculated using inverse-dynamics computation of a musculoskeletal human model. To eliminate any effect of variation in body size, kinetic and GRF data were normalized by dividing them by body mass. The maxima and minima of GRF (Fy, Fz, and resultant forces) on the pivot and stride leg were significantly greater in the HG than in the LG (p lower limbs during baseball pitching. Key pointsHigh-ball-velocity pitchers are characterized by greater momentum of the lower limbs during pitching motion.For high-pitched-ball velocity, stabilizing lower limbs during pitching plays an important role in order to increase the rotation and forward motion of the trunk.Computation of the lower-extremity kinetics and measurement of lower-extremity strength may help clarify the role of muscle strength in determining knee and hip function in baseball pitching.
Lam, Gilbert Wing Kai; Park, Eun Jung; Lee, Ki-Kwang; Cheung, Jason Tak-Man
2015-01-01
Side-step cutting manoeuvres comprise the coordination between planting and non-planting legs. Increased shoe collar height is expected to influence ankle biomechanics of both legs and possibly respective cutting performance. This study examined the shoe collar height effect on kinematics and kinetics of planting and non-planting legs during an unanticipated side-step cutting. Fifteen university basketball players performed maximum-effort side-step cutting to the left 45° direction or a straight ahead run in response to a random light signal. Seven successful cutting trials were collected for each condition. Athletic performance, ground reaction force, ankle kinematics and kinetics of both legs were analysed using paired t-tests. Results indicated that high-collar shoes resulted in less ankle inversion and external rotation during initial contact for the planting leg. The high-collar shoes also exhibited a smaller ankle range of motion in the sagittal and transverse planes for both legs, respectively. However, no collar effect was found for ankle moments and performance indicators including cutting performance time, ground contact time, propulsion ground reaction forces and impulses. These findings indicated that high-collar shoes altered ankle positioning and restricted ankle joint freedom movements in both legs, while no negative effect was found for athletic cutting performance.
KINEMATIC ANALYSIS OF MODULAR, TRUSS-BASED MANIPULATOR UNITS
Energy Technology Data Exchange (ETDEWEB)
Salerno, R. J.
1994-06-01
solution techniques are developed for solving the "forward" or "direct" and "inverse" kinematic problems for these geometries. The" forward" kinematic problem is that of finding the position and orientation of the distal end of the VGT relative to the proximal end, given the specific displacements of the (linear) actuators. This problem is rarely solvable in closed form. However, powerful iterative algorithms capable of solution in real time on typical modern robot control hardware are presented. The "inverse" kinematic problem is that of finding the required actuator displacements given the position and orientation of the distal end of the VGT relative to the proximal end. For specific VGT geometries, closed-form solutions are presented. For the more general problem, iterative algorithms capable of solution in real time are again derived and presented.
Latest Advances in Robot Kinematics
Husty, Manfred
2012-01-01
This book is of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.
Elastic scattering and cluster-transfer reactions of 98Rb on 7Li at REX-ISOLDE
Bouma, Jake
Exotic nuclei are nuclei with unusual proton to neutron ratios that exist far away from stability. Due to their instability, these nuclei are only available for nuclear reactions as radioactive ion beams. Experiments must therefore be performed in inverse kinematics at advanced radioactive isotope separation and acceleration facilities. REX-ISOLDE at CERN is one such facility, capable of producing post-accelerated radioactive ion beams with energies up to 2.85 MeV/u. Cluster-transfer reactions in inverse kinematics with a $^{7}$Li target are proposed as a tool for the study of exotic nuclei at REX-ISOLDE. In these reactions, either the $\\alpha$ or triton clusters that make up the weakly bound $^{7}$Li nucleus can be transfered to the beam nucleus. The remaining cluster that is not transferred can be detected, and identifies the particular transfer channel. Through this mechanism it is possible to populate states of very high spin, which is useful for $\\gamma$-spectroscopy in poorly known exotic regions. Speci...
Kinematic simulation and analysis of robot based on MATLAB
Liao, Shuhua; Li, Jiong
2018-03-01
The history of industrial automation is characterized by quick update technology, however, without a doubt, the industrial robot is a kind of special equipment. With the help of MATLAB matrix and drawing capacity in the MATLAB environment each link coordinate system set up by using the d-h parameters method and equation of motion of the structure. Robotics, Toolbox programming Toolbox and GUIDE to the joint application is the analysis of inverse kinematics and path planning and simulation, preliminary solve the problem of college students the car mechanical arm positioning theory, so as to achieve the aim of reservation.
Kinematic performance analysis of a parallel-chain hexapod machine
Energy Technology Data Exchange (ETDEWEB)
Jing Song; Jong-I Mou; Calvin King
1998-05-18
Inverse and forward kinematic models were derived to analyze the performance of a parallel-chain hexapod machine. Analytical models were constructed for both ideal and real structures. Performance assessment and enhancement algorithms were developed to determine the strut lengths for both ideal and real structures. The strut lengths determined from both cases can be used to analyze the effect of structural imperfections on machine performance. In an open-architecture control environment, strut length errors can be fed back to the controller to compensate for the displacement errors and thus improve the machine's accuracy in production.
Energy Technology Data Exchange (ETDEWEB)
Barberis, Emanuela; /Northeastern U.
2006-05-01
A summary of the results on the measurement of the Top Quark mass and the study of the kinematics of the t{bar t} system at the Tevatron collider is presented here. Results from both the CDF and D0 collaborations are reported.
Kinematic Parameters of Signed Verbs
Malaia, Evie; Wilbur, Ronnie B.; Milkovic, Marina
2013-01-01
Purpose: Sign language users recruit physical properties of visual motion to convey linguistic information. Research on American Sign Language (ASL) indicates that signers systematically use kinematic features (e.g., velocity, deceleration) of dominant hand motion for distinguishing specific semantic properties of verb classes in production…
Kinematics of machinery through hyperworks
Rao, J S
2011-01-01
Using animations, this book explains the theory of machines concepts and the evolution of Kinematics. The book adopts HyperWorks MotionSolve to perform the analysis and visualizations, though the book is independent of the requirement of any software.
Kinematics analysis and simulation of a new underactuated parallel robot
Directory of Open Access Journals (Sweden)
Wenxu YAN
2017-04-01
Full Text Available The number of degrees of freedom is equal to the number of the traditional robot driving motors, which causes defects such as low efficiency. To overcome that problem, based on the traditional parallel robot, a new underactuated parallel robot is presented. The structure characteristics and working principles of the underactuated parallel robot are analyzed. The forward and inverse solutions are derived by way of space analytic geometry and vector algebra. The kinematics model is established, and MATLAB is implied to verify the accuracy of forward and inverse solutions and identify the optimal work space. The simulation results show that the robot can realize the function of robot switch with three or four degrees of freedom when the number of driving motors is three, improving the efficiency of robot grasping, with the characteristics of large working space, high speed operation, high positioning accuracy, low manufacturing cost and so on, and it will have a wide range of industrial applications.
Kinematics and dynamics of robotic systems with multiple closed loops
Zhang, Chang-De
The kinematics and dynamics of robotic systems with multiple closed loops, such as Stewart platforms, walking machines, and hybrid manipulators, are studied. In the study of kinematics, focus is on the closed-form solutions of the forward position analysis of different parallel systems. A closed-form solution means that the solution is expressed as a polynomial in one variable. If the order of the polynomial is less than or equal to four, the solution has analytical closed-form. First, the conditions of obtaining analytical closed-form solutions are studied. For a Stewart platform, the condition is found to be that one rotational degree of freedom of the output link is decoupled from the other five. Based on this condition, a class of Stewart platforms which has analytical closed-form solution is formulated. Conditions of analytical closed-form solution for other parallel systems are also studied. Closed-form solutions of forward kinematics for walking machines and multi-fingered grippers are then studied. For a parallel system with three three-degree-of-freedom subchains, there are 84 possible ways to select six independent joints among nine joints. These 84 ways can be classified into three categories: Category 3:3:0, Category 3:2:1, and Category 2:2:2. It is shown that the first category has no solutions; the solutions of the second category have analytical closed-form; and the solutions of the last category are higher order polynomials. The study is then extended to a nearly general Stewart platform. The solution is a 20th order polynomial and the Stewart platform has a maximum of 40 possible configurations. Also, the study is extended to a new class of hybrid manipulators which consists of two serially connected parallel mechanisms. In the study of dynamics, a computationally efficient method for inverse dynamics of manipulators based on the virtual work principle is developed. Although this method is comparable with the recursive Newton-Euler method for
Effect of thong style flip-flops on children’s barefoot walking and jogging kinematics
2013-01-01
Background Thong style flip-flops are a popular form of footwear for children. Health professionals relate the wearing of thongs to foot pathology and deformity despite the lack of quantitative evidence to support or refute the benefits or disadvantages of children wearing thongs. The purpose of this study was to compare the effect of thong footwear on children’s barefoot three dimensional foot kinematics during walking and jogging. Methods Thirteen healthy children (age 10.3 ± 1.6 SD years) were recruited from the metropolitan area of Sydney Australia following a national press release. Kinematic data were recorded at 200 Hz using a 14 camera motion analysis system (Cortex, Motion Analysis Corporation, Santa Rosa, USA) and simultaneous ground reaction force were measured using a force platform (Model 9281B, Kistler, Winterthur, Switzerland). A three-segment foot model was used to describe three dimensional ankle, midfoot and one dimensional hallux kinematics during the stance sub-phases of contact, midstance and propulsion. Results Thongs resulted in increased ankle dorsiflexion during contact (by 10.9°, p; = 0.005 walk and by 8.1°, p; = 0.005 jog); increased midfoot plantarflexion during midstance (by 5.0°, p; = 0.037 jog) and propulsion (by 6.7°, p; = 0.044 walk and by 5.4°, p;= 0.020 jog); increased midfoot inversion during contact (by 3.8°, p;= 0.042 jog) and reduced hallux dorsiflexion during walking 10% prior to heel strike (by 6.5°, p; = 0.005) at heel strike (by 4.9°, p; = 0.031) and 10% post toe-off (by 10.7°, p; = 0.001). Conclusions Ankle dorsiflexion during the contact phase of walking and jogging, combined with reduced hallux dorsiflexion during walking, suggests a mechanism to retain the thong during weight acceptance. Greater midfoot plantarflexion throughout midstance while walking and throughout midstance and propulsion while jogging may indicate a gripping action to sustain the thong during stance. While these compensations exist
Effect of thong style flip-flops on children's barefoot walking and jogging kinematics.
Chard, Angus; Greene, Andrew; Hunt, Adrienne; Vanwanseele, Benedicte; Smith, Richard
2013-03-05
Thong style flip-flops are a popular form of footwear for children. Health professionals relate the wearing of thongs to foot pathology and deformity despite the lack of quantitative evidence to support or refute the benefits or disadvantages of children wearing thongs. The purpose of this study was to compare the effect of thong footwear on children's barefoot three dimensional foot kinematics during walking and jogging. Thirteen healthy children (age 10.3 ± 1.6 SD years) were recruited from the metropolitan area of Sydney Australia following a national press release. Kinematic data were recorded at 200 Hz using a 14 camera motion analysis system (Cortex, Motion Analysis Corporation, Santa Rosa, USA) and simultaneous ground reaction force were measured using a force platform (Model 9281B, Kistler, Winterthur, Switzerland). A three-segment foot model was used to describe three dimensional ankle, midfoot and one dimensional hallux kinematics during the stance sub-phases of contact, midstance and propulsion. Thongs resulted in increased ankle dorsiflexion during contact (by 10.9°, p; = 0.005 walk and by 8.1°, p; = 0.005 jog); increased midfoot plantarflexion during midstance (by 5.0°, p; = 0.037 jog) and propulsion (by 6.7°, p; = 0.044 walk and by 5.4°, p;= 0.020 jog); increased midfoot inversion during contact (by 3.8°, p;= 0.042 jog) and reduced hallux dorsiflexion during walking 10% prior to heel strike (by 6.5°, p; = 0.005) at heel strike (by 4.9°, p; = 0.031) and 10% post toe-off (by 10.7°, p; = 0.001). Ankle dorsiflexion during the contact phase of walking and jogging, combined with reduced hallux dorsiflexion during walking, suggests a mechanism to retain the thong during weight acceptance. Greater midfoot plantarflexion throughout midstance while walking and throughout midstance and propulsion while jogging may indicate a gripping action to sustain the thong during stance. While these compensations exist, the overall findings suggest that foot
Variability of dynamic source parameters inferred from kinematic models of past earthquakes
Causse, M.
2013-12-24
We analyse the scaling and distribution of average dynamic source properties (fracture energy, static, dynamic and apparent stress drops) using 31 kinematic inversion models from 21 crustal earthquakes. Shear-stress histories are computed by solving the elastodynamic equations while imposing the slip velocity of a kinematic source model as a boundary condition on the fault plane. This is achieved using a 3-D finite difference method in which the rupture kinematics are modelled with the staggered-grid-split-node fault representation method of Dalguer & Day. Dynamic parameters are then estimated from the calculated stress-slip curves and averaged over the fault plane. Our results indicate that fracture energy, static, dynamic and apparent stress drops tend to increase with magnitude. The epistemic uncertainty due to uncertainties in kinematic inversions remains small (ϕ ∼ 0.1 in log10 units), showing that kinematic source models provide robust information to analyse the distribution of average dynamic source parameters. The proposed scaling relations may be useful to constrain friction law parameters in spontaneous dynamic rupture calculations for earthquake source studies, and physics-based near-source ground-motion prediction for seismic hazard and risk mitigation.
Kinematics and trajectory generation for MIRADAS arms
Sabater, J.; Gómez, J. M.; Torra, J.; López, M.; Raines, S. N.; Eikenberry, S. S.
2015-05-01
The Mid-resolution InfRAreD Astronomical Spectrograph (MIRADAS) is a NIR multi-object spectrograph for the Gran Telescopio Canarias (GTC). The instrument has a multiplexing system (MXS) that enables the simultaneous observation of twenty objects located within its field of view. These user selected targets are acquired by twenty deployable robotic probe arms with pickoff mirror optics operating at cryogenic temperatures. The MIRADAS probe arm is a close-loop mechanism designed with optics simplicity in mind, presenting good stability when it is operated upside down. Calculating optimum collision-free trajectories requires a good knowledge of the MIRADAS arm behavior based on its geometry and its mechanical constraints. This study introduces a geometric model for the two degree-of-freedom (DoF) mechanism, including solutions for the forward and inverse kinematics problem. The concepts of zone-of-avoidance (ZoA), workspace and envelope of MIRADAS arm are presented and studied. Finally, the paper proposes two different patrolling approaches that can be exploited when planning trajectories.
Inverse logarithmic potential problem
Cherednichenko, V G
1996-01-01
The Inverse and Ill-Posed Problems Series is a series of monographs publishing postgraduate level information on inverse and ill-posed problems for an international readership of professional scientists and researchers. The series aims to publish works which involve both theory and applications in, e.g., physics, medicine, geophysics, acoustics, electrodynamics, tomography, and ecology.
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)
Gait Kinematics in Individuals with Acute and Chronic Patellofemoral Pain.
Fox, Aaron; Ferber, Reed; Saunders, Natalie; Osis, Sean; Bonacci, Jason
2018-03-01
This study aimed to identify the discriminating kinematic gait characteristics between individuals with acute and chronic patellofemoral pain (PFP) and healthy controls. Ninety-eight runners with PFP (39 male, 59 female) and 98 healthy control runners (38 male, 60 female) ran on a treadmill at a self-selected speed while three-dimensional lower limb kinematic data were collected. Runners with PFP were split into acute (n = 25) and chronic (n = 73) subgroups on the basis of whether they had been experiencing pain for less or greater than 3 months, respectively. Principal component analysis and linear discriminant analysis were used to determine the combination of kinematic gait characteristics that optimally separated individuals with acute PFP and chronic PFP and healthy controls. Compared with controls, both the acute and chronic PFP subgroups exhibited greater knee flexion across stance and greater ankle dorsiflexion during early stance. The acute PFP subgroup demonstrated greater transverse plane hip motion across stance compared with healthy controls. In contrast, the chronic PFP subgroup demonstrated greater frontal plane hip motion, greater knee abduction, and reduced ankle eversion/greater ankle inversion across stance when compared with healthy controls. This study identified characteristics that discriminated between individuals with acute and chronic PFP when compared with healthy controls. Certain discriminating characteristics were shared between both the acute and chronic subgroups when compared with healthy controls, whereas others were specific to the duration of PFP.
Pa2 kinematic bond in translational parallel manipulators
Directory of Open Access Journals (Sweden)
A. Hernández
2018-01-01
Full Text Available The Pa2 pair is composed of two intertwined articulated parallelograms connecting in parallel two links of a kinematic chain. This pair has two translational degrees of freedom leading to a translational plane variable with the position. Currently, the Pa2 pair appears in conceptual designs presented in recent papers. However, its practical application is very limited. One of the reasons for this can be the high number of redundant constraints it has. But, it has to be considered that most of them can be eliminated by replacing wisely the revolute joints by spherical joints. On the other side, the structure of the Pa2 pair contributes to increase the global stiffness of the kinematic chain in which it is mounted. Also, its implementation is a promising alternative to the problematic passive prismatic joints. In this paper, the Pa2 pairs are used in the design of a 3 − P Pa2 parallel manipulator. The potentiality of this design is evaluated and proven after doing the following analyses: direct and inverse kinematics, singularity study, and workspace computation and assessment.
Analysis of a closed-kinematic chain robot manipulator
Nguyen, Charles C.; Pooran, Farhad J.
1988-01-01
Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.
Analysis of Inverse Kinamtics of an Anthropomorphic Robotic hand
Directory of Open Access Journals (Sweden)
Pramod Kumar Parida
2013-03-01
Full Text Available In this paper, a new method for solving the inverse kinematics of the fingers of an anthropomorphic hand is proposed. Solution of inverse kinematic equations is a complex problem, the complexity comes from the nonlinearity of joint space and Cartesian space mapping and having multiple solutions.This is a typical problem in robotics that needs to be solved to control the fingers of an anthropomorphic robotic hand to perform tasks it is designated to do. With more complex structures operating in a 3-dimensional space deducing a mathematical soluation for the inverse kinematics may prove challenging. In this paper, using the ability of ANFIS (Adaptive Neuro-Fuzzy Inference System to learn from training data, it is possible to create ANFIS network, an implementation of a representative fuzzy inference system using ANFIS structure, with limited mathematical representation of the system. The main advantages of this method with respect to the other methods are implementation is easy, very fast and shorter computation time and better response with acceptable error.
Kinematic Model of NAO Humanoid Robot
Directory of Open Access Journals (Sweden)
Miloš D. Jovanović
2014-06-01
Full Text Available This paper presents synthesis of kinematic model of NAO humanoid robot of Aldebaran Robotics. NAO humanoid robot has complex kinematic structure with 25 active degrees of freedom (DOF. Humanoid system is formed through 5 mutually depended kinematic chains. After that we applied standard aspects of kinematic chains synthesis and Denavit-Hartenberg parameters of each of 5 chains of robotic structure were introduced. Also, mutual relationships between chains were described, as well as their physical and structural dependence. Generated kinematic model will be the starting point for further dynamical modeling of NAO humanoid robot and motion synthesis on actual platform.
Inverse problems in systems biology
International Nuclear Information System (INIS)
Engl, Heinz W; Lu, James; Müller, Stefan; Flamm, Christoph; Schuster, Peter; Kügler, Philipp
2009-01-01
Systems biology is a new discipline built upon the premise that an understanding of how cells and organisms carry out their functions cannot be gained by looking at cellular components in isolation. Instead, consideration of the interplay between the parts of systems is indispensable for analyzing, modeling, and predicting systems' behavior. Studying biological processes under this premise, systems biology combines experimental techniques and computational methods in order to construct predictive models. Both in building and utilizing models of biological systems, inverse problems arise at several occasions, for example, (i) when experimental time series and steady state data are used to construct biochemical reaction networks, (ii) when model parameters are identified that capture underlying mechanisms or (iii) when desired qualitative behavior such as bistability or limit cycle oscillations is engineered by proper choices of parameter combinations. In this paper we review principles of the modeling process in systems biology and illustrate the ill-posedness and regularization of parameter identification problems in that context. Furthermore, we discuss the methodology of qualitative inverse problems and demonstrate how sparsity enforcing regularization allows the determination of key reaction mechanisms underlying the qualitative behavior. (topical review)
Sex Differences in Tibiocalcaneal Kinematics
Directory of Open Access Journals (Sweden)
Sinclair Jonathan
2014-08-01
Full Text Available Purpose. Female runners typically suffer more from chronic running injuries than age-matched males, although the exact biome-chanical mechanisms behind the increased susceptibility of female runners are unknown. This study aimed to compare sex differences in tibiocalcaneal kinematics during the stance phase of running. Methods. Twenty male and twenty female participants ran at 4.0 m · s–1. Tibiocalcaneal kinematics were measured using an eight-camera motion analysis system and compared using independent samples t tests. Results. Peak eversion and tibial internal rotation angles were shown to be significantly greater in female runners. Conclusions. based on these observations, it was determined that female runners may be at increased risk from chronic injury development in relation to excessive tibiocalcaneal motions in the coronal and transverse planes.
Contact kinematics of biomimetic scales
Energy Technology Data Exchange (ETDEWEB)
Ghosh, Ranajay; Ebrahimi, Hamid; Vaziri, Ashkan, E-mail: vaziri@coe.neu.edu [Department of Mechanical and Industrial Engineering, Northeastern University, Boston, Massachusetts 02115 (United States)
2014-12-08
Dermal scales, prevalent across biological groups, considerably boost survival by providing multifunctional advantages. Here, we investigate the nonlinear mechanical effects of biomimetic scale like attachments on the behavior of an elastic substrate brought about by the contact interaction of scales in pure bending using qualitative experiments, analytical models, and detailed finite element (FE) analysis. Our results reveal the existence of three distinct kinematic phases of operation spanning linear, nonlinear, and rigid behavior driven by kinematic interactions of scales. The response of the modified elastic beam strongly depends on the size and spatial overlap of rigid scales. The nonlinearity is perceptible even in relatively small strain regime and without invoking material level complexities of either the scales or the substrate.
Measurement of reed valve kinematics
Directory of Open Access Journals (Sweden)
Fenkl Michael
2016-01-01
Full Text Available The measurement of key kinematic parameters of a reed valve movement is necessary for the further development of the reed valve system. These parameters are dependent on the geometry and material properties of the valve. As they directly affect the quantity of air flowing around the valve, a simple and easy to implement measurement of various valve configuration based on the air flow has been devised and is described in this paper, along with its technical parameters and drawbacks when evaluating reed valves used in reciprocating air compressors. Results are presented for a specimen of a compressor under examination. All kinematic parameters, and timing of the opening and closing of the valve, obtained from the measurement are presented and discussed.
Directory of Open Access Journals (Sweden)
Wang He
2017-01-01
Full Text Available Spallation reactions for the long-lived fission products 137Cs, 90Sr and 107Pd have been studied for the purpose of nuclear waste transmutation. The cross sections on the proton- and deuteron-induced spallation were obtained in inverse kinematics at the RIKEN Radioactive Isotope Beam Factory. Both the target and energy dependences of cross sections have been investigated systematically. and the cross-section differences between the proton and deuteron are found to be larger for lighter fragments. The experimental data are compared with the SPACS semi-empirical parameterization and the PHITS calculations including both the intra-nuclear cascade and evaporation processes.
Recent results on reactions with radioactive beams at RIBRAS (Radioactive Ion Beams in Brazil)
International Nuclear Information System (INIS)
Lépine-Szily, A; Lichtenthäler, R; Guimarães, V; Barioni, A; Benjamim, E A; De Faria, P N; Gasques, L R; Leistenschneider; Morais, M C; Morcelle, V; Condori, R Pampa; Pires, K C C; Scarduelli, V; Arazi, A; Descouvemont, P; Mendes, D R Jr; Moro, A M; Rodriguez-Gallardo, M; Shorto, J M B
2015-01-01
We present a quick description of RIBRAS (Radioactive Ion beams in Brazil), which is a superconducting double solenoid system, installed at the Pelletron Laboratory of the University of São Paulo and extends the capabilities of the original Pelletron Tandem Accelerator of 8MV terminal voltage (8UD) by producing secondary beams of unstable nuclei. The experimental program of the RIBRAS covers the study of elastic and inelastic scattering with the objective to study the interaction potential and the reaction mechanisms between weakly bound (RIB) and halo ( 6 He and 8 B) projectiles on light, medium and heavy mass targets. With highly purified beams, the study of resonant elastic scattering and resonant transfer reactions, using inverse kinematics and thick targets, have also been included in our recent experimental program. (paper)
Isotopic resolution of fission fragments from 238U + 12C transfer and fusion reactions
International Nuclear Information System (INIS)
Caamano, M.; Rejmund, F.; Derkx, X.; Schmidt, K. H.; Andouin, L.; Bacri, C. O.; Barreau, G.; Benlliure, J.; Casarejos, E.; Fernandez-Dominguez, B.; Gaudefroy, L.; Golabek, C.; Jurado, B.; Lemasson, A.; Navin, A.; Rejmund, M.; Roger, T.; Shrivastava, A.; Schmitt, C.; Taieb, J.
2010-01-01
Recent results from an experiment at GANIL, performed to investigate the main properties of fission-fragment yields and energy distributions in different fissioning nuclei as a function of the excitation energy, in a neutron-rich region of actinides, are presented. Transfer reactions in inverse kinematics between a 238 U beam and a 12 C target produced different actinides, within a range of excitation energy below 30 MeV. These fissioning nuclei are identified by detecting the target-like recoil, and their kinetic and excitation energy are determined from the reconstruction of the transfer reaction. The large-acceptance spectrometer VAMOS was used to identify the mass, atomic number and charge state of the fission fragments in flight. As a result, the characteristics of the fission-fragment isotopic distributions of a variety of neutron-rich actinides are observed for the first time over the complete range of fission fragments. (authors)
Neutron spectroscopic factors of 34Ar and 46Ar from (p,d) transfer reactions
International Nuclear Information System (INIS)
Lee, Jenny; Tsang, M.B.; Bazin, D.; Coupland, D.; Henzl, V.; Henzlova, D.; Kilburn, M.; Lynch, W. G.; Rogers, A. M.; Sanetullaev, A.; Youngs, M.; Sun, Z. Y.; Charity, R. J.; Sobotka, L. G.; Famiano, M.; Hudan, S.; Shapira, D.; O'Malley, P.; Peters, W. A.; Chae, K. Y.
2011-01-01
Single-neutron-transfer measurements using (p,d) reactions have been performed at 33 MeV per nucleon with proton-rich 34 Ar and neutron-rich 46 Ar beams in inverse kinematics. The extracted spectroscopic factors are compared to the large-basis shell-model calculations. Relatively weak quenching of the spectroscopic factors is observed between 34 Ar and 46 Ar. The experimental results suggest that neutron correlations have a weak dependence on the asymmetry of the nucleus over this isotopic region. The present results are consistent with the systematics established from extensive studies of spectroscopic factors and dispersive optical-model analyses of 40-49 Ca isotopes. They are, however, inconsistent with the trends obtained in knockout-reaction measurements.
Recent results on reactions with radioactive beams at RIBRAS (Radioactive Ion Beams in Brazil)
Lépine-Szily, A.; Lichtenthäler, R.; Guimarães, V.; Arazi, A.; Barioni, A.; Benjamim, E. A.; de Faria, P. N.; Descouvemont, P.; Gasques, L. R.; E; Leistenschneider; Mendes, D. R., Jr.; Morais, M. C.; Morcelle, V.; Moro, A. M.; Pampa Condori, R.; Pires, K. C. C.; Rodriguez-Gallardo, M.; Scarduelli, V.; Shorto, J. M. B.; Zamora, J. C.
2015-04-01
We present a quick description of RIBRAS (Radioactive Ion beams in Brazil), which is a superconducting double solenoid system, installed at the Pelletron Laboratory of the University of São Paulo and extends the capabilities of the original Pelletron Tandem Accelerator of 8MV terminal voltage (8UD) by producing secondary beams of unstable nuclei. The experimental program of the RIBRAS covers the study of elastic and inelastic scattering with the objective to study the interaction potential and the reaction mechanisms between weakly bound (RIB) and halo (6He and 8B) projectiles on light, medium and heavy mass targets. With highly purified beams, the study of resonant elastic scattering and resonant transfer reactions, using inverse kinematics and thick targets, have also been included in our recent experimental program.
Pythagoras Theorem and Relativistic Kinematics
Mulaj, Zenun; Dhoqina, Polikron
2010-01-01
In two inertial frames that move in a particular direction, may be registered a light signal that propagates in an angle with this direction. Applying Pythagoras theorem and principles of STR in both systems, we can derive all relativistic kinematics relations like the relativity of simultaneity of events, of the time interval, of the length of objects, of the velocity of the material point, Lorentz transformations, Doppler effect and stellar aberration.
Review of water wave kinematics
Energy Technology Data Exchange (ETDEWEB)
Sterndorff, M.J.
1995-03-01
The present report covers a comprehensive review of water wave kinematics carried out by Danish Hydraulic Institute (DHI) in connection with the EFP`93 project: Dynamics of Mono Tower Platforms (ref. EFP`93, 1313/93-0009). This project is carried out in cooperation with Ramboell, Hannemann and Hoejlund A/S. The main objectives of the project are to develop and verify a method for the determination of the non-linear wave load and the dynamic response of mono tower platforms. One of the characteristics of mono tower platforms is that due to the small water plane area the hydrodynamic loading will be very concentrated. Such platforms may therefore respond strongly and in a highly dynamic manner to short waves and high order components of extreme waves having periods corresponding to the first natural period of the platform. A key element in the hydrodynamic load process is the wave kinematics. The present report is a comprehensive review of recent literature concerning wave theories, wave-current interaction, laboratory experiments, and field measurements of water wave kinematics. The review has been concentrated on non-breaking waves on deep to intermediate water depths. Papers concerning shallow water waves have only been reviewed if they present methods which may be applied for deep to intermediate water waves. (au) EFP-93; 30 refs.
International Nuclear Information System (INIS)
Burkhard, N.R.
1979-01-01
The gravity inversion code applies stabilized linear inverse theory to determine the topography of a subsurface density anomaly from Bouguer gravity data. The gravity inversion program consists of four source codes: SEARCH, TREND, INVERT, and AVERAGE. TREND and INVERT are used iteratively to converge on a solution. SEARCH forms the input gravity data files for Nevada Test Site data. AVERAGE performs a covariance analysis on the solution. This document describes the necessary input files and the proper operation of the code. 2 figures, 2 tables
[Studies of heavy-ion induced reactions]: Annual progress report
International Nuclear Information System (INIS)
Mignerey, A.C.
1986-10-01
An experiment was performed at the Lawrence Berkeley Laboratory Bevalac, extending previous studies using inverse reactions to 50 MeV/u 139 La incident on targets of C and Al. Studies of excitation energy division in lower energy division in lower energy heavy-ion reactions were furthered using kinematic coincidences to measure the excitation energies of primary products in the Fe + Ho reaction at 12 MeV/u. These results will provide important systematics for comparisons with previous measurements at 9 MeV/u on the same system and at 15 MeV/u on the Fe + Fe and Fe + U systems. Also studied were different aspects of 15 MeV/u Fe-induced reactions, with experiments performed at the Oak Ridge HHIRF. The first three contributions of this report constitute a major portion of the results from this research. Finally, at the Lawrence Berkeley Laboratory Bevalac a large detector array for coincident detection of fragmentation products in heavy-ion collisions below 100 MeV/u is being built. A list of publications, personnel, and activities is provided
Kinematic Characterization of Left Ventricular Chamber Stiffness and Relaxation
Mossahebi, Sina
Heart failure is the most common cause of hospitalization today, and diastolic heart failure accounts for 40-50% of cases. Therefore, it is critical to identify diastolic dysfunction at a subclinical stage so that appropriate therapy can be administered before ventricular function is further, and perhaps irreversibly impaired. Basic concepts in physics such as kinematic modeling provide a unique method with which to characterize cardiovascular physiology, specifically diastolic function (DF). The advantage of an approach that is standard in physics, such as the kinematic modeling is its causal formulation that functions in contrast to correlative approaches traditionally utilized in the life sciences. Our research group has pioneered theoretical and experimental quantitative analysis of DF in humans, using both non-invasive (echocardiography, cardiac MRI) and invasive (simultaneous catheterization-echocardiography) methods. Our group developed and validated the Parametrized Diastolic Filling (PDF) formalism which is motivated by basic physiologic principles (LV is a mechanical suction pump at the mitral valve opening) that obey Newton's Laws. PDF formalism is a kinematic model of filling employing an equation of motion, the solution of which accurately predicts all E-wave contours in accordance with the rules of damped harmonic oscillatory motion. The equation's lumped parameters---ventricular stiffness, ventricular viscoelasticity/relaxation and ventricular load---are obtained by solving the 'inverse problem'. The parameters' physiologic significance and clinical utility have been repeatedly demonstrated in multiple clinical settings. In this work we apply our kinematic modeling approach to better understand how the heart works as it fills in order to advance the relationship between physiology and mathematical modeling. Through the use of this modeling, we thereby define and validate novel, causal indexes of diastolic function such as early rapid filling energy
The spallation in reverse kinematics: what for a coincidence measurement?
International Nuclear Information System (INIS)
Ducret, J.E.
2006-07-01
The Spaladin installation has been designed to study spallation reactions in reverse kinematics. Furthermore, the heavy and light fragments are detected by coincidence which allows us to get an instantaneous picture of the reaction at a level of accuracy better than that obtained through inclusive measurement. The first part is dedicated to the theoretical description of the different mechanisms involved in the spallation reactions. In the second part we describe the Spaladin installation and report some results on the reaction: Fe 56 + p at an energy of 1 GeV/nucleon. In the third part we expose the performance of the installation through its simulation with the Geant-IV model. We present a study about the sensitivity of the Spaladin installation to theoretical predictions. The fourth part is dedicated to the future experiments that will be performed with the Spaladin installation. (A.C.)
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....
International Nuclear Information System (INIS)
Rosenwald, J.-C.
2008-01-01
The lecture addressed the following topics: Optimizing radiotherapy dose distribution; IMRT contributes to optimization of energy deposition; Inverse vs direct planning; Main steps of IMRT; Background of inverse planning; General principle of inverse planning; The 3 main components of IMRT inverse planning; The simplest cost function (deviation from prescribed dose); The driving variable : the beamlet intensity; Minimizing a 'cost function' (or 'objective function') - the walker (or skier) analogy; Application to IMRT optimization (the gradient method); The gradient method - discussion; The simulated annealing method; The optimization criteria - discussion; Hard and soft constraints; Dose volume constraints; Typical user interface for definition of optimization criteria; Biological constraints (Equivalent Uniform Dose); The result of the optimization process; Semi-automatic solutions for IMRT; Generalisation of the optimization problem; Driving and driven variables used in RT optimization; Towards multi-criteria optimization; and Conclusions for the optimization phase. (P.A.)
Submucous Myoma Induces Uterine Inversion
Directory of Open Access Journals (Sweden)
Yu-Li Chen
2006-06-01
Conclusion: Nonpuerperal inversion of the uterus is rarely encountered by gynecologists. Diagnosis of uterine inversion is often not easy and imaging studies might be helpful. Surgical treatment is the method of choice in nonpuerperal uterine inversion.
Analisys and Choice of the Exoskeleton’s Actuator Kinematic Structure
Directory of Open Access Journals (Sweden)
A. A. Vereikin
2014-01-01
Full Text Available The urgency of designing of robotic exoskeletons as one of the most prospective means of modern robotics is proved. A literature review concerning the design issues of anthropomorphic walking robots and exoskeletons is performed. Some problems, accompanying the designing process of exoskeleton actuator, are highlighted. Among them synthesis of its tree-like kinematic structure takes leading place. Its complication is explained by the specific human-machine interaction.The problem of exoskeleton actuator kinematic scheme synthesis is formulated and possible approaches to its solution are shown. The paper presents the synthesis results obtained using the software complex CATIA-based means of ergonomic design. It investigates the degrees of freedom of human-operator’s foot, shin, and thigh. And it identifies a number of shortcomings of this software complex associated with the ambiguity to solve the inverse kinematics problem, leading to a significant complication of kinematics synthesis.A model of human lower limb on which further studies of the exoskeleton actuator kinematic scheme, ensuring fulfillment of the human-operator standard movements (squats, kick their feet, bending body, walking, running stairs, etc., are based, is developed in SolidWorks software complex. The reasonability of the exoskeleton kinematic scheme synthesis in software package SolidWorks using anthropometric data from the software complex CATIA, is justified.The proposed method allows to analyze different kinematic schemes of actuator for the stage of conceptual design and to choose the best of them in accordance with established criterions. Thus, the developer receives the final version of the kinematic scheme before the detailed design of the actuator starts, thus significantly reducing its labor costs.
Liu, Lu
2017-08-17
This paper presents a workflow for near-surface velocity automatic estimation using the early arrivals of seismic data. This workflow comprises two methods, source-domain full traveltime inversion (FTI) and early-arrival waveform inversion. Source-domain FTI is capable of automatically generating a background velocity that can kinematically match the reconstructed plane-wave sources of early arrivals with true plane-wave sources. This method does not require picking first arrivals for inversion, which is one of the most challenging aspects of ray-based first-arrival tomographic inversion. Moreover, compared with conventional Born-based methods, source-domain FTI can distinguish between slower or faster initial model errors via providing the correct sign of the model gradient. In addition, this method does not need estimation of the source wavelet, which is a requirement for receiver-domain wave-equation velocity inversion. The model derived from source-domain FTI is then used as input to early-arrival waveform inversion to obtain the short-wavelength velocity components. We have tested the workflow on synthetic and field seismic data sets. The results show source-domain FTI can generate reasonable background velocities for early-arrival waveform inversion even when subsurface velocity reversals are present and the workflow can produce a high-resolution near-surface velocity model.
Kinematics Control and Analysis of Industrial Robot
Zhu, Tongbo; Cai, Fan; Li, Yongmei; Liu, Wei
2018-03-01
The robot’s development present situation, basic principle and control system are introduced briefly. Research is mainly focused on the study of the robot’s kinematics and motion control. The structural analysis of a planar articulated robot (SCARA) robot is presented,the coordinate system is established to obtain the position and orientation matrix of the end effector,a method of robot kinematics analysis based on homogeneous transformation method is proposed, and the kinematics solution of the robot is obtained.Establishment of industrial robot’s kinematics equation and formula for positive kinematics by example. Finally,the kinematic analysis of this robot was verified by examples.It provides a basis for structural design and motion control.It has active significance to promote the motion control of industrial robot.
Towards Extending Forward Kinematic Models on Hyper-Redundant Manipulator to Cooperative Bionic Arms
Singh, Inderjeet; Lakhal, Othman; Merzouki, Rochdi
2017-01-01
Forward Kinematics is a stepping stone towards finding an inverse solution and subsequently a dynamic model of a robot. Hence a study and comparison of various Forward Kinematic Models (FKMs) is necessary for robot design. This paper deals with comparison of three FKMs on the same hyper-redundant Compact Bionic Handling Assistant (CBHA) manipulator under same conditions. The aim of this study is to project on modeling cooperative bionic manipulators. Two of these methods are quantitative methods, Arc Geometry HTM (Homogeneous Transformation Matrix) Method and Dual Quaternion Method, while the other one is Hybrid Method which uses both quantitative as well as qualitative approach. The methods are compared theoretically and experimental results are discussed to add further insight to the comparison. HTM is the widely used and accepted technique, is taken as reference and trajectory deviation in other techniques are compared with respect to HTM. Which method allows obtaining an accurate kinematic behavior of the CBHA, controlled in the real-time.
A self-calibrating robot based upon a virtual machine model of parallel kinematics
DEFF Research Database (Denmark)
Pedersen, David Bue; Eiríksson, Eyþór Rúnar; Hansen, Hans Nørgaard
2016-01-01
a virtual machine of the kinematics system, built on principles from geometrical metrology. Relevant mathematically non-trivial deviations to the ideal machine are identified and decomposed into elemental deviations. From these deviations, a routine is added to a physical machine tool, which allows......A delta-type parallel kinematics system for Additive Manufacturing has been created, which through a probing system can recognise its geometrical deviations from nominal and compensate for these in the driving inverse kinematic model of the machine. Novelty is that this model is derived from...... it to recognise its own geometry by probing the vertical offset from tool point to the machine table, at positions in the horizontal plane. After automatic calibration the positioning error of the machine tool was reduced from an initial error after its assembly of ±170 µm to a calibrated error of ±3 µm...
Pseudo-Rigid-Body Model and Kinematic Analysis of MRI-Actuated Catheters.
Greigarn, Tipakorn; Çavuşoğlu, M Cenk
2015-05-01
This paper presents a kinematic study of a pseudorigid-body model (PRBM) of MRI-compatible, magnetically actuated, steerable catheters. It includes a derivation of a mathematical model of the PRBM of the catheter, singularity studies of the model, and a new manipulability measure. While the forward kinematics of the model presented here is applicable to PRBMs for other applications, actuation method is unique to the particular design. Hence, a careful study of singularities and manipulability of the model is required. The singularities are studied from the underlying equations of motion with intuitive interpretations. The proposed manipulability measure is a generalization of the inverse condition number manipulability measure of robotic manipulators. While the PRBM is an approximation of the flexible catheter, kinematic studies of the PRBM still provide some insight into feasibility and limitations of the catheter, which is beneficial to the design and motion planning of the catheter.
Neutrino reactions in hot and dense matter
International Nuclear Information System (INIS)
Lohs, Andreas
2015-01-01
In this thesis, neutrino reactions in hot and dense matter are studied. In particular, this work is concerned with neutrino-matter interactions that are relevant for neutrino transport in core-collapse supernovae (CCSNe). The majority of the energy from a CCSN is released in the form of neutrinos. Accurate understanding and computation of these interactions is most relevant to achieve sufficiently reliable predictions for the evolution of CCSNe and other related question such as the production of heavy elements or neutrino oscillations. For this purpose this work follows the combined approach of searching for new important neutrino reactions and improving the computation of those reactions that are already implemented. First we estimate the relevance of charged-current weak interactions that include muon-neutrinos or muons, as well as the role of neutron decay for neutrino transport in CCSNe. All of these reactions were previously neglected in CCSN-simulations. We derive and compute the matrix element and subsequent semi-analytic expressions for transport properties like the inverse mean free path of the new reactions. It is found that these reactions are important for muon neutrinos and low energy electron antineutrinos at very high densities in the protoneutron star surface. Consequently their implementation might lead to several changes in the prediction of CCSNe signatures such as the nucleosynthesis yields. Second we improve the precision in the computation of well known neutrino-nucleon reactions like neutrino absorption on neutrons. We derive semi-analytic expressions for transport properties that use less restrictive approximations while keeping the computational demand constant. Therefore we consider the full relativistic kinematics of all participating particles i.e. allowing for relativistic nucleons and finite lepton masses. Also the weak magnetism terms of the matrix elements are explicitly included to all orders. From our results we suggest that the
Neutrino reactions in hot and dense matter
Energy Technology Data Exchange (ETDEWEB)
Lohs, Andreas
2015-04-13
In this thesis, neutrino reactions in hot and dense matter are studied. In particular, this work is concerned with neutrino-matter interactions that are relevant for neutrino transport in core-collapse supernovae (CCSNe). The majority of the energy from a CCSN is released in the form of neutrinos. Accurate understanding and computation of these interactions is most relevant to achieve sufficiently reliable predictions for the evolution of CCSNe and other related question such as the production of heavy elements or neutrino oscillations. For this purpose this work follows the combined approach of searching for new important neutrino reactions and improving the computation of those reactions that are already implemented. First we estimate the relevance of charged-current weak interactions that include muon-neutrinos or muons, as well as the role of neutron decay for neutrino transport in CCSNe. All of these reactions were previously neglected in CCSN-simulations. We derive and compute the matrix element and subsequent semi-analytic expressions for transport properties like the inverse mean free path of the new reactions. It is found that these reactions are important for muon neutrinos and low energy electron antineutrinos at very high densities in the protoneutron star surface. Consequently their implementation might lead to several changes in the prediction of CCSNe signatures such as the nucleosynthesis yields. Second we improve the precision in the computation of well known neutrino-nucleon reactions like neutrino absorption on neutrons. We derive semi-analytic expressions for transport properties that use less restrictive approximations while keeping the computational demand constant. Therefore we consider the full relativistic kinematics of all participating particles i.e. allowing for relativistic nucleons and finite lepton masses. Also the weak magnetism terms of the matrix elements are explicitly included to all orders. From our results we suggest that the
Basic concepts of kinematic-wave models
Miller, J.E.
1984-01-01
The kinematic-wave model is one of a number of approximations of the dynamic-wave model. The dynamic-wave model describes onedimensional shallow-water waves (unsteady, gradually varied, openchannel flow). This report provides a basic reference on the theory and applications of the kinematic-wave model and describes the limitations of the model in relation to the other approximations of the dynamic-wave model. In the kinematic-wave approximation, a number of the terms in the equation of motion are assumed to be insignificant. The equation of motion is replaced by an equation describing uniform flow. Thus, the kinematic-wave model is described by the continuity equation and a uniform-flow equation such as the wellknown Chezy or Manning formulas. Kinematic-wave models are applicable to overland flow where lateral inflow is continuously added and is a large part of the total flow. For channel-routing applications, the kinematic-wave model always predicts a steeper wave with less dispersion and attenuation than actually occurs. The effect of the accumulation of errors in the kinematic-wave model shows that the approximations made in the development of the kinematic-wave equations are not generally justified for most channel-routing applications. Modified flow-routing models can be used which help to stop the accumulation of errors that occur when the kinematic-wave model is applied.
Development of a sensor coordinated kinematic model for neural network controller training
Jorgensen, Charles C.
1990-01-01
A robotic benchmark problem useful for evaluating alternative neural network controllers is presented. Specifically, it derives two camera models and the kinematic equations of a multiple degree of freedom manipulator whose end effector is under observation. The mapping developed include forward and inverse translations from binocular images to 3-D target position and the inverse kinematics of mapping point positions into manipulator commands in joint space. Implementation is detailed for a three degree of freedom manipulator with one revolute joint at the base and two prismatic joints on the arms. The example is restricted to operate within a unit cube with arm links of 0.6 and 0.4 units respectively. The development is presented in the context of more complex simulations and a logical path for extension of the benchmark to higher degree of freedom manipulators is presented.
Kinematics and dynamics analysis of a novel serial-parallel dynamic simulator
International Nuclear Information System (INIS)
Hu, Bo; Zhang, Lian Dong; Yu, Jingjing
2016-01-01
A serial-parallel dynamics simulator based on serial-parallel manipulator is proposed. According to the dynamics simulator motion requirement, the proposed serial-parallel dynamics simulator formed by 3-RRS (active revolute joint-revolute joint-spherical joint) and 3-SPR (Spherical joint-active prismatic joint-revolute joint) PMs adopts the outer and inner layout. By integrating the kinematics, constraint and coupling information of the 3-RRS and 3-SPR PMs into the serial-parallel manipulator, the inverse Jacobian matrix, velocity, and acceleration of the serial-parallel dynamics simulator are studied. Based on the principle of virtual work and the kinematics model, the inverse dynamic model is established. Finally, the workspace of the (3-RRS)+(3-SPR) dynamics simulator is constructed
Kinematics and dynamics analysis of a novel serial-parallel dynamic simulator
Energy Technology Data Exchange (ETDEWEB)
Hu, Bo; Zhang, Lian Dong; Yu, Jingjing [Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei (China)
2016-11-15
A serial-parallel dynamics simulator based on serial-parallel manipulator is proposed. According to the dynamics simulator motion requirement, the proposed serial-parallel dynamics simulator formed by 3-RRS (active revolute joint-revolute joint-spherical joint) and 3-SPR (Spherical joint-active prismatic joint-revolute joint) PMs adopts the outer and inner layout. By integrating the kinematics, constraint and coupling information of the 3-RRS and 3-SPR PMs into the serial-parallel manipulator, the inverse Jacobian matrix, velocity, and acceleration of the serial-parallel dynamics simulator are studied. Based on the principle of virtual work and the kinematics model, the inverse dynamic model is established. Finally, the workspace of the (3-RRS)+(3-SPR) dynamics simulator is constructed.
Morpho-kinematic modeling of planetary nebulae
Chan, Tsz-Pan (Henry)
2009-11-01
The Planetary Nebulae (PNe) are the transition phase between asymptotic giant branch (AGB) star and white dwarfs for stars with masses between 1 and 8 M⊙. They were originally thought to be well-studied and can be explained with simple models. With the advance of imaging technology especially on Space Telescope (HST), the shapes of PNe have been found to be much more complex than we assumed to be. We aimed to investigate on the basic but mysterious intrinsic three-dimensional structures using the newly developed modeling software. Astronomers usually use the morphological classification on group and classify different properties of PNe. Over the past century many attempts have been made for this classification to seek for explaining and understanding the threedimensional structure that is responsible for the observed images. There have been two beliefs in explaining the variety of shapes of PNe and among them the most amazing one is that the morphologies can be accounted by different orientations of a single structure (Khromov & Kohoutek, 1968). Motivated by the study of Ring Nebula on its intrinsic structure, we investigated the possibility that different types of morphology in PNe can be explained by a single model. We used the newly developed modeling code SHAPE (Steffen et al., 2006), which cooperates the use of spatial information as well as its kinematics, and aimed to quantitatively investigate the basic structure inside PNe. We investigated two classical nebulae: NGC 2346 and NGC 2440. We proposed a simple but adequate model for these nebulae. Stimulated optical images and the p-v arrays were derived by the modeling code SHAPE to make comparison with the observed data to seek for the correctness of the model. Hubble velocity field and inverse square law density distribution were assumed throughout the modeling process. This model provides insights in seeking further adequate intrinsic structure of PNe.
Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism
Williams, Robert L., II
1992-01-01
This paper presents kinematic equations and solutions for an in-parallel actuated robotic mechanism based on Stewart's platform. These equations are required for inverse position and resolved rate (inverse velocity) platform control. NASA LaRC has a Vehicle Emulator System (VES) platform designed by MIT which is based on Stewart's platform. The inverse position solution is straight-forward and computationally inexpensive. Given the desired position and orientation of the moving platform with respect to the base, the lengths of the prismatic leg actuators are calculated. The forward position solution is more complicated and theoretically has 16 solutions. The position and orientation of the moving platform with respect to the base is calculated given the leg actuator lengths. Two methods are pursued in this paper to solve this problem. The resolved rate (inverse velocity) solution is derived. Given the desired Cartesian velocity of the end-effector, the required leg actuator rates are calculated. The Newton-Raphson Jacobian matrix resulting from the second forward position kinematics solution is a modified inverse Jacobian matrix. Examples and simulations are given for the VES.
Ballistic representation for kinematic access
Alfano, Salvatore
2011-01-01
This work uses simple two-body orbital dynamics to initially determine the kinematic access for a ballistic vehicle. Primarily this analysis was developed to assess when a rocket body might conjunct with an orbiting satellite platform. A family of access opportunities can be represented as a volume for a specific rocket relative to its launch platform. Alternately, the opportunities can be represented as a geographical footprint relative to aircraft or satellite position that encompasses all possible launcher locations for a specific rocket. A thrusting rocket is treated as a ballistic vehicle that receives all its energy at launch and follows a coasting trajectory. To do so, the rocket's burnout energy is used to find its equivalent initial velocity for a given launcher's altitude. Three kinematic access solutions are then found that account for spherical Earth rotation. One solution finds the maximum range for an ascent-only trajectory while another solution accommodates a descending trajectory. In addition, the ascent engagement for the descending trajectory is used to depict a rapid access scenario. These preliminary solutions are formulated to address ground-, sea-, or air-launched vehicles.
Bonnet, V; Dumas, R; Cappozzo, A; Joukov, V; Daune, G; Kulić, D; Fraisse, P; Andary, S; Venture, G
2017-09-06
This paper presents a method for real-time estimation of the kinematics and kinetics of a human body performing a sagittal symmetric motor task, which would minimize the impact of the stereophotogrammetric soft tissue artefacts (STA). The method is based on a bi-dimensional mechanical model of the locomotor apparatus the state variables of which (joint angles, velocities and accelerations, and the segments lengths and inertial parameters) are estimated by a constrained extended Kalman filter (CEKF) that fuses input information made of both stereophotogrammetric and dynamometric measurement data. Filter gains are made to saturate in order to obtain plausible state variables and the measurement covariance matrix of the filter accounts for the expected STA maximal amplitudes. We hypothesised that the ensemble of constraints and input redundant information would allow the method to attenuate the STA propagation to the end results. The method was evaluated in ten human subjects performing a squat exercise. The CEKF estimated and measured skin marker trajectories exhibited a RMS difference lower than 4mm, thus in the range of STAs. The RMS differences between the measured ground reaction force and moment and those estimated using the proposed method (9N and 10Nm) were much lower than obtained using a classical inverse dynamics approach (22N and 30Nm). From the latter results it may be inferred that the presented method allows for a significant improvement of the accuracy with which kinematic variables and relevant time derivatives, model parameters and, therefore, intersegmental moments are estimated. Copyright © 2016 Elsevier Ltd. All rights reserved.
Inverse scale space decomposition
DEFF Research Database (Denmark)
Schmidt, Marie Foged; Benning, Martin; Schönlieb, Carola-Bibiane
2018-01-01
We investigate the inverse scale space flow as a decomposition method for decomposing data into generalised singular vectors. We show that the inverse scale space flow, based on convex and even and positively one-homogeneous regularisation functionals, can decompose data represented...... by the application of a forward operator to a linear combination of generalised singular vectors into its individual singular vectors. We verify that for this decomposition to hold true, two additional conditions on the singular vectors are sufficient: orthogonality in the data space and inclusion of partial sums...... of the subgradients of the singular vectors in the subdifferential of the regularisation functional at zero. We also address the converse question of when the inverse scale space flow returns a generalised singular vector given that the initial data is arbitrary (and therefore not necessarily in the range...
Study of (α , p) and (α , n) reactions with a Multi-Sampling Ionization Chamber
Avila, M. L.; Rehm, K. E.; Almaraz-Calderon, S.; Ayangeakaa, A. D.; Dickerson, C.; Hoffman, C. R.; Jiang, C. L.; Kay, B. P.; Lai, J.; Nusair, O.; Pardo, R. C.; Santiago-Gonzalez, D.; Talwar, R.; Ugalde, C.
2017-07-01
A large number of (α , p) and (α , n) reactions are known to play a fundamental role in nuclear astrophysics. This work presents a novel technique to study these reactions with the active target system MUSIC whose segmented anode allows the investigation of a large energy range of the excitation function with a single beam energy. In order to verify the method, we performed direct measurements of the previously measured reactions 17O (α , n) 20Ne, 23Na (α , p) 26Mg, and 23Na (α , n) 26Al. These reactions were investigated in inverse kinematics using 4He gas in the detector to study the excitation functions in the energy range of about 2-6 MeV in the center of mass. We found good agreement between the cross sections of the 17O (α , n) 20Ne reaction measured in this work and previous measurements. Furthermore we have successfully performed a simultaneous measurement of the 23Na (α , p) 26Mg and 23Na (α , n) 26Al reactions.
Chipps, K. A.; Jensa Collaboration
2017-09-01
The development of radioactive ion beams for reaction measurements was a major step forward in nuclear astrophysics, reactions, and structure. However, the move to inverse kinematics presented unique difficulties, in particular with regard to the targets used in such studies. Lower beam intensities may require thicker targets, but this negatively affects the experimental resolution and potential backgrounds. A recent development toward studies of nuclear reactions is the commissioning of the Jet Experiments in Nuclear Structure and Astrophysics (JENSA) gas jet target. The JENSA system provides a pure, homogeneous, highly localized, dense, and robust gaseous target for radioactive ion beam studies. Charged-particle reactions measurements made with gas jet targets can be cleaner and display better resolution than with traditional targets. With the availability of pure and localized gas jet targets in combination with developments in exotic radioactive ion beams and next-generation detector and spectrometer systems, the range of reaction studies that are experimentally possible is vastly expanded. This talk will focus on the benefits of performing reaction measurements with a gas jet target, including discussion of several example cases using JENSA. Research sponsored by the Laboratory Directed Research and Development Program of Oak Ridge National Laboratory, managed by UT-Battelle, LLC, for the U.S. Department of Energy. This work was supported by DOE, NNSA, and NSF.
Nuclear reactions with 11C and 14O radioactive ion beams
International Nuclear Information System (INIS)
Guo, Fanqing
2004-01-01
Radioactive ion beams (RIBs) have been shown to be a useful tool for studying proton-rich nuclides near and beyond the proton dripline and for evaluating nuclear models. To take full advantage of RIBs, Elastic Resonance Scattering in Inverse Kinematics with Thick Targets (ERSIKTT), has proven to be a reliable experimental tool for investigations of proton unbound nuclei. Following several years of effort, Berkeley Experiments with Accelerated Radioactive Species (BEARS), a RIBs capability, has been developed at the Lawrence Berkeley National Laboratory's 88-Inch Cyclotron. The current BEARS provides two RIBs: a 11C beam of up to 2x108 pps intensity on target and an 14O beam of up to 3x104 pps intensity. While the development of the 11C beam has been relatively easy, a number of challenges had to be overcome to obtain the 14O beam. The excellent 11C beam has been used to investigate several reactions. The first was the 197Au(11C,xn)208-xnAt reaction, which was used to measure excitation functions for the 4n to 8n exit channels. The measured cross sections were generally predicted quite well using the fusion-evaporation code HIVAP. Possible errors in the branching ratios of ?? decays from At isotopes as well as the presence of incomplete fusion reactions probably contribute to specific overpredictions. 15F has been investigated by the p(14O,p)14O reaction with the ERSIKTT technology. Several 14O+p runs have been performed. Excellent energy calibration was obtained using resonances from the p(14N,p)14N reaction in inverse kinematics, and comparing the results to those obtained earlier with normal kinematics. The differences between 14N+p and 14O+p in the stopping power function have been evaluated for better energy calibration. After careful calibration, the energy levels of 15F were fitted with an R-matrix calculation. Spins and parities were assigned to the two observed resonances. This new measurement of the 15F ground state supports the disappearance of the Z = 8
Stoica, Alin; Pisla, Doina; Andras, Szilaghyi; Gherman, Bogdan; Gyurka, Bela-Zoltan; Plitea, Nicolae
2013-03-01
In the last ten years, due to development in robotic assisted surgery, the minimally invasive surgery has greatly changed. Until now, the vast majority of robots used in surgery, have serial structures. Due to the orientation parallel module, the structure is able to reduce the pressure exerted on the entrance point in the patient's abdominal wall. The parallel robot can also handle both a laparoscope as well an active instrument for different surgical procedures. The advantage of this parallel structure is that the geometric model has been obtained through an analytical approach. The kinematic modelling of a new parallel architecture, the inverse and direct geometric model and the inverse and direct kinematic models for velocities and accelerations are being determined. The paper will demonstrate that with this parallel structure, one can obtain the necessary workspace required for a minimally invasive operation. The robot workspace was generated using the inverse geometric model. An indepth study of different types of singularity is performed, allowing the development of safe control algorithms of the experimental model. Some kinematic simulation results and the experimental model of the robot are presented in the paper.
Direct measurements of reactions for p-process nucleosynthesis
International Nuclear Information System (INIS)
Reifarth, R.; Goebel, K.; Hinrichs, O.; Mei, B.; Meusel, O.; Plag, R.; Rastrepina, G.; Sonnabend, K.; Weigand, M.
2013-01-01
Full text: Almost all of the heavy elements are produced via neutron-induced processes in a multitude of stellar production sites. The remaining minor part is produced via - and proton-induced reactions. The predictive power of the underlying stellar models is currently limited because they contain poorly constrained physics components such as convection, rotation or magnetic fields. An important tool determine such components is the comparison of observed with modeled abundance distributions based on improved nuclear physics input. The FRANZ facility at the Goethe University Frankfurt, which is currently under construction will provide unprecedented neutron fluxes and proton currents available for nuclear astrophysics. It will be possible to investigate proton- and neutron-induced reactions important for p-process nucleosynthesis. At the GSI close to Darmstadt radioactive isotopes can be investigated in inverse kinematics. This allows experiments such as proton-induced cross section measurements using a heavy ion storage ring or γ-induced reaction measurements using the Coulomb dissociation method. The future FAIR facility will allow similar experiments on short-lived nuclei, since orders of magnitude higher radioactive ion beams will be possible.
Study of the 18F(p,α)15O reaction by transfer reaction for application to γ-ray emission from Novae
International Nuclear Information System (INIS)
Sereville, N. de
2003-12-01
The gamma emission from novae at/or below 511 keV is due to the annihilation of the positrons produced in the beta + decay of F 18 . The interpretation of this emission through observations made by the Integral satellite for instance, requires a good knowledge of F 18 nucleosynthesis. The reaction rate of the F 18 (p,α)O 15 is the least known because of 2 resonances corresponding to the levels 6.419 and 6.449 MeV of Ne 19 whose proton widths are completely unknown. We have determined these proton widths via the study of one-nucleon transfer reaction D(F 18 ,pα)N 15 populating equivalent levels in F 19 . We have used a 14 MeV F 18 radioactive beam on a CD 2 target for inverse kinematics studies and the multi-track silicon detector LEDA. A DWBA (Distorted Wave Bound Approximation) has enabled us to determine the proton width of both resonances and has showed that they have an impact in the calculation of the reaction rate. A thorough study of the remaining uncertainties of the reaction rate has been undertaken, particularly for those concerning interferences between these resonances and a higher resonance of Ne 19 . The reaction rate that we have obtained is very similar to the previous rate used but now it rests on a more solid basis
Energy Technology Data Exchange (ETDEWEB)
Renard, F.
2003-01-01
The goal of seismic inversion is to recover an Earth model that best fits some observed data. To reach that goal, we have to minimize an objective function that measures the amplitude of the misfits according to a norm to be chosen in data space. In general, the used norm is the L2 norm. Unfortunately, such a norm is not adapted to data corrupted by correlated noise: the noise is in that case inverted as signal and the inversion results are unacceptable. The goal of this thesis is to obtain satisfactory results to the inverse problem in that situation. For this purpose, we study two inverse problems: reflection tomography and waveform inversion. In reflection tomography, we propose a new formulation of the continuum inverse problem which relies on a H1 norm in data space. This allows us to account for the correlated nature of the noise that corrupts the kinematic information. However, this norm does not give more satisfactory results than the ones obtained with the classical formalism. This is why, for sake of simplicity, we recommend to use this classical formalism. Then we try to understand how to properly sample the kinematic information so as to obtain an accurate approximation of the continuum inverse problem. In waveform inversion, we propose to directly invert data corrupted by some correlated noise. A first idea consists in rejecting the noise in the residues. In that goal, we can use a semi-norm to formulate the inverse problem. This technique gives very good results, except when the data are corrupted by random noise. Thus we propose a second method which consists in retrieving, by solving an inverse problem, the signal and the noise whose sum best fits the data. This technique gives very satisfactory results, even if some random noise pollutes the data, and is moreover solved, thanks to an original algorithm, in a very efficient way. (author)
Kinematically Decoupled Cores in Dwarf (Elliptical) Galaxies
Toloba, E.; Peletier, R. F.; Guhathakurta, P.; van de Ven, G.; Boissier, S.; Boselli, A.; Brok, M. d.; Falcón-Barroso, J.; Hensler, G.; Janz, J.; Laurikainen, E.; Lisker, T.; Paudel, S.; Ryś, A.; Salo, H.
An overview is given of what we know about the frequency of kinematically decoupled cores in dwarf elliptical galaxies. New observations show that kinematically decoupled cores happen just as often in dwarf elliptical as in ordinary early-type galaxies. This has important consequences for the
Kinematic Analysis 6dof Delta Manipulator
Directory of Open Access Journals (Sweden)
Dawid PIETRALA
2014-12-01
Full Text Available In the paper the solid and kinematic model of delta type parallel manipulator with six degrees of freedom is proposed. Method of determining the manipulator kinematics equations using the notation of Denavitt – Hartenberg is presented. For given movements of manipulator platform the trajectory of drives are illustrated. Also working space for various platform orientations are showed.
Kinematic analysis of Sculptor Group galaxies
Schoenmakers, RHM; Valtonen, MJ; Flynn, C
2000-01-01
An analysis of the kinematics of the five major spiral galaxies in the Sculptor Group is presented. These galaxies are analyzed using the method of harmonic expansion of the velocity field as described in Schoenmakers, Franx and de Zeeuw (1997). Three different types of kinematic distortions were
Inversion assuming weak scattering
DEFF Research Database (Denmark)
Xenaki, Angeliki; Gerstoft, Peter; Mosegaard, Klaus
2013-01-01
due to the complex nature of the field. A method based on linear inversion is employed to infer information about the statistical properties of the scattering field from the obtained cross-spectral matrix. A synthetic example based on an active high-frequency sonar demonstrates that the proposed...
Broekhuis, H.
2005-01-01
This article aims at reformulating in more current terms Hoekstra and Mulder’s (1990) analysis of the Locative Inversion (LI) construction. The new proposal is crucially based on the assumption that Small Clause (SC) predicates agree with their external argument in phi-features, which may be
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
Energy Technology Data Exchange (ETDEWEB)
Shin, Chang Soo; Park, Keun Pil [Korea Inst. of Geology Mining and Materials, Taejon (Korea, Republic of); Suh, Jung Hee; Hyun, Byung Koo; Shin, Sung Ryul [Seoul National University, Seoul (Korea, Republic of)
1995-12-01
The seismic reflection exploration technique which is one of the geophysical methods for oil exploration became effectively to image the subsurface structure with rapid development of computer. However, the imagining of subsurface based on the conventional data processing is almost impossible to obtain the information on physical properties of the subsurface such as velocity and density. Since seismic data are implicitly function of velocities of subsurface, it is necessary to develop the inversion method that can delineate the velocity structure using seismic topography and waveform inversion. As a tool to perform seismic inversion, seismic forward modeling program using ray tracing should be developed. In this study, we have developed the algorithm that calculate the travel time of the complex geologic structure using shooting ray tracing by subdividing the geologic model into blocky structure having the constant velocity. With the travel time calculation, the partial derivatives of travel time can be calculated efficiently without difficulties. Since the current ray tracing technique has a limitation to calculate the travel times for extremely complex geologic model, our aim in the future is to develop the powerful ray tracer using the finite element technique. After applying the pseudo waveform inversion to the seismic data of Korea offshore, we can obtain the subsurface velocity model and use the result in bring up the quality of the seismic data processing. If conventional seismic data processing and seismic interpretation are linked with this inversion technique, the high quality of seismic data processing can be expected to image the structure of the subsurface. Future research area is to develop the powerful ray tracer of ray tracing which can calculate the travel times for the extremely complex geologic model. (author). 39 refs., 32 figs., 2 tabs.
Kinematic models of extensional structures
International Nuclear Information System (INIS)
Groshong, R.H. Jr.
1990-01-01
This paper discusses kinematic models that can relate faults of different types and different positions within a single dynamic system and thereby offer the potential to explain the disparate seismic activity characteristic of extensional terrains. The major styles are full grabens, half grabens, domino blocks, and glide-block systems. Half grabens, the most likely models for Basin and Range structure, are formed above a master fault of decreasing dip with depth and a hangingwall that deforms as it passes over the curved fault. Second-order normal faults, typically domino style, accommodate the required hangingwall deformation. According to the author low-angle detachment faults are consistent with the evidence of seismicity only on high-angle faults if the hangingwall of the detachment is broken by multiple half-graben systems
Calculation of the inverse data space via sparse inversion
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.
Motion Planning of Kinematically Redundant 12-tetrahedral Rolling Robot
Directory of Open Access Journals (Sweden)
Xingbo Wang
2016-02-01
Full Text Available The 12-tetrahedral robot is an addressable reconfigurable technology (ART-based variable geometry truss mechanism with 26 extensible struts and nine nodes arranged in a tetrahedral mesh. The robot has the capability of configuring its shape to adapt to environmental requirements, which makes it suitable for space exploration. This paper considers the motion planning problem for the robot in terms of gait planning and trajectory planning. First, a gait planning method is developed that limits the forward falling angles to only 25 degrees. Then, according to the given gait, the jerk-bounded method and inverse kinematics are utilized to calculate the trajectories of the nodes and the struts, respectively. A robot system model was built in ADAMS and simulations were conducted to demonstrate the feasibility of the motion planning method.
Generic robotic kinematic generator for virtual environment interfaces
Flueckiger, Lorenzo; Piguet, Laurent; Baur, Charles
1996-12-01
The expansion of robotic systems' performance, as well as the need for such machines to work in complex environments (hazardous, small, distant, etc.), involves the need for user interfaces which permit efficient teleoperation. Virtual Reality based interfaces provide the user with a new method for robot task planning and control: he or she can define tasks in a very intuitive way by interacting with a 3D computer generated representation of the world, which is continuously updated thanks to multiple sensors fusion and analysis. The Swiss Federal Institute of Technology has successfully tested different kinds of teleoperations. In the early 90s, a transatlantic teleoperation of a conventional robot manipulator with a vision feedback system to update the virtual world was achieved. This approach was then extended to perform teleoperation of several mobile robots (Khepera, Koala) as well as to control microrobots used for microsystems' assembly in the micrometer range. One of the problems encountered with such an approach is the necessity to program a specific kinematic algorithm for each kind of manipulator. To provide a more general solution, we started a project aiming at the design of a 'kinematic generator' (CINEGEN) for the simulation of generic serial and parallel mechanical chains. With CINEGEN, each manipulator is defined with an ascii file description and its attached graphics files; inserting a new manipulator simply requires a new description file, and none of the existing tools require modification. To have a real time behavior, we have chosen a numerical method based on the pseudo-Jacobian method to generate the inverse kinematics of the robot. The results obtained with an object-oriented implementation on a graphic workstation are presented in this paper.
Chimpanzee ankle and foot joint kinematics: Arboreal versus terrestrial locomotion.
Holowka, Nicholas B; O'Neill, Matthew C; Thompson, Nathan E; Demes, Brigitte
2017-09-01
Many aspects of chimpanzee ankle and midfoot joint morphology are believed to reflect adaptations for arboreal locomotion. However, terrestrial travel also constitutes a significant component of chimpanzee locomotion, complicating functional interpretations of chimpanzee and fossil hominin foot morphology. Here we tested hypotheses of foot motion and, in keeping with general assumptions, we predicted that chimpanzees would use greater ankle and midfoot joint ranges of motion during travel on arboreal supports than on the ground. We used a high-speed motion capture system to measure three-dimensional kinematics of the ankle and midfoot joints in two male chimpanzees during three locomotor modes: terrestrial quadrupedalism on a flat runway, arboreal quadrupedalism on a horizontally oriented tree trunk, and climbing on a vertically oriented tree trunk. Chimpanzees used relatively high ankle joint dorsiflexion angles during all three locomotor modes, although dorsiflexion was greatest in arboreal modes. They used higher subtalar joint coronal plane ranges of motion during terrestrial and arboreal quadrupedalism than during climbing, due in part to their use of high eversion angles in the former. Finally, they used high midfoot inversion angles during arboreal locomotor modes, but used similar midfoot sagittal plane kinematics across all locomotor modes. The results indicate that chimpanzees use large ranges of motion at their various ankle and midfoot joints during both terrestrial and arboreal locomotion. Therefore, we argue that chimpanzee foot anatomy enables a versatile locomotor repertoire, and urge caution when using foot joint morphology to reconstruct arboreal behavior in fossil hominins. © 2017 Wiley Periodicals, Inc.
Validation of Inertial Measurement Units for Upper Body Kinematics.
Morrow, Melissa M B; Lowndes, Bethany; Fortune, Emma; Kaufman, Kenton R; Hallbeck, M Susan
2017-07-01
The purpose of this study was to validate a commercially available inertial measurement unit (IMU) system against a standard lab-based motion capture system for the measurement of shoulder elevation, elbow flexion, trunk flexion/extension, and neck flexion/extension kinematics. The validation analyses were applied to 6 surgical faculty members performing a standard, simulated surgical training task that mimics minimally invasive surgery. Three-dimensional joint kinematics were simultaneously recorded by an optical motion capture system and an IMU system with 6 sensors placed on the head, chest, and bilateral upper and lower arms. The sensor-to-segment axes alignment was accomplished manually. The IMU neck and trunk IMU flexion/extension angles were accurate to within 2.9 ± 0.9 degrees and 1.6 ± 1.1°, respectively. The IMU shoulder elevation measure was accurate to within 6.8 ± 2.7° and the elbow flexion measure was accurate to within 8.2 ± 2.8°. In the Bland-Altman analyses, there were no significant systematic errors present; however, there was a significant inversely proportional error across all joints. As the gold standard measurement increased, the IMU underestimated the magnitude of the joint angle. This study reports acceptable accuracy of a commercially available IMU system; however, results should be interpreted as protocol specific.
A primer for electroweak induced low-energy nuclear reactions
Indian Academy of Sciences (India)
Corresponding author. E-mail: ... some of their electric energy to an electron so that the following reaction was kinematically allowed: ... tube disintegrate it generated electric fields strong enough to accelerate electrons and protons toward each other ...
Deschamps, Kevin; Matricali, Giovanni Arnoldo; Dingenen, Bart; De Boeck, Jente; Bronselaer, Sarah; Staes, Filip
2018-05-01
Investigate differences in multi-segment foot kinematics between controls and participants with chronic ankle instability during running with a midfoot striking pattern and to evaluate the effect of Low-Dye and High-Dye taping. Three-dimensional multi-segment foot kinematics of 12 controls and 15 participants with chronic ankle instability were collected while running barefoot, and in both taping conditions. Ranges of motion occurring at each joint, each sub phase of stance, were compared between groups and between taping conditions (0-dimensional inference). Kinematic data were also compared using one-dimensional statistical parametric mapping. The symptomatic group demonstrated while barefoot running a significantly decreased rearfoot dorsiflexion range of motion during the peak impact phase as well as a less dorsiflexed position from 6 to 12% of the running cycle. During the absorption and generation phase, the symptomatic group also showed a significantly increased rearfoot dorsiflexion and adduction motion as well as an increased midfoot inversion motion. In the peak impact phase of both taping conditions, a decreased midfoot inversion motion was found. The High-Dye taping resulted in a decreased rearfoot plantarflexion motion whereas the Low-Dye caused a decreased midfoot inversion motion. Persons with chronic ankle instability seem to have altered rearfoot and midfoot kinematics while running with a midfoot striking index. High-Dye taping seems to have better therapeutic features than Low-Dye taping. Copyright © 2018 Elsevier Ltd. All rights reserved.
Electrochemically driven emulsion inversion
International Nuclear Information System (INIS)
Johans, Christoffer; Kontturi, Kyoesti
2007-01-01
It is shown that emulsions stabilized by ionic surfactants can be inverted by controlling the electrical potential across the oil-water interface. The potential dependent partitioning of sodium dodecyl sulfate (SDS) was studied by cyclic voltammetry at the 1,2-dichlorobenzene|water interface. In the emulsion the potential control was achieved by using a potential-determining salt. The inversion of a 1,2-dichlorobenzene-in-water (O/W) emulsion stabilized by SDS was followed by conductometry as a function of added tetrapropylammonium chloride. A sudden drop in conductivity was observed, indicating the change of the continuous phase from water to 1,2-dichlorobenzene, i.e. a water-in-1,2-dichlorobenzene emulsion was formed. The inversion potential is well in accordance with that predicted by the hydrophilic-lipophilic deviation if the interfacial potential is appropriately accounted for
DEFF Research Database (Denmark)
Gale, A.S.; Surlyk, Finn; Anderskouv, Kresten
2013-01-01
Evidence from regional stratigraphical patterns in Santonian−Campanian chalk is used to infer the presence of a very broad channel system (5 km across) with a depth of at least 50 m, running NNW−SSE across the eastern Isle of Wight; only the western part of the channel wall and fill is exposed. W......−Campanian chalks in the eastern Isle of Wight, involving penecontemporaneous tectonic inversion of the underlying basement structure, are rejected....
Investigating The Kinematics of Canids and Felids
Sur, D.
2016-12-01
For all organisms, metabolic energy is critical for survival. While moving efficiently is a necessity for large carnivores, the influence of kinematics on energy demand remains poorly understood. We measured the kinematics of dogs, wolves, and pumas to detect any differences in their respective energy expenditures. Using 22 kinematic parameters measured on 78 videos, we used one-way ANOVAs and paired T-tests to compare 5 experimental treatments among gaits in dogs (n=11 in 3 breed groups), wolves (n=2), and pumas (n=2). Across the measured parameters, we found greater kinematic similarity than expected among dog breeds and no trend in any of the 22 parameters regarding the effect of steepness on locomotion mechanics. Similarly, treadmill kinematics were nearly identical to those measured during outdoor movement. However, in 3 inches of snow, we observed significant differences (pwolf. When comparing canids (wolves and dogs) to a felid (pumas), we found that pumas and dogs are the most kinematically distinct (differing in 13 of 22 parameters, compared with 5 of 22 for wolves and pumas). Lastly, compared with wolves, walking pumas had larger head angles (p=0.0025), forelimb excursion angles (p=0.0045), and hindlimb excursion angles (p=0.0327). After comparing the energetics of pumas and dogs with their respective kinematics, we noted that less dynamic kinematics result in energy savings. Through tracking the locations and gait behavior of large carnivores, novel sensor technology can reveal how indoor kinematics applies to wild animals and improve the conservation of these species.
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.
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
Neutron spectroscopic factors of 55Ni hole-states from (p,d) transfer reactions
International Nuclear Information System (INIS)
Sanetullaev, A.; Tsang, M.B.; Lynch, W.G.; Lee, Jenny; Bazin, D.; Chan, K.P.; Coupland, D.; Henzl, V.; Henzlova, D.; Kilburn, M.; Rogers, A.M.; Sun, Z.Y.; Youngs, M.; Charity, R.J.; Sobotka, L.G.; Famiano, M.; Hudan, S.; Shapira, D.; Peters, W.A.; Barbieri, C.
2014-01-01
Spectroscopic information has been extracted on the hole-states of 55 Ni, the least known of the quartet of nuclei ( 55 Ni, 57 Ni, 55 Co and 57 Cu), one nucleon away from 56 Ni, the N=Z=28 double magic nucleus. Using the 1 H( 56 Ni,d) 55 Ni transfer reaction in inverse kinematics, neutron spectroscopic factors, spins and parities have been extracted for the f 7/2 , p 3/2 and the s 1/2 hole-states of 55 Ni. These new data provide a benchmark for large basis calculations that include nucleonic orbits in both the sd and pf shells. State of the art calculations have been performed to describe the excitation energies and spectroscopic factors of the s 1/2 hole-state below Fermi energy.
Neutron spectroscopic factors of 55Ni hole-states from (p,d transfer reactions
Directory of Open Access Journals (Sweden)
A. Sanetullaev
2014-09-01
Full Text Available Spectroscopic information has been extracted on the hole-states of 55Ni, the least known of the quartet of nuclei (55Ni, 57Ni, 55Co and 57Cu, one nucleon away from 56Ni, the N=Z=28 double magic nucleus. Using the H1(Ni56,dNi55 transfer reaction in inverse kinematics, neutron spectroscopic factors, spins and parities have been extracted for the f7/2, p3/2 and the s1/2 hole-states of 55Ni. These new data provide a benchmark for large basis calculations that include nucleonic orbits in both the sd and pf shells. State of the art calculations have been performed to describe the excitation energies and spectroscopic factors of the s1/2 hole-state below Fermi energy.
Neutron spectroscopic factors of {sup 55}Ni hole-states from (p,d) transfer reactions
Energy Technology Data Exchange (ETDEWEB)
Sanetullaev, A. [National Superconducting Cyclotron Laboratory and Department of Physics and Astronomy, Michigan State University, East Lansing, MI 48824 (United States); Tsang, M.B., E-mail: tsang@nscl.msu.edu [National Superconducting Cyclotron Laboratory and Department of Physics and Astronomy, Michigan State University, East Lansing, MI 48824 (United States); Lynch, W.G.; Lee, Jenny; Bazin, D. [National Superconducting Cyclotron Laboratory and Department of Physics and Astronomy, Michigan State University, East Lansing, MI 48824 (United States); Chan, K.P. [National Superconducting Cyclotron Laboratory and Department of Physics and Astronomy, Michigan State University, East Lansing, MI 48824 (United States); Physics Department, Hong Kong Chinese University, Shatin, Hong Kong (China); Coupland, D.; Henzl, V.; Henzlova, D.; Kilburn, M.; Rogers, A.M. [National Superconducting Cyclotron Laboratory and Department of Physics and Astronomy, Michigan State University, East Lansing, MI 48824 (United States); Sun, Z.Y. [National Superconducting Cyclotron Laboratory and Department of Physics and Astronomy, Michigan State University, East Lansing, MI 48824 (United States); Institute of Modern Physics, CAS, Lanzhou 730000 (China); Youngs, M. [National Superconducting Cyclotron Laboratory and Department of Physics and Astronomy, Michigan State University, East Lansing, MI 48824 (United States); Charity, R.J.; Sobotka, L.G. [Department of Chemistry, Washington University, St. Louis, MO 63130 (United States); Famiano, M. [Department of Physics, Western Michigan University, Kalamazoo, MI 49008 (United States); Hudan, S. [Department of Chemistry, Indiana University, Bloomington, IN 47405 (United States); Shapira, D. [Oak Ridge National Laboratory, Oak Ridge, TN 37831 (United States); Peters, W.A. [Rutgers University, Piscataway, NJ 08854 (United States); Barbieri, C. [Department of Physics, University of Surrey, Guildford GU2 7XH (United Kingdom); and others
2014-09-07
Spectroscopic information has been extracted on the hole-states of {sup 55}Ni, the least known of the quartet of nuclei ({sup 55}Ni, {sup 57}Ni, {sup 55}Co and {sup 57}Cu), one nucleon away from {sup 56}Ni, the N=Z=28 double magic nucleus. Using the {sup 1}H({sup 56}Ni,d){sup 55}Ni transfer reaction in inverse kinematics, neutron spectroscopic factors, spins and parities have been extracted for the f{sub 7/2}, p{sub 3/2} and the s{sub 1/2} hole-states of {sup 55}Ni. These new data provide a benchmark for large basis calculations that include nucleonic orbits in both the sd and pf shells. State of the art calculations have been performed to describe the excitation energies and spectroscopic factors of the s{sub 1/2} hole-state below Fermi energy.
Inverse dynamic modelling of jumping in the red-legged running frog,Kassina maculata.
Porro, Laura B; Collings, Amber J; Eberhard, Enrico A; Chadwick, Kyle P; Richards, Christopher T
2017-05-15
Although the red-legged running frog, Kassina maculata , is secondarily a walker/runner, it retains the capacity for multiple locomotor modes, including jumping at a wide range of angles (nearly 70 deg). Using simultaneous hind limb kinematics and single-foot ground reaction forces, we performed inverse dynamics analyses to calculate moment arms and torques about the hind limb joints during jumping at different angles in K. maculata. We show that forward thrust is generated primarily at the hip and ankle, while body elevation is primarily driven by the ankle. Steeper jumps are achieved by increased thrust at the hip and ankle and greater downward rotation of the distal limb segments. Because of its proximity to the GRF vector, knee posture appears to be important in controlling torque directions about this joint and, potentially, torque magnitudes at more distal joints. Other factors correlated with higher jump angles include increased body angle in the preparatory phase, faster joint openings and increased joint excursion, higher ventrally directed force, and greater acceleration and velocity. Finally, we demonstrate that jumping performance in K. maculata does not appear to be compromised by presumed adaptation to walking/running. Our results provide new insights into how frogs engage in a wide range of locomotor behaviours and the multi-functionality of anuran limbs. © 2017. Published by The Company of Biologists Ltd.
Improving Inverse Dynamics Accuracy in a Planar Walking Model Based on Stable Reference Point
Directory of Open Access Journals (Sweden)
Alaa Abdulrahman
2014-01-01
Full Text Available Physiologically and biomechanically, the human body represents a complicated system with an abundance of degrees of freedom (DOF. When developing mathematical representations of the body, a researcher has to decide on how many of those DOF to include in the model. Though accuracy can be enhanced at the cost of complexity by including more DOF, their necessity must be rigorously examined. In this study a planar seven-segment human body walking model with single DOF joints was developed. A reference point was added to the model to track the body’s global position while moving. Due to the kinematic instability of the pelvis, the top of the head was selected as the reference point, which also assimilates the vestibular sensor position. Inverse dynamics methods were used to formulate and solve the equations of motion based on Newton-Euler formulae. The torques and ground reaction forces generated by the planar model during a regular gait cycle were compared with similar results from a more complex three-dimensional OpenSim model with muscles, which resulted in correlation errors in the range of 0.9–0.98. The close comparison between the two torque outputs supports the use of planar models in gait studies.
Robot Kinematics, using Dual Quaternions
Directory of Open Access Journals (Sweden)
Mahmoud Gouasmi
2012-03-01
Full Text Available From the point of view of classical mechanics, deriving the equations of motion for systems of coupled rigid bodies is regarded as a straightforward procedure: once a suitable set of generalized coordinates and reference frames have been chosen, what remains is to either apply Lagrange’s equations or Newton and Euler’s equations to obtain the differential equations of motion. As the complexity of multibody system increases, the need for more elegant formulation of the equation of motion becomes an issue of paramount importance. Our primary focus is on the kinematic analysis of rigid bodies and serial manipulators (robotic systems using simultaneously, both homogeneous transformations (4x4 matrices and Dual Quaternions, for the sake of results comparisons (cost,complexity,storage capacity etc. . This paper has been done mainly for educational and peadagogical purposes, hoping that the scientific community will finally adopt and use Dual Quaternions at least when dealing with multibody systems and specially robotics.
A Soft Parallel Kinematic Mechanism.
White, Edward L; Case, Jennifer C; Kramer-Bottiglio, Rebecca
2018-02-01
In this article, we describe a novel holonomic soft robotic structure based on a parallel kinematic mechanism. The design is based on the Stewart platform, which uses six sensors and actuators to achieve full six-degree-of-freedom motion. Our design is much less complex than a traditional platform, since it replaces the 12 spherical and universal joints found in a traditional Stewart platform with a single highly deformable elastomer body and flexible actuators. This reduces the total number of parts in the system and simplifies the assembly process. Actuation is achieved through coiled-shape memory alloy actuators. State observation and feedback is accomplished through the use of capacitive elastomer strain gauges. The main structural element is an elastomer joint that provides antagonistic force. We report the response of the actuators and sensors individually, then report the response of the complete assembly. We show that the completed robotic system is able to achieve full position control, and we discuss the limitations associated with using responsive material actuators. We believe that control demonstrated on a single body in this work could be extended to chains of such bodies to create complex soft robots.
Kinematic anharmonicity of internal rotation of molecules
International Nuclear Information System (INIS)
Bataev, V.A.; Pupyshev, V.I.; Godunov, I.A.
2017-01-01
The methods of analysis the strongly coupled vibrations are proposed for a number of molecules of aromatic and heterocyclic carbonyl (and some others) compounds. The qualitative principles are formulated for molecular systems with a significant kinematic anharmonicity.
Directory of Open Access Journals (Sweden)
Paulo Roberto Garcia Lucareli
2007-02-01
Full Text Available INTRODUCTION: The floor reaction ankle-foot orthosis is commonly prescribed in the attempt to decrease knee flexion during the stance phase in the cerebral palsy (CP gait. Reported information about this type of orthosis is insufficient. PURPOSE: The purpose of this study was to determine the effect of clinically prescribed floor reaction ankle-foot orthosis on kinematic parameters of the hip, knee and ankle in the stance phase of the gait cycle, compared to barefoot walking on children with cerebral palsy. METHODS: A retrospective chart review of 2200 patients revealed that 71 patients (142 limbs had a diagnosis of diplegia, with no contractures in hip, knee or ankle flexion. Their average age was 12.2 ± 3.9. All of them were wearing clinically prescribed hinged floor reaction ankle-foot orthosis undergoing a three dimensional gait analysis. We divided the patients in three groups: Group I, with limited extension (maximum knee extension less than 15º; Group II, with moderate limited extension (maximum knee extension between 15º and 30º and Group III Crouch (maximum knee extension in stance more than 30º. RESULTS: Results indicate the parameters maximum knee extension and ankle dorsiflexion were significant in Group II e III; no change was observed in Group I. The maximum hip extension was not significant in all three groups. Conclusion: when indicated to improve the extension of the knees and ankle in the stance of the CP patients floor reaction ankle-foot orthosis was effective.INTRODUÇÃO: A órtese de reação ao solo é freqüentemente prescrita com o objetivo de reduzir a flexão do joelho durante a fase de apoio na marcha de pacientes com paralisia cerebral. Não há informações suficientes relatadas na literature sobre este tipo de órteses. OBJETIVOS: O objetivo deste estudo foi determinar o efeito que a órtese de reação ao solo tem na cinamática angular das articulações do quadril, joelho e tornozelo durante a fase de
Inverse scattering with supersymmetric quantum mechanics
International Nuclear Information System (INIS)
Baye, Daniel; Sparenberg, Jean-Marc
2004-01-01
The application of supersymmetric quantum mechanics to the inverse scattering problem is reviewed. The main difference with standard treatments of the inverse problem lies in the simple and natural extension to potentials with singularities at the origin and with a Coulomb behaviour at infinity. The most general form of potentials which are phase-equivalent to a given potential is discussed. The use of singular potentials allows adding or removing states from the bound spectrum without contradicting the Levinson theorem. Physical applications of phase-equivalent potentials in nuclear reactions and in three-body systems are described. Derivation of a potential from the phase shift at fixed orbital momentum can also be performed with the supersymmetric inversion by using a Bargmann-type approximation of the scattering matrix or phase shift. A unique singular potential without bound states can be obtained from any phase shift. A limited number of bound states depending on the singularity can then be added. This inversion procedure is illustrated with nucleon-nucleon scattering
Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy
Energy Technology Data Exchange (ETDEWEB)
Qu, Haibo; Guo, Sheng [Beijing Jiaotong University, Beijing (China)
2017-04-15
In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations.
Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy
International Nuclear Information System (INIS)
Qu, Haibo; Guo, Sheng
2017-01-01
In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations
Heavy baryon spectroscopy with relativistic kinematics
International Nuclear Information System (INIS)
Valcarce, A.; Garcilazo, H.; Vijande, J.
2014-01-01
We present a comparative Faddeev study of heavy baryon spectroscopy with nonrelativistic and relativistic kinematics. We show results for different standard hyperfine interactions with both kinematics in an attempt to learn about the light quark dynamics. We highlight the properties of particular states accessible in nowadays laboratories that would help in discriminating between different dynamical models. The advance in the knowledge of light quark dynamics is a key tool for the understanding of the existence of exotic hadrons.
Dynamic Control of Kinematically Redundant Robotic Manipulators
Directory of Open Access Journals (Sweden)
Erling Lunde
1987-07-01
Full Text Available Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator. In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics. The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.
Kinematics of Laying an Automated Weapon System
2017-07-19
UNCLASSIFIED UNCLASSIFIED AD-E403 899 Technical Report ARWSE-TR-16024 KINEMATICS OF LAYING AN AUTOMATED WEAPON SYSTEM ...2017 2. REPORT TYPE Final 3. DATES COVERED (From – To) 4. TITLE AND SUBTITLE KINEMATICS OF LAYING AN AUTOMATED WEAPON SYSTEM 5a. CONTRACT...NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) U.S. Army ARDEC, WSEC Weapons Systems & Technology Directorate (RDAR-WSW-I) Picatinny
DEFF Research Database (Denmark)
Mosegaard, Klaus
2012-01-01
For non-linear inverse problems, the mathematical structure of the mapping from model parameters to data is usually unknown or partly unknown. Absence of information about the mathematical structure of this function prevents us from presenting an analytical solution, so our solution depends on our...... ability to produce efficient search algorithms. Such algorithms may be completely problem-independent (which is the case for the so-called 'meta-heuristics' or 'blind-search' algorithms), or they may be designed with the structure of the concrete problem in mind. We show that pure meta...
Kinematic approximation in the theory of stimulated nuclear polarization in radical recombination
International Nuclear Information System (INIS)
Mikhailov, S.A.; Purtov, P.A.
1989-01-01
Within the kinematic approximation, we have developed the theory of stimulated nuclear polarization (SNP) in reactions of geminal recombination of radicals in a strong d.c. magnetic field. We have obtained analytical formulas which are applicable for analysis of SNP effects occurring when the reactions are carried out in nonviscous solutions. The result is represented in the form of integrals with respect to the Green's function determining the kinematics of reagent approach. As an illustration of the proposed theory, we have calculated the polarization of nuclei formed in the reaction products of p-benzoquinone in CD 3 OD and in C 6 D 6 with addition of phenol, and we compare with experiment
Directory of Open Access Journals (Sweden)
Erfan Mirshekari
Full Text Available Abstract The effects of distinctive parameters such as revolute joint angle or spherical joint location of mobile platform in a 6-DOF 6-RUS parallel manipulators on workspace, kinematic, and dynamic indices are investigated in this study to select proper structure commensurate with performance. Intelligent multi-objective optimization method is used to design the manipulator. Considering distinctive parameters, relevant relations for developing inverse kinematic and Jacobin matrix are obtained. In order to study dynamic properties, mass matrix is obtained from calculating the total kinetic energy of the manipulator. After modifying multi-objective Bees algorithm, it used to optimize the manipulator structure considering all geometrical parameters with proper constraints. In addition of comparison of three well known 6-RUS manipulators' types, variation diagram of workspace, local and global dynamics and kinematics performance indices have been drawn with respect to structural parameters variation and limitation of these parameters with proper value are determined. Moreover, considering all dimensional parameters, Pareto front line of multi objective optimization of structure is presented based on dynamic and kinematic performance in pre-determined workspace. Based on the results, a fairly comparison among various types of 6-RUS manipulators can be conducted and the most appropriate set of dimensional parameters are selected based on specific demand.
The aim of this proposal is the study of single-particle states of $^{81}$Zn via the $^{80}$Zn(d,p) reaction in inverse kinematics. $^{81}$Zn will be produced by means of a laser-ionized, 5.5 MeV/u HIE-Isolde $^{80}$Zn beam impinging on a deuterated-polyethylene target. The protons and $\\gamma$-rays emitted in the reaction will be studied using the Miniball + T-REX setup. This experiment will constitute the first spectroscopic study of $^{81}$Zn, which is critically important to determine the energy and ordering of neutron single-particle orbits above the N=50 gap and the properties of $^{78}$Ni.
Energy Technology Data Exchange (ETDEWEB)
Wang, H., E-mail: wanghe@ribf.riken.jp [RIKEN Nishina Center, 2-1 Hirosawa, Wako, Saitama 351-0198 (Japan); Otsu, H.; Sakurai, H.; Ahn, D.S. [RIKEN Nishina Center, 2-1 Hirosawa, Wako, Saitama 351-0198 (Japan); Aikawa, M. [Faculty of Science, Hokkaido University, Sapporo 060-0810 (Japan); Doornenbal, P.; Fukuda, N.; Isobe, T. [RIKEN Nishina Center, 2-1 Hirosawa, Wako, Saitama 351-0198 (Japan); Kawakami, S. [Department of Applied Physics, University of Miyazaki, Miyazaki 889-2192 (Japan); Koyama, S. [Department of Physics, University of Tokyo, 7-3-1 Hongo, Bunkyo, Tokyo 113-0033 (Japan); Kubo, T.; Kubono, S.; Lorusso, G. [RIKEN Nishina Center, 2-1 Hirosawa, Wako, Saitama 351-0198 (Japan); Maeda, Y. [Department of Applied Physics, University of Miyazaki, Miyazaki 889-2192 (Japan); Makinaga, A. [Graduate School of Medicine, Hokkaido University, North-14, West-5, Kita-ku, Sapporo 060-8648 (Japan); Momiyama, S. [Department of Physics, University of Tokyo, 7-3-1 Hongo, Bunkyo, Tokyo 113-0033 (Japan); Nakano, K. [Department of Advanced Energy Engineering Science, Kyushu University, Kasuga, Fukuoka 816-8580 (Japan); Niikura, M. [Department of Physics, University of Tokyo, 7-3-1 Hongo, Bunkyo, Tokyo 113-0033 (Japan); Shiga, Y. [Department of Physics, Rikkyo University, 3-34-1 Nishi-Ikebukuro, Toshima, Tokyo 171-8501 (Japan); RIKEN Nishina Center, 2-1 Hirosawa, Wako, Saitama 351-0198 (Japan); Söderström, P.-A. [RIKEN Nishina Center, 2-1 Hirosawa, Wako, Saitama 351-0198 (Japan); and others
2016-03-10
We have studied spallation reactions for the fission products {sup 137}Cs and {sup 90}Sr for the purpose of nuclear waste transmutation. The spallation cross sections on the proton and deuteron were obtained in inverse kinematics for the first time using secondary beams of {sup 137}Cs and {sup 90}Sr at 185 MeV/nucleon at the RIKEN Radioactive Isotope Beam Factory. The target dependence has been investigated systematically, and the cross-section differences between the proton and deuteron are found to be larger for lighter spallation products. The experimental data are compared with the PHITS calculation, which includes cascade and evaporation processes. Our results suggest that both proton- and deuteron-induced spallation reactions are promising mechanisms for the transmutation of radioactive fission products.
Directory of Open Access Journals (Sweden)
H. Wang
2016-03-01
Full Text Available We have studied spallation reactions for the fission products 137Cs and 90Sr for the purpose of nuclear waste transmutation. The spallation cross sections on the proton and deuteron were obtained in inverse kinematics for the first time using secondary beams of 137Cs and 90Sr at 185 MeV/nucleon at the RIKEN Radioactive Isotope Beam Factory. The target dependence has been investigated systematically, and the cross-section differences between the proton and deuteron are found to be larger for lighter spallation products. The experimental data are compared with the PHITS calculation, which includes cascade and evaporation processes. Our results suggest that both proton- and deuteron-induced spallation reactions are promising mechanisms for the transmutation of radioactive fission products.
Smale, Kenneth B; Potvin, Brigitte M; Shourijeh, Mohammad S; Benoit, Daniel L
2017-09-06
The recent development of a soft tissue artifact (STA) suppression method allows us to re-evaluate the tibiofemoral kinematics currently linked to non-contact knee injuries. The purpose of this study was therefore to evaluate knee joint kinematics and kinetics in six degrees of freedom (DoF) during the loading phases of a jump lunge and side cut using this in silico method. Thirty-five healthy adults completed these movements and their surface marker trajectories were then scaled and processed with OpenSim's inverse kinematics (IK) and inverse dynamics tools. Knee flexion angle-dependent kinematic constraints defined based on previous bone pin (BP) marker trajectories were then applied to the OpenSim model during IK and these constrained results were then processed with the standard inverse dynamics tool. Significant differences for all hip, knee, and ankle DoF were observed after STA suppression for both the jump lunge and side cut. Using clinically relevant effect size estimates, we conclude that STA contamination had led to misclassifications in hip transverse plane angles, knee frontal and transverse plane angles, medial/lateral and distractive/compressive knee translations, and knee frontal plane moments between the NoBP and the BP IK solutions. Our results have substantial clinical implications since past research has used joint kinematics and kinetics contaminated by STA to identify risk factors for musculoskeletal injuries. Copyright © 2017 Elsevier Ltd. All rights reserved.
Femoral condyle curvature is correlated with knee walking kinematics in ungulates.
Sylvester, Adam D
2015-12-01
The knee has been the focus of many studies linking mammalian postcranial form with locomotor behaviors and animal ecology. A more difficult task has been linking joint morphology with joint kinematics during locomotor tasks. Joint curvature represents one opportunity to link postcranial morphology with walking kinematics because joint curvature develops in response to mechanical loading. As an initial examination of mammalian knee joint curvature, the curvature of the medial femoral condyle was measured on femora representing 11 ungulate species. The position of a region of low curvature was measured using a metric termed the "angle to low curvature". This low-curvature region is important because it provides the greatest contact area between femoral and tibial condyles. Kinematic knee angles during walking were derived from the literature and kinematic knee angles across the gait cycle were correlated with angle to low curvature values. The highest correlation between kinematic knee angle and the angle to low curvature metric occurred at 20% of the walking gait cycle. This early portion of the walking gait cycle is associated with a peak in the vertical ground reaction force for some mammals. The chondral modeling theory predicts that frequent and heavy loading of particular regions of a joint surface during ontogeny will result in these regions being flatter than the surrounding joint surface. The locations of flatter regions of the femoral condyles of ungulates, and their association with knee angles used during the early stance phase of walking provides support for the chondral modeling theory. © 2015 Wiley Periodicals, Inc.
Cluster-transfer reactions with radioactive beams: a spectroscopic tool for neutron-rich nuclei
AUTHOR|(CDS)2086156; Raabe, Riccardo; Bracco, Angela
In this thesis work, an exploratory experiment to investigate cluster-transfer reactions with radioactive beams in inverse kinematics is presented. The aim of the experiment was to test the potential of cluster-transfer reactions at the Coulomb barrier, as a possible mean to perform $\\gamma$ spectroscopy studies of exotic neutron-rich nuclei at medium-high energies and spins. The experiment was performed at ISOLDE (CERN), employing the heavy-ion reaction $^{98}$Rb + $^{7}$Li at 2.85 MeV/A. Cluster-transfer reaction channels were studied through particle-$\\gamma$ coincidence measurements, using the MINIBALL Ge array coupled to the charged particle Si detectors T-REX. Sr, Y and Zr neutron-rich nuclei with A $\\approx$ 100 were populated by either triton- or $\\alpha$ transfer from $^{7}$Li to the beam nuclei and the emitted complementary charged fragment was detected in coincidence with the $\\gamma$ cascade of the residues, after few neutrons evaporation. The measured $\\gamma$ spectra were studied in detail and t...
International Nuclear Information System (INIS)
Hicks, H.R.; Dory, R.A.; Holmes, J.A.
1983-01-01
We illustrate in some detail a 2D inverse-equilibrium solver that was constructed to analyze tokamak configurations and stellarators (the latter in the context of the average method). To ensure that the method is suitable not only to determine equilibria, but also to provide appropriately represented data for existing stability codes, it is important to be able to control the Jacobian, tilde J is identical to delta(R,Z)/delta(rho, theta). The form chosen is tilde J = J 0 (rho)R/sup l/rho where rho is a flux surface label, and l is an integer. The initial implementation is for a fixed conducting-wall boundary, but the technique can be extended to a free-boundary model
Hennessey, Michael P.; Huang, Paul C.; Bunnell, Charles T.
1989-01-01
An efficient approach to cartesian motion and force control of a 7 degree of freedom (DOF) manipulator is presented. It is based on extending the active stiffness controller to the 7 DOF case in general and use of an efficient version of the gradient projection technique for solving the inverse kinematics problem. Cooperative control is achieved through appropriate configuration of individual manipulator controllers. In addition, other aspects of trajectory generation using standard techniques are integrated into the controller. The method is then applied to a specific manipulator of interest (Robotics Research T-710). Simulation of the kinematics, dynamics, and control are provided in the context of several scenarios: one pertaining to a noncontact pick and place operation; one relating to contour following where contact is made between the manipulator and environment; and one pertaining to cooperative control.
Kinematics and dynamics analysis of a novel 2PC-CPR parallel mechanism
Directory of Open Access Journals (Sweden)
Sheng Lin
2016-10-01
Full Text Available A novel parallel mechanism of two translations and one rotation freedom degrees two-prismatic joint-cylindrical joint-one-cylindrical joint-prismatic joint-revolute joint (2PC-CPR is proposed. The mechanism can be applied to write Chinese characters and to classify productions with the appropriated control. In this article, the kinematics and dynamics analysis are systematically conducted with the following procedure. First of all, the 2PC-CPR parallel mechanism is designed by GF set and the freedom degree of the mechanism is calculated using screw theory. Then the formula for solving the inverse/forward displacement, velocity, and acceleration is derived based on the geometrical constraints. The dynamics model is established by using virtual work principle. Finally, kinematics SimMechanics model is created by the co-simulation of SolidWorks and MATLAB software, and its workspace is analyzed.
Constraint Study for a Hand Exoskeleton: Human Hand Kinematics and Dynamics
Directory of Open Access Journals (Sweden)
Fai Chen Chen
2013-01-01
Full Text Available In the last few years, the number of projects studying the human hand from the robotic point of view has increased rapidly, due to the growing interest in academic and industrial applications. Nevertheless, the complexity of the human hand given its large number of degrees of freedom (DoF within a significantly reduced space requires an exhaustive analysis, before proposing any applications. The aim of this paper is to provide a complete summary of the kinematic and dynamic characteristics of the human hand as a preliminary step towards the development of hand devices such as prosthetic/robotic hands and exoskeletons imitating the human hand shape and functionality. A collection of data and constraints relevant to hand movements is presented, and the direct and inverse kinematics are solved for all the fingers as well as the dynamics; anthropometric data and dynamics equations allow performing simulations to understand the behavior of the finger.
Kinematic Analysis of a 3-Axis Parallel Manipulator: The P3
Directory of Open Access Journals (Sweden)
Qiaohong Chen
2013-01-01
Full Text Available This paper presents kinematic analysis of a 3-axis parallel manipulator, called P3. The P3 parallel manipulator is developed based on a 3-PRRU parallel mechanism, where P denotes prismatic pair, R revolute pair, and U universal joint. The P3 parallel manipulator can undergo two rotations and one translation without parasitic motion. First, a brief description of the P3 is presented. Then, forward and inverse kinematic solutions of the P3 are derived. Parasitic motion is discussed. The Jacobian matrix is obtained based on the velocity equations. Further, singular configurations of the P3 are identified. A special configuration where the actuation fails is also detected based on screw theory. The workspace of P3 is investigated.
Yi, Jinhua; Yu, Hongliu; Zhang, Ying; Hu, Xin; Shi, Ping
2015-12-01
The present paper proposed a central-driven structure of upper limb rehabilitation robot in order to reduce the volume of the robotic arm in the structure, and also to reduce the influence of motor noise, radiation and other adverse factors on upper limb dysfunction patient. The forward and inverse kinematics equations have been obtained with using the Denavit-Hartenberg (D-H) parameter method. The motion simulation has been done to obtain the angle-time curve of each joint and the position-time curve of handle under setting rehabilitation path by using Solid Works software. Experimental results showed that the rationality with the central-driven structure design had been verified by the fact that the handle could move under setting rehabilitation path. The effectiveness of kinematics equations had been proved, and the error was less than 3° by comparing the angle-time curves obtained from calculation with those from motion simulation.
Belarge, J; Kuvin, S A; Baby, L T; Baker, J; Wiedenhöver, I; Höflich, P; Volya, A; Blackmon, J C; Deibel, C M; Gardiner, H E; Lai, J; Linhardt, L E; Macon, K T; Need, E; Rasco, B C; Quails, N; Colbert, K; Gay, D L; Keeley, N
2016-10-28
The ^{19}Ne(p,γ)^{20}Na reaction is the second step of a reaction chain which breaks out from the hot CNO cycle, following the ^{15}O(α,γ)^{19}Ne reaction at the onset of x-ray burst events. We investigate the spectrum of the lowest proton-unbound states in ^{20}Na in an effort to resolve contradictions in spin-parity assignments and extract reliable information about the thermal reaction rate. The proton-transfer reaction ^{19}Ne(d,n)^{20}Na is measured with a beam of the radioactive isotope ^{19}Ne at an energy around the Coulomb barrier and in inverse kinematics. We observe three proton resonances with the ^{19}Ne ground state, at 0.44, 0.66, and 0.82 MeV c.m. energies, which are assigned 3^{+}, 1^{+}, and (0^{+}), respectively. In addition, we identify two resonances with the first excited state in ^{19}Ne, one at 0.20 MeV and one, tentatively, at 0.54 MeV. These observations allow us for the first time to experimentally quantify the astrophysical reaction rate on an excited nuclear state. Our experiment shows an efficient path for thermal proton capture in ^{19}Ne(p,γ)^{20}Na, which proceeds through ground state and excited-state capture in almost equal parts and eliminates the possibility for this reaction to create a bottleneck in the breakout from the hot CNO cycle.
Research on Inverse Kinematics Program Optimization of 6R Decoupled Robot
Directory of Open Access Journals (Sweden)
Daode ZHANG
2014-02-01
Full Text Available According to complex analytic formula for the six degrees of freedom decoupled robot, a detailed analysis of the six degrees of freedom decoupled robot analytic formula of export process, as well the causes of multiple solutions. The method of increasing the local variables to avoid processor running the same statement repeatedly is proposed. The method to find the most frequency formula appeared in analytic solution replaced with local variables facilitate the use of loop to reduce the amount of code. It effectively reduces the computation time, optimize the computing process. Finally, taking PUMA560-like robot as an example, the calculation result is verified and simulated in Robotics Toolbox of MATLAB.
Kinematic description of the rupture from strong motion data: strategies for a robust inversion
Lucca, Ernestina
2011-01-01
We present a non linear technique to invert strong motion records with the aim of obtaining the final slip and rupture velocity distributions on the fault plane. In this thesis, the ground motion simulation is obtained evaluating the representation integral in the frequency. The Green’s tractions are computed using the discrete wave-number integration technique that provides the full wave-field in a 1D layered propagation medium. The representation integral is computed through a finite elemen...
An Inverse Kinematic Approach Using Groebner Basis Theory Applied to Gait Cycle Analysis
2013-03-01
and JT Sadler. Angle- angle diagrams in monitoring and quantification of gait patterns for children with cerebral palsy . American Journal of Physical...SUPPLEMENTARY NOTES 14. ABSTRACT 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: a. REPORT b. ABSTRACT c. THIS PAGE 17. LIMITATION OF ABSTRACT 18
Analisa Forward Dan Inverse Kinematics Pada Simulator Arm Robot 5 Derajat Kebebasan
Utomo, Budi; Munadi, Munadi
2013-01-01
An arm robot simulator 5 dof (degree of freedom) which is equipped with a two-finger gripper is designed to determine the movement of the robot manipulator. To make an arm robot simulator, we used acrylic as a base material, servomotor as a driver and an Arduino Uno SMD as microcontroller. Acrylic was chosen because it is light, strong and durable. Arduino Uno SMD was chosen because it can interact with LabVIEW that will be able to control the movement angle of servomotor manually. The purpos...
Holocaust inversion and contemporary antisemitism.
Klaff, Lesley D
2014-01-01
One of the cruellest aspects of the new antisemitism is its perverse use of the Holocaust as a stick to beat 'the Jews'. This article explains the phenomenon of 'Holocaust Inversion', which involves an 'inversion of reality' (the Israelis are cast as the 'new' Nazis and the Palestinians as the 'new' Jews) and an 'inversion of morality' (the Holocaust is presented as a moral lesson for, or even a moral indictment of, 'the Jews'). Holocaust inversion is a form of soft-core Holocaust denial, yet...
Inverse feasibility problems of the inverse maximum flow problems
Indian Academy of Sciences (India)
A linear time method to decide if any inverse maximum ﬂow (denoted General Inverse Maximum Flow problems (IMFG)) problem has solution is deduced. If IMFG does not have solution, methods to transform IMFG into a feasible problem are presented. The methods consist of modifying as little as possible the restrictions to ...
Inverse feasibility problems of the inverse maximum flow problems
Indian Academy of Sciences (India)
199–209. c Indian Academy of Sciences. Inverse feasibility problems of the inverse maximum flow problems. ADRIAN DEACONU. ∗ and ELEONOR CIUREA. Department of Mathematics and Computer Science, Faculty of Mathematics and Informatics, Transilvania University of Brasov, Brasov, Iuliu Maniu st. 50,. Romania.
Kinematics and Dynamics of Roller Chain Drives
DEFF Research Database (Denmark)
Fuglede, Niels
There are two main subjects of this work: Kinematic and dynamic modeling and analysis of roller chain drives. In the kinematic analysis we contribute first with a complete treatment of the roller chain drive modeled as a four-bar mechanism. This includes a general, exact and approximate analysis...... which is useful for predicting the characteristic loading of the roller chain drive. As a completely novel contribution, a kinematic model and analysis is presented which includes both spans and sprockets in a simple chain drive system. A general procedure for determination of the total wrapping length...... is presented, which also allows for exact sprocket center positions for a chain with a given number of links. Results show that the total chain wrapping length varies periodically with the tooth frequency. These results are of practical importance to both the design, installation and operation of roller chain...
Kinematics and Control of Robot Manipulators
Paden, Bradley Evan
This dissertation focuses on the kinematics and control of robot manipulators. The contribution to kinematics is a fundamental theorem on the design of manipulators with six revolute joints. The theorem states, roughly speaking, that manipulators which have six revolute joints and are modeled after the human arm are optimal and essentially unique. In developing the mathematical framework to prove this theorem, we define precisely the notions of length of a manipulator, well-connected-workspace, and work-volume. We contribute to control a set of analysis techniques for the design of variable structure (sliding mode) controllers for manipulators. The organization of the dissertation is the following. After introductory remarks in chapter one, the group of proper rigid motions, G, is introduced in chapter two. The tangent bundle of G is introduced and it is shown that the velocity of a rigid body can be represented by an element in the Lie algebra of G (commonly called a twist). Further, rigid motions which are exponentials of twists are used to describe four commonly occurring subproblems in robot kinematics. In chapter three, the exponentials of twists are used to write the forward kinematic map of robot manipulators and the subproblems of chapter two are used to solve the Stanford manipulator and an elbow manipulator. Chapter four focuses on manipulator singularities. Twist coordinates are used to find critical points of the forward kinematic map. The contribution to kinematics is contained in chapter five where a mathematical framework for studying the relationship between the design of 6R manipulators and their performance is developed. Chapter seven contains the contribution to control. The work of A. F. Filippov on differential equations with discontinuous right-hand-side and the work of F. H. Clarke on generalized gradients are combined to obtain a calculus for analyzing nonsmooth gradient systems. The techniques developed are applied to design a simple
Kinetic and kinematic differences between deadlifts and goodmornings
2013-01-01
Background In order to improve training performance, as well as avoid overloading during prevention and rehabilitation exercises in patients, the aim of this study was to understand the biomechanical differences in the knee, hip and the back between the exercises “Goodmornings” (GMs) and “Deadlifts” (DLs). Methods The kinetics and kinematics of 13 subjects, performing GMs and DLs with an additional 25% (GMs), 25% and 50% (DLs) body weight (BW) on the barbell were analysed. Using the kinetic and kinematic data captured using a 3D motion analysis and force plates, an inverse approach with a quasi-static solution was used to calculate the sagittal moments and angles in the knee, hip and the trunk. The maximum moments and joint angles were statistically tested using ANOVA with a Bonferroni adjustment. Results The observed maximal flexion angle of the knee was 5.3 ± 6.7° for GMs and 107.8 ± 22.4° and 103.4 ± 22.6° for DLs with 25% and 50% BW respectively. Of the hip, the maximal flexion angle was 25% smaller during GMs compared to DLs. No difference in kinematics of the trunk between the two exercises was observed. For DLs, the resulting sagittal moment in the knee was an external flexion moment, whereas during GMs an external extension moment was present. Importantly, no larger sagittal knee joint moments were observed when using a heavier weight on the barbell during DLs, but higher sagittal moments were found at the hip and L4/L5. Compared to GMs, DLs produced a lower sagittal moment at the hip using 25% BW while generating the same sagittal moment at L4/L5. Conclusions The two exercises exhibited different motion patterns for the lower extremities but not for the trunk. To strengthen the hip while including a large range of motion, DLs using 50% BW should be chosen. Due to their ability to avoid knee flexion or a knee flexion moment, GMs should be preferentially chosen over DLs as ACL rupture prevention exercises. Here, in order to shift
Graph Theory Roots of Spatial Operators for Kinematics and Dynamics
Jain, Abhinandan
2011-01-01
Spatial operators have been used to analyze the dynamics of robotic multibody systems and to develop novel computational dynamics algorithms. Mass matrix factorization, inversion, diagonalization, and linearization are among several new insights obtained using such operators. While initially developed for serial rigid body manipulators, the spatial operators and the related mathematical analysis have been shown to extend very broadly including to tree and closed topology systems, to systems with flexible joints, links, etc. This work uses concepts from graph theory to explore the mathematical foundations of spatial operators. The goal is to study and characterize the properties of the spatial operators at an abstract level so that they can be applied to a broader range of dynamics problems. The rich mathematical properties of the kinematics and dynamics of robotic multibody systems has been an area of strong research interest for several decades. These properties are important to understand the inherent physical behavior of systems, for stability and control analysis, for the development of computational algorithms, and for model development of faithful models. Recurring patterns in spatial operators leads one to ask the more abstract question about the properties and characteristics of spatial operators that make them so broadly applicable. The idea is to step back from the specific application systems, and understand more deeply the generic requirements and properties of spatial operators, so that the insights and techniques are readily available across different kinematics and dynamics problems. In this work, techniques from graph theory were used to explore the abstract basis for the spatial operators. The close relationship between the mathematical properties of adjacency matrices for graphs and those of spatial operators and their kernels were established. The connections hold across very basic requirements on the system topology, the nature of the component
Johansen, J G; Borge, M J G; Cubero, M; Diriken, J; Elsevier, J; Fraile, L M; Fynbo, H O U; Gaffney, L P; Gernhäuser, R; Jonson, B; Koldste, G T; Konki, J; Kröll, T; Krücken, R; Mücher, D; Nilsson, T; Nowak, K; Pakarinen, J; Pesudo, V; Raabe, R; Riisager, K; Seidlitz, M; Tengblad, O; Törnqvist, H; Voulot, D; Warr, N; Wenander, F; Wimmer, K; De Witte, H
2013-01-01
The bound states of $^{12}$Be have been studied through a $^{11}$Be$(d,p)^{12}$Be transfer reaction experiment in inverse kinematics. A 2.8 MeV/u beam of $^{11}$Be was produced using the REX-ISOLDE facility at CERN. The outgoing protons were detected with the T-REX silicon detector array. The MINIBALL germanium array was used to detect $\\gamma$-rays from the excited states in $^{12}$Be. The $\\gamma$-ray detection enabled a clear identification of the four known bound states in $^{12}$Be, and each of the states has been studied individually. Differential cross sections over a large angular range have been extracted. Spectroscopic factors for each of the states have been determined from DWBA calculations and have been compared to previous experimental and theoretical results.
Multiple estimation channel decoupling and optimization method based on inverse system
Wu, Peng; Mu, Rongjun; Zhang, Xin; Deng, Yanpeng
2018-03-01
This paper addressed the intelligent autonomous navigation request of intelligent deformation missile, based on the intelligent deformation missile dynamics and kinematics modeling, navigation subsystem solution method and error modeling, and then focuses on the corresponding data fusion and decision fusion technology, decouples the sensitive channel of the filter input through the inverse system of design dynamics to reduce the influence of sudden change of the measurement information on the filter input. Then carrying out a series of simulation experiments, which verified the feasibility of the inverse system decoupling algorithm effectiveness.
Inverse electron transfer in peroxyoxalate chemiexcitation using easily reducible activators
BARTOLONI, Fernando Heering; CISCATO, Luiz Francisco Monteiro Leite; AUGUSTO, Felipe Alberto; BAADER, Wilhelm Josef
2010-01-01
Chemiluminescence properties of the peroxyoxalate reaction in the presence of activators bearing electron withdrawing substituents were studied, to evaluate the possible occurrence of an inverse electron transfer, from the peroxide intermediate to the activator, in its chemiexcitation step. Relative catalytic rate constants and singlet quantum yields were obtained for the peroxyoxalate reaction, using 9-chloro, 9,10-dichloro, 9-cyano and 9,10-dicyanoanthracenes as activators. The linear free-...
Linking synchronized flow and kinematic waves
LAVAL, J
2005-01-01
This paper shows that including the e®ects of lane-changing activity in kinematic wave theory reveals the physical mechanisms and reproduces the main empirical features that motivated Kerner's three-phase theory. This is shown using a hybrid representation of tra±c °ow where lane changes are treated as discrete particles with realistic accelerations embedded in a continuous multilane kinematic wave stream. We show that this parsimonious four-parameter model reproduces the three phases identi...
Gait Kinematic Analysis in Water Using Wearable Inertial Magnetic Sensors.
Directory of Open Access Journals (Sweden)
Silvia Fantozzi
Full Text Available Walking is one of the fundamental motor tasks executed during aquatic therapy. Previous kinematics analyses conducted using waterproofed video cameras were limited to the sagittal plane and to only one or two consecutive steps. Furthermore, the set-up and post-processing are time-consuming and thus do not allow a prompt assessment of the correct execution of the movements during the aquatic session therapy. The aim of the present study was to estimate the 3D joint kinematics of the lower limbs and thorax-pelvis joints in sagittal and frontal planes during underwater walking using wearable inertial and magnetic sensors. Eleven healthy adults were measured during walking both in shallow water and in dry-land conditions. Eight wearable inertial and magnetic sensors were inserted in waterproofed boxes and fixed to the body segments by means of elastic modular bands. A validated protocol (Outwalk was used. Gait cycles were automatically segmented and selected if relevant intraclass correlation coefficients values were higher than 0.75. A total of 704 gait cycles for the lower limb joints were normalized in time and averaged to obtain the mean cycle of each joint, among participants. The mean speed in water was 40% lower than that of the dry-land condition. Longer stride duration and shorter stride distance were found in the underwater walking. In the sagittal plane, the knee was more flexed (≈ 23° and the ankle more dorsiflexed (≈ 9° at heel strike, and the hip was more flexed at toe-off (≈ 13° in water than on land. On the frontal plane in the underwater walking, smoother joint angle patterns were observed for thorax-pelvis and hip, and ankle was more inversed at toe-off (≈ 7° and showed a more inversed mean value (≈ 7°. The results were mainly explained by the effect of the speed in the water as supported by the linear mixed models analysis performed. Thus, it seemed that the combination of speed and environment triggered
Inverse problem in hydrogeology
Carrera, Jesús; Alcolea, Andrés; Medina, Agustín; Hidalgo, Juan; Slooten, Luit J.
2005-03-01
The state of the groundwater inverse problem is synthesized. Emphasis is placed on aquifer characterization, where modelers have to deal with conceptual model uncertainty (notably spatial and temporal variability), scale dependence, many types of unknown parameters (transmissivity, recharge, boundary conditions, etc.), nonlinearity, and often low sensitivity of state variables (typically heads and concentrations) to aquifer properties. Because of these difficulties, calibration cannot be separated from the modeling process, as it is sometimes done in other fields. Instead, it should be viewed as one step in the process of understanding aquifer behavior. In fact, it is shown that actual parameter estimation methods do not differ from each other in the essence, though they may differ in the computational details. It is argued that there is ample room for improvement in groundwater inversion: development of user-friendly codes, accommodation of variability through geostatistics, incorporation of geological information and different types of data (temperature, occurrence and concentration of isotopes, age, etc.), proper accounting of uncertainty, etc. Despite this, even with existing codes, automatic calibration facilitates enormously the task of modeling. Therefore, it is contended that its use should become standard practice. L'état du problème inverse des eaux souterraines est synthétisé. L'accent est placé sur la caractérisation de l'aquifère, où les modélisateurs doivent jouer avec l'incertitude des modèles conceptuels (notamment la variabilité spatiale et temporelle), les facteurs d'échelle, plusieurs inconnues sur différents paramètres (transmissivité, recharge, conditions aux limites, etc.), la non linéarité, et souvent la sensibilité de plusieurs variables d'état (charges hydrauliques, concentrations) des propriétés de l'aquifère. A cause de ces difficultés, le calibrage ne peut êtreséparé du processus de modélisation, comme c'est le
Face inversion increases attractiveness.
Leder, Helmut; Goller, Juergen; Forster, Michael; Schlageter, Lena; Paul, Matthew A
2017-07-01
Assessing facial attractiveness is a ubiquitous, inherent, and hard-wired phenomenon in everyday interactions. As such, it has highly adapted to the default way that faces are typically processed: viewing faces in upright orientation. By inverting faces, we can disrupt this default mode, and study how facial attractiveness is assessed. Faces, rotated at 90 (tilting to either side) and 180°, were rated on attractiveness and distinctiveness scales. For both orientations, we found that faces were rated more attractive and less distinctive than upright faces. Importantly, these effects were more pronounced for faces rated low in upright orientation, and smaller for highly attractive faces. In other words, the less attractive a face was, the more it gained in attractiveness by inversion or rotation. Based on these findings, we argue that facial attractiveness assessments might not rely on the presence of attractive facial characteristics, but on the absence of distinctive, unattractive characteristics. These unattractive characteristics are potentially weighed against an individual, attractive prototype in assessing facial attractiveness. Copyright © 2017 The Authors. Published by Elsevier B.V. All rights reserved.
Zhang, Dongliang
2013-01-01
To increase the illumination of the subsurface and to eliminate the dependency of FWI on the source wavelet, we propose multiples waveform inversion (MWI) that transforms each hydrophone into a virtual point source with a time history equal to that of the recorded data. These virtual sources are used to numerically generate downgoing wavefields that are correlated with the backprojected surface-related multiples to give the migration image. Since the recorded data are treated as the virtual sources, knowledge of the source wavelet is not required, and the subsurface illumination is greatly enhanced because the entire free surface acts as an extended source compared to the radiation pattern of a traditional point source. Numerical tests on the Marmousi2 model show that the convergence rate and the spatial resolution of MWI is, respectively, faster and more accurate then FWI. The potential pitfall with this method is that the multiples undergo more than one roundtrip to the surface, which increases attenuation and reduces spatial resolution. This can lead to less resolved tomograms compared to conventional FWI. The possible solution is to combine both FWI and MWI in inverting for the subsurface velocity distribution.
Coin tossing and Laplace inversion
Indian Academy of Sciences (India)
MS received 5 May 1999; revised 3 April 2000. Abstract. An analysis of exchangeable sequences of coin tossings leads to inversion formulae for Laplace transforms of probability measures. Keywords. Laplace inversion; moment problem; exchangeable probabilities. 1. Introduction. There is an intimate relationship between ...
Inverse problems for Maxwell's equations
Romanov, V G
1994-01-01
The Inverse and Ill-Posed Problems Series is a series of monographs publishing postgraduate level information on inverse and ill-posed problems for an international readership of professional scientists and researchers. The series aims to publish works which involve both theory and applications in, e.g., physics, medicine, geophysics, acoustics, electrodynamics, tomography, and ecology.
Geometric technique for the kinematic modeling of a 5 DOF redundant manipulator
CSIR Research Space (South Africa)
Makondo, N
2012-11-01
Full Text Available ,? Aerospace and Electronic Systems, IEEE Transactions on , vol.AES-20, no.6, pp.695-706, Nov. 1984, doi: 10.1109/TAES.1984.310452 [16] Singh, G.K.; Claassens, J.; , ?An analytical solution for the inverse kinematics of a redundant 7DoF Manipulator....A.F.; , ?Improvement of Singularity Avoidance for Three Dimensional Planar Manipulators by Increasing their Degrees of Freedom,? Computer, Consumer and Control (IS3C), 2012 International Symposium on , vol., no., pp.568-572, 4-6 June 2012,doi: 10.1109/IS3C.2012...
Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms
Directory of Open Access Journals (Sweden)
Mario A. Garcia-Murillo
2016-11-01
Full Text Available In this contribution, a novel translational parallel robot composed of an arrangement of mechanisms with planar motion is presented. Its mobility is analyzed and the position analysis is solved by using equations derived from mechanical constraints. Furthermore, the analysis of velocity and acceleration are solved by means of the screw theory. For completeness, the inverse dynamics are also presented and solved by means of an interesting combination of the screw theory and the virtual work principle. Finally, a numerical example is included to show the application of the kinematic model, which is verified with the aid of a commercially available software.
Presedo, Ana; Simon, Anne-Laure; Mallet, Cindy; Ilharreborde, Brice; Mazda, Keyvan; Pennecot, Georges-François
2017-05-01
In diplegic patients, the orientation of foot progression depends on multiple factors. We investigated the relationship between foot progression alignment, hip and pelvic rotations during gait, femoral anteversion, and tibial torsion. Kinematic and clinical parameters were evaluated for 114 children who walked independently and had not undergone previous surgery. Causes of intoeing presented combined in 72% of cases. Internal foot progression correlated with internal hip rotation and showed an inverse correlation with tibial torsion. Our results indicate that data from clinical examination and gait analysis should be evaluated carefully before making treatment recommendations, especially in terms of the correction of torsional problems, in patients with cerebral palsy.
Algebraic properties of generalized inverses
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...
Chemical reaction systems with a homoclinic bifurcation: an inverse problem
Czech Academy of Sciences Publication Activity Database
Plesa, T.; Vejchodský, Tomáš; Erban, R.
2016-01-01
Roč. 54, č. 10 (2016), s. 1884-1915 ISSN 0259-9791 EU Projects: European Commission(XE) 328008 - STOCHDETBIOMODEL Institutional support: RVO:67985840 Keywords : nonnegative dynamical systems * bifurcations * oscillations Subject RIV: BA - General Mathematics Impact factor: 1.308, year: 2016 http://link.springer.com/article/10.1007%2Fs10910-016-0656-1
Directory of Open Access Journals (Sweden)
Calvez V.
2010-12-01
Full Text Available We consider the radiative transfer equation (RTE with reflection in a three-dimensional domain, infinite in two dimensions, and prove an existence result. Then, we study the inverse problem of retrieving the optical parameters from boundary measurements, with help of existing results by Choulli and Stefanov. This theoretical analysis is the framework of an attempt to model the color of the skin. For this purpose, a code has been developed to solve the RTE and to study the sensitivity of the measurements made by biophysicists with respect to the physiological parameters responsible for the optical properties of this complex, multi-layered material. On étudie l’équation du transfert radiatif (ETR dans un domaine tridimensionnel infini dans deux directions, et on prouve un résultat d’existence. On s’intéresse ensuite à la reconstruction des paramètres optiques à partir de mesures faites au bord, en s’appuyant sur des résultats de Choulli et Stefanov. Cette analyse sert de cadre théorique à un travail de modélisation de la couleur de la peau. Dans cette perspective, un code à été développé pour résoudre l’ETR et étudier la sensibilité des mesures effectuées par les biophysiciens par rapport aux paramètres physiologiques tenus pour responsables des propriétés optiques de ce complexe matériau multicouche.
The kinematics of machinery outlines of a theory of machines
Reuleaux, Franz
2012-01-01
A classic on the kinematics of machinery, this volume was written by the Father of Kinematics. Reuleaux writes with authority and precision, developing the subject from its fundamentals. 450 figures. 1876 edition.
Right-handed currents at kinematic endpoint
Indian Academy of Sciences (India)
Rusa Mandal
2017-10-09
Oct 9, 2017 ... kinematic endpoint. RUSA MANDAL1, ANIRBAN KARAN1, ABINASH KUMAR NAYAK1, RAHUL SINHA1,∗ and TOM BROWDER2. 1The Institute of Mathematical Sciences, HBNI, Taramani, Chennai 600 113, India. 2Department of Physics and Astronomy, University of Hawaii, Honolulu, HI 96822, USA. ∗.
Assessment of multi class kinematic wave models
Van Wageningen-Kessels, F.L.M.; Van Lint, J.W.C.; Vuik, C.; Hoogendoorn, S.P.
2012-01-01
In the last decade many multi class kinematic wave (MCKW) traffic ow models have been proposed. MCKW models introduce heterogeneity among vehicles and drivers. For example, they take into account differences in (maximum) velocities and driving style. Nevertheless, the models are macroscopic and the
The kinematic algebras from the scattering equations
International Nuclear Information System (INIS)
Monteiro, Ricardo; O’Connell, Donal
2014-01-01
We study kinematic algebras associated to the recently proposed scattering equations, which arise in the description of the scattering of massless particles. In particular, we describe the role that these algebras play in the BCJ duality between colour and kinematics in gauge theory, and its relation to gravity. We find that the scattering equations are a consistency condition for a self-dual-type vertex which is associated to each solution of those equations. We also identify an extension of the anti-self-dual vertex, such that the two vertices are not conjugate in general. Both vertices correspond to the structure constants of Lie algebras. We give a prescription for the use of the generators of these Lie algebras in trivalent graphs that leads to a natural set of BCJ numerators. In particular, we write BCJ numerators for each contribution to the amplitude associated to a solution of the scattering equations. This leads to a decomposition of the determinant of a certain kinematic matrix, which appears naturally in the amplitudes, in terms of trivalent graphs. We also present the kinematic analogues of colour traces, according to these algebras, and the associated decomposition of that determinant
Constrained tri-sphere kinematic positioning system
Viola, Robert J
2010-12-14
A scalable and adaptable, six-degree-of-freedom, kinematic positioning system is described. The system can position objects supported on top of, or suspended from, jacks comprising constrained joints. The system is compatible with extreme low temperature or high vacuum environments. When constant adjustment is not required a removable motor unit is available.
Action experience changes attention to kinematic cues
Directory of Open Access Journals (Sweden)
Courtney eFilippi
2016-02-01
Full Text Available The current study used remote corneal reflection eye-tracking to examine the relationship between motor experience and action anticipation in 13-month-old infants. To measure online anticipation of actions infants watched videos where the actor’s hand provided kinematic information (in its orientation about the type of object that the actor was going to reach for. The actor’s hand orientation either matched the orientation of a rod (congruent cue or did not match the orientation of the rod (incongruent cue. To examine relations between motor experience and action anticipation, we used a 2 (reach first vs. observe first x 2 (congruent kinematic cue vs. incongruent kinematic cue between-subjects design. We show that 13-month-old infants in the observe first condition spontaneously generate rapid online visual predictions to congruent hand orientation cues and do not visually anticipate when presented incongruent cues. We further demonstrate that the speed that these infants generate predictions to congruent motor cues is correlated with their own ability to pre-shape their hands. Finally, we demonstrate that following reaching experience, infants generate rapid predictions to both congruent and incongruent hand shape cues—suggesting that short-term experience changes attention to kinematics.
Circadian rhythms in handwriting kinematics and legibility
Jasper, Isabelle; Gordijn, Marijke; Haeussler, Andreas; Hermsdoerfer, Joachim
The aim of the present study was to analyze the circadian rhythmicity in handwriting kinematics and legibility and to compare the performance between Dutch and German writers. Two subject groups underwent a 40 h sleep deprivation protocol under Constant Routine conditions either in Groningen (10
Measurement of 17F(d ,n )18Ne and the impact on the 17F(p ,γ )18Ne reaction rate for astrophysics
Kuvin, S. A.; Belarge, J.; Baby, L. T.; Baker, J.; Wiedenhöver, I.; Höflich, P.; Volya, A.; Blackmon, J. C.; Deibel, C. M.; Gardiner, H. E.; Lai, J.; Linhardt, L. E.; Macon, K. T.; Rasco, B. C.; Quails, N.; Colbert, K.; Gay, D. L.; Keeley, N.
2017-10-01
Background: The 17F(p ,γ )18Ne reaction is part of the astrophysical "hot CNO" cycles that are important in astrophysical environments like novas. Its thermal reaction rate is low owing to the relatively high energy of the resonances and therefore is dominated by direct, nonresonant capture in stellar environments at temperatures below 0.4 GK. Purpose: An experimental method is established to extract the proton strength to bound and unbound states in experiments with radioactive ion beams and to determine the parameters of direct and resonant capture in the 17F(p ,γ )18Ne reaction. Method: The 17F(d ,n )18Ne reaction is measured in inverse kinematics using a beam of the short-lived isotope 17F and a compact setup of neutron, proton, γ -ray, and heavy-ion detectors called resoneut. Results: The spectroscopic factors for the lowest l =0 proton resonances at Ec .m .=0.60 and 1.17 MeV are determined, yielding results consistent within 1.4 σ of previous proton elastic-scattering measurements. The asymptotic normalization coefficients of the bound 21+ and 22+ states in 18Ne are determined and the resulting direct-capture reaction rates are extracted. Conclusions: The direct-capture component of the 17F(p ,γ )18Ne reaction is determined for the first time from experimental data on 18Ne.
Full waveform inversion using envelope-based global correlation norm
Oh, Juwon
2018-01-28
Various parameterizations have been suggested to simplify inversions of first arrivals, or P −waves, in orthorhombic anisotropic media, but the number and type of retrievable parameters have not been decisively determined. We show that only six parameters can be retrieved from the dynamic linearized inversion of P −waves. These parameters are different from the six parameters needed to describe the kinematics of P −waves. Reflection-based radiation patterns from the P − P scattered waves are remapped into the spectral domain to allow for our resolution analysis based on the effective angle of illumination concept. Singular value decomposition of the spectral sensitivities from various azimuths, offset coverage scenarios, and data bandwidths allows us to quantify the resolution of different parameterizations, taking into account the signal-to-noise ratio in a given experiment. According to our singular value analysis, when the primary goal of inversion is determining the velocity of the P −waves, gradually adding anisotropy of lower orders (isotropic, vertically transversally isotropic, orthorhombic) in hierarchical parameterization is the best choice. Hierarchical parametrization reduces the tradeoff between the parameters and makes gradual introduction of lower anisotropy orders straightforward. When all the anisotropic parameters affecting P −wave propagation need to be retrieved simultaneously, the classic parameterization of orthorhombic medium with elastic stiffness matrix coefficients and density is a better choice for inversion. We provide estimates of the number and set of parameters that can be retrieved from surface seismic data in different acquisition scenarios. To set up an inversion process, the singular values determine the number of parameters that can be inverted and the resolution matrices from the parameterizations can be used to ascertain the set of parameters that can be resolved.
International Nuclear Information System (INIS)
Gorbinet, T.
2011-11-01
The collision of 136 Xe with a proton and with 12 C at 1 GeV per nucleon of projectile kinetic energy in the center of mass has been studied in inverse kinematics using the SPALADIN experimental setup at the GSI facility. This manuscript describes the analysis of these collisions realized in spring 2009. The detection in coincidence of the final state fragments (projectile residues, neutrons and light charged fragments) with a large geometrical efficiency is provided by the inverse kinematics combined with a large aperture dipole magnet and large detectors. Such a coincidence, measured on an event basis, allows selecting, in a model independent way, the pre-fragment, the excited nuclear system formed after the intranuclear cascade as a function of its excitation energy. Hence, we were able to study the evolution of the pre-fragment deexcitation mechanism (evaporation of light particles, asymmetric binary decay, multiple fragmentation..) as a function of its excitation energy. The data of the 136 Xe + p reaction have been compared mainly to three deexcitation models (SMM, GEMINI++ and ABLA07) coupled to the intranuclear cascade code INCL4. Despite the relatively good and global agreement between these models and our data, significant discrepancies appeared concerning in particular the production of intermediate mass fragments (IMF). Comparison between the 136 Xe + 12 C and the 136 Xe + p data exhibits an important similarity in the deexcitation of the pre-fragments. This suggests that the nuclear cascade leads, for both targets, to similar pre-fragment types in the range of excitation energy (0 to 4 MeV per nucleon) common to both reactions. Higher excitation energies, reached only in the 136 Xe + 12 C reaction, show a qualitative difference in the deexcitation of the pre-fragment, with much higher multiplicities of IMF per event, increasing with the excitation energy. (author)
Benchmarking theoretical formalisms for (p ,p n ) reactions: The 15C(p ,p n )14C case
Yoshida, K.; Gómez-Ramos, M.; Ogata, K.; Moro, A. M.
2018-02-01
Background: Proton-induced knockout reactions of the form (p ,p N ) have experienced a renewed interest in recent years due to the possibility of performing these measurements with rare isotopes, using inverse kinematics. Several theoretical models are being used for the interpretation of these new data, such as the distorted-wave impulse approximation (DWIA), the transition amplitude formulation of the Faddeev equations due to Alt, Grassberger, and Sandhas (FAGS) and, more recently, a coupled-channels method here referred to as transfer-to-the- continuum (TC). Purpose: Our goal is to compare the momentum distributions calculated with the DWIA and TC models for the same reactions, using whenever possible the same inputs (e.g., distorting potential). A comparison with already published results for the FAGS formalism is performed as well. Method: We choose the 15C(p ,p n )14C reaction at an incident energy of 420 MeV/u, which has been previously studied with the FAGS formalism. The knocked-out neutron is assumed to be in a 2 s single-particle orbital. Longitudinal and transverse momentum distributions are calculated for different assumed separation energies. Results: For all cases considered, we find a very good agreement between DWIA and TC results. The energy dependence of the distorting optical potentials is found to affect in a modest way the shape and magnitude of the momentum distributions. Moreover, when relativistic kinematics corrections are omitted, our calculations reproduce remarkably well the FAGS result. Conclusions: The results found in this work provide confidence on the consistency and accuracy of the DWIA and TC models for analyzing momentum distributions for (p ,p n ) reactions at intermediate energies.
The Maiden Voyage of a Kinematics Robot
Greenwolfe, Matthew L.
2015-04-01
In a Montessori preschool classroom, students work independently on tasks that absorb their attention in part because the apparatus are carefully designed to make mistakes directly observable and limit exploration to one aspect or dimension. Control of error inheres in the apparatus itself, so that teacher intervention can be minimal.1 Inspired by this example, I created a robotic kinematics apparatus that also shapes the inquiry experience. Students program the robot by drawing kinematic graphs on a computer and then observe its motion. Exploration is at once limited to constant velocity and constant acceleration motion, yet open to complex multi-segment examples difficult to achieve in the lab in other ways. The robot precisely and reliably produces the motion described by the students' graphs, so that the apparatus itself provides immediate visual feedback about whether their understanding is correct as they are free to explore within the hard-coded limits. In particular, the kinematic robot enables hands-on study of multi-segment constant velocity situations, which lays a far stronger foundation for the study of accelerated motion. When correction is anonymous—just between one group of lab partners and their robot—students using the kinematic robot tend to flow right back to work because they view the correction as an integral part of the inquiry learning process. By contrast, when correction occurs by the teacher and/or in public (e.g., returning a graded assignment or pointing out student misconceptions during class), students all too often treat the event as the endpoint to inquiry. Furthermore, quantitative evidence shows a large gain from pre-test to post-test scores using the Test of Understanding Graphs in Kinematics (TUG-K).
Roma, Maria; Vidal-Royo, Oskar; McClay, Ken; Ferrer, Oriol; Muñoz, Josep Anton
2017-04-01
The formation of hagingwall syncline basins is basically constrained by the geometry of the basement-involved fault, but also by salt distribution . The formation of such basins is common around the Iberian Peninsula (e.g. Lusitanian, Parentis, Basque-Cantabian, Cameros and Organyà basins) where Upper Triassic (Keuper) salt governed their polyphasic Mesozoic extension and their subsequent Alpine inversion. In this scenario, a precise interpretation of the sub-salt faults geometry and a reconstruction of the initial salt thickness are key to understand the kinematic evolution of such basins. Using an experimental approach (sandbox models) and these Mesozoic basins as natural analogues, the aim of this work is to: 1) investigate the main parameters that controlled the formation and evolution of hagingwall syncline basins analyzing the role of syn-kinematic salt during extension and subsequent inversion; and 2) quantify the deformation and salt mobilization based on restoration of analog model cross sections. The experimental results demonstrate that premature welds are developed by salt deflation with consequent upward propagation of the basal fault in salt-bearing rift systems with a large amount of extension,. In contrast, thicker salt inhibits the upward fault propagation, which results into a further salt migration and development of a hagingwall syncline basins flanked by salt walls. The inherited extensional architecture as well as salt continuity dramatically controlled subsequent inversion. Shortening initially produced the folding and the uplift of the synclinal basins. Minor reverse faults form as a consequence of overtightening of welded diapir stems. However, no trace of reverse faulting is found around diapirs stems, as ductile unit is still available for extrusion, squeezing and accommodation of shortening. Restoration of the sandbox models has demonstrated that this is a powerful tool to unravel the complex structures in the models and this may
Upper Limb Assessment in Tetraplegia: Clinical, Functional and Kinematic Correlations
Cacho, Enio Walker Azevedo; de Oliveira, Roberta; Ortolan, Rodrigo L.; Varoto, Renato; Cliquet, Alberto
2011-01-01
The aim of this study was to correlate clinical and functional evaluations with kinematic variables of upper limp reach-to-grasp movement in patients with tetraplegia. Twenty chronic patients were selected to perform reach-to-grasp kinematic assessment using a target placed at a distance equal to the arm's length. Kinematic variables (hand peak…
Learning Kinematics with a V-Scope: A Case Study.
Trumper, Ricardo
1997-01-01
Studies the effect of V-Scope activities on the performance of 11th-grade students in analyzing kinematics graphs. Students were challenged to construct different kinds of graphs using their own movements as well as the motion of a dynamics cart. Results indicate that the V-Scope kinematics laboratory activities can promote kinematics concepts and…
Validation and Structural Analysis of the Kinematics Concept Test
Lichtenberger, A.; Wagner, C.; Hofer, S. I.; Stem, E.; Vaterlaus, A.
2017-01-01
The kinematics concept test (KCT) is a multiple-choice test designed to evaluate students' conceptual understanding of kinematics at the high school level. The test comprises 49 multiple-choice items about velocity and acceleration, which are based on seven kinematic concepts and which make use of three different representations. In the first part…
Okubo, Fumiya; Kobayashi, Satoshi; Yokomori, Takashi
2011-01-01
Reaction systems are a formal model that has been introduced to investigate the interactive behaviors of biochemical reactions. Based on the formal framework of reaction systems, we propose new computing models called reaction automata that feature (string) language acceptors with multiset manipulation as a computing mechanism, and show that reaction automata are computationally Turing universal. Further, some subclasses of reaction automata with space complexity are investigated and their la...
Goal Directed Model Inversion: A Study of Dynamic Behavior
Colombano, Silvano P.; Compton, Michael; Raghavan, Bharathi; Lum, Henry, Jr. (Technical Monitor)
1994-01-01
Goal Directed Model Inversion (GDMI) is an algorithm designed to generalize supervised learning to the case where target outputs are not available to the learning system. The output of the learning system becomes the input to some external device or transformation, and only the output of this device or transformation can be compared to a desired target. The fundamental driving mechanism of GDMI is to learn from success. Given that a wrong outcome is achieved, one notes that the action that produced that outcome 0 "would have been right if the outcome had been the desired one." The algorithm then proceeds as follows: (1) store the action that produced the wrong outcome as a "target" (2) redefine the wrong outcome as a desired goal (3) submit the new desired goal to the system (4) compare the new action with the target action and modify the system by using a suitable algorithm for credit assignment (Back propagation in our example) (5) resubmit the original goal. Prior publications by our group in this area focused on demonstrating empirical results based on the inverse kinematic problem for a simulated robotic arm. In this paper we apply the inversion process to much simpler analytic functions in order to elucidate the dynamic behavior of the system and to determine the sensitivity of the learning process to various parameters. This understanding will be necessary for the acceptance of GDMI as a practical tool.
Why does inverse modeling of drainage inventories work?
White, Nicky; Roberts, Gareth
2016-04-01
We describe and apply a linear inverse model which calculates spatial and temporal patterns of uplift rate by minimizing the misfit between inventories of observed and predicted longitudinal river profiles. This approach builds upon a more general, non-linear, optimization model, which suggests that shapes of river profiles are dominantly controlled by upstream advection of kinematic waves of incision produced by spatial and temporal changes in regional uplift rate. We have tested both algorithms by inverting thousands of river profiles from Africa, Eurasia, the Americas, and Australia. For each continent, the drainage network was constructed from a digital elevation model and the fidelity of river profiles extracted from this network was carefully checked using satellite imagery. Spatial and temporal patterns of both uplift rate and cumulative uplift were calibrated using independent geologic and geophysical observations. Inverse modeling of these substantial inventories of river profiles suggests that drainage networks contain coherent signals that record the regional growth of elevation. In the second part of this presentation, we use spectral analysis of river profiles to suggest why drainage networks behave in a coherent, albeit non-linear, fashion. Our analysis implies that large-scale topographic signals injected into landscapes generate spectral slopes that are usually red (i.e. Brownian). At wavelengths shorter than tens of km, spectral slopes whiten which suggests that coherent topographic signals cease to exist at these shorter length scales. Our results suggest that inverse modeling of drainage networks can reveal useful information about landscape growth through space and time.
Forward and Inverse Dynamics of the Biped PASIBOT
Directory of Open Access Journals (Sweden)
Eduardo Corral
2014-07-01
Full Text Available This article addresses the supporting foot slippage of the biped robot PASIBOT and develops its forward and inverse dynamics for simple and double support phases. To address the slippage phenomenon, we consider an additional degree of freedom at the supporting foot and also distinguish between static and kinetic friction conditions. The inverse and forward dynamics, accounting for support foot slippage, are encoded in MATLAB. The algorithm predicts the motion of the biped from the torque function given by the biped's sole motor. Thus, the algorithm becomes an indispensable tool for studying transient states of the biped (for example, the torques required for starting and braking, as well as defining the conditions that prevent or control slippage. Since the developed code is parametric, its output can greatly assist in the design, optimization and control of PASIBOT and similar biped robots. The topology, kinematics and inverse dynamics of the one-degree-of-freedom biped PASIBOT have been previously described, but without regard to slippage between the supporting foot and the ground.
Lake, Jason P; Lauder, Mike A; Smith, Neal A
2012-05-01
The aim of this study was to compare measures of power output applied to the center of mass of the barbell and body system (CM) obtained by multiplying ground reaction force (GRF) by (a) the velocity of the barbell; (b) the velocity of the CM derived from three-dimensional (3D) whole-body motion analysis, and (c) the velocity of the CM derived from GRF during lower-body resistance exercise. Ten resistance-trained men performed 3 maximal-effort single back squats with 60% 1 repetition maximum while GRF and whole-body motion were captured using synchronized Kistler force platforms and a Vicon Motus motion analysis system. Repeated measures analysis of variance of time-normalized kinematic and kinetic data obtained using the different methods showed that the barbell was displaced 13.4% (p barbell was 16.1% (p barbell was 18.7% (p barbell was significantly greater than the velocity of the trunk, upper leg, lower leg, and foot (p barbell (using inverse dynamics) or CM (GRF or 3D motion analysis). Failure to apply these suggestions could result in continued overestimation of CM power, compromising methodological integrity.
Nuclear reactions with radioactive and stable beams (Part I)
International Nuclear Information System (INIS)
Aguilera R, E.F.; Martinez Q, E.; Gomez C, A.
2004-12-01
At the present time there is a great interest at world level in experiments, with accelerated nuclei of short half life. The dispersion, fusion, transfer and break processes in the interaction of weakly light projectiles bounded with targets of Z great its have been object of intense recent investigation, at world level. Our group, in collaboration with the University of Notre Dame, it has measured and analyzed these processes for weakly bound systems as: 6 He + 209 Bi, 8 Li + 208 Pb, 10 Be + 208 Pb. On the other hand a research line that has wakened up great interest, it is that of studies of resonant reactions using the Inverse Kinematics technique with thick targets. The use of this technique allows to measure an entire excitation function with a single bombardment. Our group has carried out, in the ININ, preliminary bombardments for the system 12 C + 4 He. This allowed to establish the feasibility of implementing this technique in our Laboratory. The application of this and other techniques to different systems like 18 O + 4 He, 12 C + 12 C, 12 C + 16 O, 16 O + 16 O, it opens the possibility to measure the fusion of these systems at very low energy and to deepen in the knowledge of the nuclear structure and the nuclear astrophysics. In this technical report, the activities carried out by our group during 2004 are described.(Author)
Bayesian Approach to Inverse Problems
2008-01-01
Many scientific, medical or engineering problems raise the issue of recovering some physical quantities from indirect measurements; for instance, detecting or quantifying flaws or cracks within a material from acoustic or electromagnetic measurements at its surface is an essential problem of non-destructive evaluation. The concept of inverse problems precisely originates from the idea of inverting the laws of physics to recover a quantity of interest from measurable data.Unfortunately, most inverse problems are ill-posed, which means that precise and stable solutions are not easy to devise. Regularization is the key concept to solve inverse problems.The goal of this book is to deal with inverse problems and regularized solutions using the Bayesian statistical tools, with a particular view to signal and image estimation
Parameter estimation and inverse problems
Aster, Richard C; Thurber, Clifford H
2005-01-01
Parameter Estimation and Inverse Problems primarily serves as a textbook for advanced undergraduate and introductory graduate courses. Class notes have been developed and reside on the World Wide Web for faciliting use and feedback by teaching colleagues. The authors'' treatment promotes an understanding of fundamental and practical issus associated with parameter fitting and inverse problems including basic theory of inverse problems, statistical issues, computational issues, and an understanding of how to analyze the success and limitations of solutions to these probles. The text is also a practical resource for general students and professional researchers, where techniques and concepts can be readily picked up on a chapter-by-chapter basis.Parameter Estimation and Inverse Problems is structured around a course at New Mexico Tech and is designed to be accessible to typical graduate students in the physical sciences who may not have an extensive mathematical background. It is accompanied by a Web site that...
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...
Directory of Open Access Journals (Sweden)
Sébastien Leteneur
Full Text Available The imposing mass of the trunk in relation to the whole body has an important impact on human motion. The objective of this study is to determine the influence of trunk's natural inclination--forward (FW or backward (BW with respect to the vertical--on body kinematics and stance limb kinetics during gait initiation.Twenty-five healthy males were divided based on their natural trunk inclination (FW or BW during gait initiation. Instantaneous speed was calculated at the center of mass at the first heel strike. The antero-posterior impulse was calculated by integrating the antero-posterior ground reaction force in time. Ankle, knee, hip and thoraco-lumbar (L5 moments were calculated using inverse dynamics and only peaks of the joint moments were analyzed. Among all the investigated parameters, only joint moments present significant differences between the two groups. The knee extensor moment is 1.4 times higher (P<0.001 for the BW group, before the heel contact. At the hip, although the BW group displays a flexor moment 2.4 times higher (P<0.001 before the swing limb's heel-off, the FW group displays an extensor moment 3.1 times higher (P<0.01 during the swing phase. The three L5 extensor peaks after the toe-off are respectively 1.7 (P<0.001, 1.4 (P<0.001 and 1.7 (P<0.01 times higher for the FW group. The main results support the idea that the patterns described during steady-state gait are already observable during gait initiation. This study also provides reference data to further investigate stance limb kinetics in specific or pathologic populations during gait initiation. It will be of particular interest for elderly people, knowing that this population displays atypical trunk postures and present a high risk of falling during this forward stepping.
Leteneur, Sébastien; Simoneau, Emilie; Gillet, Christophe; Dessery, Yoann; Barbier, Franck
2013-01-01
The imposing mass of the trunk in relation to the whole body has an important impact on human motion. The objective of this study is to determine the influence of trunk's natural inclination--forward (FW) or backward (BW) with respect to the vertical--on body kinematics and stance limb kinetics during gait initiation.Twenty-five healthy males were divided based on their natural trunk inclination (FW or BW) during gait initiation. Instantaneous speed was calculated at the center of mass at the first heel strike. The antero-posterior impulse was calculated by integrating the antero-posterior ground reaction force in time. Ankle, knee, hip and thoraco-lumbar (L5) moments were calculated using inverse dynamics and only peaks of the joint moments were analyzed. Among all the investigated parameters, only joint moments present significant differences between the two groups. The knee extensor moment is 1.4 times higher (P<0.001) for the BW group, before the heel contact. At the hip, although the BW group displays a flexor moment 2.4 times higher (P<0.001) before the swing limb's heel-off, the FW group displays an extensor moment 3.1 times higher (P<0.01) during the swing phase. The three L5 extensor peaks after the toe-off are respectively 1.7 (P<0.001), 1.4 (P<0.001) and 1.7 (P<0.01) times higher for the FW group. The main results support the idea that the patterns described during steady-state gait are already observable during gait initiation. This study also provides reference data to further investigate stance limb kinetics in specific or pathologic populations during gait initiation. It will be of particular interest for elderly people, knowing that this population displays atypical trunk postures and present a high risk of falling during this forward stepping.
Directory of Open Access Journals (Sweden)
Braulio Pasternak-Júnior
2012-02-01
Full Text Available OBJECTIVE: This study assessed the muscular activity during root canal preparation through kinematics, kinetics, and electromyography (EMG. MATERIAL AND METHODS: The operators prepared one canal with RaCe rotary instruments and another with Flexo-files. The kinematics of the major joints was reconstructed using an optoelectronic system and electromyographic responses of the flexor carpi radialis, extensor carpi radialis, brachioradialis, biceps brachii, triceps brachii, middle deltoid, and upper trapezius were recorded. The joint torques of the shoulder, elbow and wrist were calculated using inverse dynamics. In the kinematic analysis, angular movements of the wrist and elbow were classified as low risk factors for work-related musculoskeletal disorders. With respect to the shoulder, the classification was medium-risk. RESULTS: There was no significant difference revealed by the kinetic reports. The EMG results showed that for the middle deltoid and upper trapezius the rotary instrumentation elicited higher values. The flexor carpi radialis and extensor carpi radialis, as well as the brachioradialis showed a higher value with the manual method. CONCLUSION: The muscular recruitment for accomplishment of articular movements for root canal preparation with either the rotary or manual techniques is distinct. Nevertheless, the rotary instrument presented less difficulty in the generation of the joint torque in each articulation, thus, presenting a greater uniformity of joint torques.
The SAMI Galaxy Survey: gas content and interaction as the drivers of kinematic asymmetry
Bloom, J. V.; Croom, S. M.; Bryant, J. J.; Schaefer, A. L.; Bland-Hawthorn, J.; Brough, S.; Callingham, J.; Cortese, L.; Federrath, C.; Scott, N.; van de Sande, J.; D'Eugenio, F.; Sweet, S.; Tonini, C.; Allen, J. T.; Goodwin, M.; Green, A. W.; Konstantopoulos, I. S.; Lawrence, J.; Lorente, N.; Medling, A. M.; Owers, M. S.; Richards, S. N.; Sharp, R.
2018-05-01
In order to determine the causes of kinematic asymmetry in the Hα gas in the SAMI (Sydney-AAO Multi-object IFS) Galaxy Survey sample, we investigate the comparative influences of environment and intrinsic properties of galaxies on perturbation. We use spatially resolved Hα velocity fields from the SAMI Galaxy Survey to quantify kinematic asymmetry (\\overline{v_asym}) in nearby galaxies and environmental and stellar mass data from the Galaxy And Mass Assembly survey. We find that local environment, measured as distance to nearest neighbour, is inversely correlated with kinematic asymmetry for galaxies with log (M*/M⊙) > 10.0, but there is no significant correlation for galaxies with log (M*/M⊙) galaxies [log (M*/M⊙) galaxies. We propose that secular effects derived from gas fraction and gas mass may be the primary causes of asymmetry in low-mass galaxies. High gas fraction is linked to high σ _m/V (where σm is Hα velocity dispersion and V the rotation velocity), which is strongly correlated with \\overline{v_asym}, and galaxies with log (M*/M⊙) galaxies with log (M*/M⊙) galaxies may lead to asymmetric distribution of gas clouds, leading to increased relative turbulence.
The SAMI Galaxy Survey: gas content and interaction as the drivers of kinematic asymmetry
Bloom, J. V.; Croom, S. M.; Bryant, J. J.; Schaefer, A. L.; Bland-Hawthorn, J.; Brough, S.; Callingham, J.; Cortese, L.; Federrath, C.; Scott, N.; Sande, J. van de; D'Eugenio, F.; Sweet, S.; Tonini, C.; Allen, J. T.; Goodwin, M.; Green, A. W.; Konstantopoulos, I. S.; Lawrence, J.; Lorente, N.; Medling, A. M.; Owers, M. S.; Richards, S. N.; Sharp, R.
2018-02-01
In order to determine the causes of kinematic asymmetry in the Hα gas in the SAMI Galaxy Survey sample, we investigate the comparative influences of environment and intrinsic properties of galaxies on perturbation. We use spatially resolved Hα velocity fields from the SAMI Galaxy Survey to quantify kinematic asymmetry (\\overline{v_{asym}}) in nearby galaxies and environmental and stellar mass data from the GAMA survey. We find that local environment, measured as distance to nearest neighbour, is inversely correlated with kinematic asymmetry for galaxies with log (M_*/M_⊙ )>10.0, but there is no significant correlation for galaxies with log (M_*/M_⊙ )galaxies (log (M_*/M_⊙ )galaxies. We propose that secular effects derived from gas fraction and gas mass may be the primary causes of asymmetry in low mass galaxies. High gas fraction is linked to high σ m/V (where σm is Hα velocity dispersion and V the rotation velocity), which is strongly correlated with \\overline{v_{asym}}, and galaxies with log (M*/M⊙) galaxies with log (M*/M⊙) dwarf galaxies may lead to asymmetric distribution of gas clouds, leading to increased relative turbulence.
Computation of inverse magnetic cascades
International Nuclear Information System (INIS)
Montgomery, D.
1981-10-01
Inverse cascades of magnetic quantities for turbulent incompressible magnetohydrodynamics are reviewed, for two and three dimensions. The theory is extended to the Strauss equations, a description intermediate between two and three dimensions appropriate to tokamak magnetofluids. Consideration of the absolute equilibrium Gibbs ensemble for the system leads to a prediction of an inverse cascade of magnetic helicity, which may manifest itself as a major disruption. An agenda for computational investigation of this conjecture is proposed
Thermal measurements and inverse techniques
Orlande, Helcio RB; Maillet, Denis; Cotta, Renato M
2011-01-01
With its uncommon presentation of instructional material regarding mathematical modeling, measurements, and solution of inverse problems, Thermal Measurements and Inverse Techniques is a one-stop reference for those dealing with various aspects of heat transfer. Progress in mathematical modeling of complex industrial and environmental systems has enabled numerical simulations of most physical phenomena. In addition, recent advances in thermal instrumentation and heat transfer modeling have improved experimental procedures and indirect measurements for heat transfer research of both natural phe
Coin tossing and Laplace inversion
Indian Academy of Sciences (India)
of a probability measure " on Е0Y 1К via the obvious change of variables e└t И xX An inversion formula for " in terms of its moments yields an inversion formula for # in terms of the values of its Laplace transform at n И 0Y 1Y 2Y ... and vice versa. In our discussion we allow " (respectively #) to have positive mass at 0 ...
EDITORIAL: Inverse Problems in Engineering
West, Robert M.; Lesnic, Daniel
2007-01-01
Presented here are 11 noteworthy papers selected from the Fifth International Conference on Inverse Problems in Engineering: Theory and Practice held in Cambridge, UK during 11-15 July 2005. The papers have been peer-reviewed to the usual high standards of this journal and the contributions of reviewers are much appreciated. The conference featured a good balance of the fundamental mathematical concepts of inverse problems with a diverse range of important and interesting applications, which are represented here by the selected papers. Aspects of finite-element modelling and the performance of inverse algorithms are investigated by Autrique et al and Leduc et al. Statistical aspects are considered by Emery et al and Watzenig et al with regard to Bayesian parameter estimation and inversion using particle filters. Electrostatic applications are demonstrated by van Berkel and Lionheart and also Nakatani et al. Contributions to the applications of electrical techniques and specifically electrical tomographies are provided by Wakatsuki and Kagawa, Kim et al and Kortschak et al. Aspects of inversion in optical tomography are investigated by Wright et al and Douiri et al. The authors are representative of the worldwide interest in inverse problems relating to engineering applications and their efforts in producing these excellent papers will be appreciated by many readers of this journal.
Müller, Roy; Tschiesche, Kevin; Blickhan, Reinhard
2014-07-18
Walking in even the most familiar environment posesses a challenge to humans due to continuously changing surface conditions such as compliance, slip, or level. These changes can be visible or invisible due to camouflage. In order to prevent falling, camouflaged changes in the ground level in particular require a quick response of the locomotor system. For ten subjects we investigated kinematics and ground reaction forces of two consecutive contacts while they were walking across visible (drops of 0, -5 and -10 cm at second contact) and camouflaged (drops of 0 or -5 cm, and drops of 0 or -10 cm at second contact) changes in the ground level. For both situations we found significant kinetic and kinematic adjustments during the perturbed second contact but also one step earlier, in the preparatory first contact. During walking across visible changes in the ground level, second peak ground reaction force at first contact decreased whereas the drop height increased at the second contact. In addition, at the end of this first contact the ankle and knee were more flexed and the trunk was more erect compared to level walking. During the perturbed second contact, first peak ground reaction force increased with drop height, whereas kinematic adjustments at touchdown were less. The visual perception of the perturbation facilitated prior adaptations. During walking across camouflaged changes in ground level such a visually guided preadaptation was not possible and the adaptations prior to the perturbation were less than those observed during walking across visible changes in the ground. However, when stepping into a camouflaged drop, the kinetic and kinematic adjustments became more obvious and they increased with increasing camouflaged drop height. Copyright © 2014 Elsevier Ltd. All rights reserved.
Zhang, Zhendong
2017-07-11
Full waveform inversion for reection events is limited by its linearized update re-quirements 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 what we refer to as local minima of the objective function. In our approach, we consider mild lateral variation in the model, and thus, use a gradient given by the oriented time-domain imaging method. Specifically, we apply the oriented time-domain imaging on the data residual to obtain the geometrical features of the velocity perturbation. After updating the model in the time domain, we convert the perturbation from the time domain to depth using the average velocity. Considering density is constant, we can expand the conventional 1D impedance inversion method to 2D or 3D velocity inversion within the process of full waveform inversion. 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 reection response. To eliminate the cross-talk artifacts between different parameters, we utilize what we consider being an optimal parametrization for this step. To do so, we extend the prestack time-domain migration image in incident angle dimension to incorporate angular dependence needed by the multiparameter inversion. For simple models, this approach provides an efficient and stable way to do full waveform inversion or modified seismic inversion and makes the anisotropic inversion more practicable. The proposed method still needs kinematically accurate initial models since it only recovers the high-wavenumber part as conventional full waveform inversion method does. Results on synthetic data of isotropic and anisotropic cases illustrate the benefits and limitations of this method.
Coupled channels Marchenko inversion for nucleon-nucleon potentials
International Nuclear Information System (INIS)
Kohlhoff, H.; Geramb, H.V. von
1994-01-01
Marchenko inversion is used to determine local energy independent but channel dependent potential matrices from optimum sets of experimental phase shifts. 3 SD 1 and 3 PF 2 channels of nucleon-nucleon systems contain in their off-diagonal potential matrices explicitly the tensor force for T = 0 and 1 isospin. We obtain, together with single channels, complete sets of quantitative nucleon-nucleon potential results which are ready for application in nuclear structure and reaction analyses. The historic coupled channels inversion result of Newton and Fulton is revisited. (orig.)
Kinematics of the symbiotic system R Aqr
Navarro, S.; Corral, L. J.; Steffen, W.
2014-04-01
We present the results of the kinematical analysis of the symbiotic system R Aqr. We obtained high dispersion spectra with the MES spectrograph at the 2.1 m telescope of San Pedro Mártir (MEZCAL). The used filter were Ha + [NII], (λc = 6575Å, Δλ = 90Å). We analyse the [NII] λλ6583 line. When the observations are compared with previous ones by Solf (1992) we detected an important change in the projected velocities of the observed knots, supporting the idea of a precessing jet. We are working also in a 3-D kinematic model for the object using the measured velocities and the state of the model is presented.
The kinematic advantage of electric cars
Meyn, Jan-Peter
2015-11-01
Acceleration of a common car with with a turbocharged diesel engine is compared to the same type with an electric motor in terms of kinematics. Starting from a state of rest, the electric car reaches a distant spot earlier than the diesel car, even though the latter has a better specification for engine power and average acceleration from 0 to 100 km h-1. A three phase model of acceleration as a function of time fits the data of the electric car accurately. The first phase is a quadratic growth of acceleration in time. It is shown that the tenfold higher coefficient for the first phase accounts for most of the kinematic advantage of the electric car.
Kinematic measurements using an infrared sensor
International Nuclear Information System (INIS)
Marinho, F; Paulucci, L
2016-01-01
The use of an infrared sensor as a new alternative to measure position as a function of time in kinematic experiments was investigated using a microcontroller as the data acquisition and control device. These are versatile sensors that offer advantages over typical ultrasound devices. The setup described in this paper enables students to develop their own experiments, promoting opportunities for learning physical concepts such as the different types of forces that can act on a body (gravitational, elastic, drag, etc) and the resulting types of movements with good sensitivity within the 4–30 cm range. As a proof of concept we also present the application of a prototype designed to record the kinematics of mass-spring systems. (paper)
6th International Workshop on Computational Kinematics
Gracia, Alba
2014-01-01
Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, construction of novel mechanical devices, as well as detection and treatment of singularities. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics. Indexed in Conference Proceedings Citation Index- Science (CPCI-S).
Surface growth kinematics via local curve evolution
Moulton, Derek E.
2012-11-18
A mathematical framework is developed to model the kinematics of surface growth for objects that can be generated by evolving a curve in space, such as seashells and horns. Growth is dictated by a growth velocity vector field defined at every point on a generating curve. A local orthonormal basis is attached to each point of the generating curve and the velocity field is given in terms of the local coordinate directions, leading to a fully local and elegant mathematical structure. Several examples of increasing complexity are provided, and we demonstrate how biologically relevant structures such as logarithmic shells and horns emerge as analytical solutions of the kinematics equations with a small number of parameters that can be linked to the underlying growth process. Direct access to cell tracks and local orientation enables for connections to be made to the underlying growth process. © 2012 Springer-Verlag Berlin Heidelberg.
On the kinematic age of RZ Psc
Potravnov, I. S.; Grinin, V. P.
2013-11-01
RZ Psc belongs to the family of young UX Ori stars whose photometric activity is due to strong extinction variations in the circumstellar disks surrounding them. However, in contrast to all the remaining stars of this type, no evidence of youth has been detected for RZ Psc until recently. A rough estimate of the star's kinematic age was made for the first time in our previous paper (Grinin et al. 2010). It shows that RZ Psc is intermediate in its evolutionary status between young stars in Orion and stars with debris disks. In this paper, we provide a refined estimate of the kinematic age for the star confirming this conclusion. According to this estimate, the age of RZ Psc is approximately 25 ± 5 Myr at M * = 1 M ⊙.
Kinematics of swimming garter snakes (Thamnophis sirtalis).
Munk, Yonatan
2008-06-01
We investigate the kinematics of swimming garter snakes (Thamnophis sirtalis) using a novel nonlinear regression-based digitization method to establish quantitative statistical support for non-constant wavelengths in the undulatory pattern exhibited by swimming snakes. We find that in swimming snakes, the growth of the amplitude of the propulsive wave head-to-tail is strongly correlated (p < 0.005) with the head-to-tail growth in the wavelength. We investigate correlations between kinematic parameters and steady swimming speed, and find a very strong positive correlation between swimming speed and undulation frequency. We furthermore find a statistically well-supported positive correlation between swimming speed and both the initial amplitude of the propulsive wave at the head and the degree of amplitude growth from head to tail.
Chromatid Painting for Chromosomal Inversion Detection Project
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...
Kinematic Diversity in Rorqual Whale Feeding Mechanisms.
Cade, David E; Friedlaender, Ari S; Calambokidis, John; Goldbogen, Jeremy A
2016-10-10
Rorqual whales exhibit an extreme lunge filter-feeding strategy characterized by acceleration to high speed and engulfment of a large volume of prey-laden water [1-4]. Although tagging studies have quantified the kinematics of lunge feeding, the timing of engulfment relative to body acceleration has been modeled conflictingly because it could never be directly measured [5-7]. The temporal coordination of these processes has a major impact on the hydrodynamics and energetics of this high-cost feeding strategy [5-9]. If engulfment and body acceleration are temporally distinct, the overall cost of this dynamic feeding event would be minimized. However, greater temporal overlap of these two phases would theoretically result in higher drag and greater energetic costs. To address this discrepancy, we used animal-borne synchronized video and 3D movement sensors to quantify the kinematics of both the skull and body during feeding events. Krill-feeding blue and humpback whales exhibited temporally distinct acceleration and engulfment phases, with humpback whales reaching maximum gape earlier than blue whales. In these whales, engulfment coincided largely with body deceleration; however, humpback whales pursuing more agile fish demonstrated highly variable coordination of skull and body kinematics in the context of complex prey-herding techniques. These data suggest that rorquals modulate the coordination of acceleration and engulfment to optimize foraging efficiency by minimizing locomotor costs and maximizing prey capture. Moreover, this newfound kinematic diversity observed among rorquals indicates that the energetic efficiency of foraging is driven both by the whale's engulfment capacity and the comparative locomotor capabilities of predator and prey. VIDEO ABSTRACT. Copyright © 2016 Elsevier Ltd. All rights reserved.
A new kinematical definition of orbital eccentricity
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Ninković S.
2009-01-01
Full Text Available A new concept of orbital eccentricity is given. The dimensionless quantities proposed in the present paper to serve as orbital eccentricities have a kinematical nature. The purpose is to use them in describing the motion for the case of three-dimensional orbits. A comparison done for nearly planar orbits shows that the values of the eccentricities proposed here do not differ significantly from those corresponding to the eccentricities of geometric nature usually applied.
Kinematics of Hooke universal joint robot wrists
Mckinney, William S., Jr.
1988-01-01
The singularity problem associated with wrist mechanisms commonly found on industrial manipulators can be alleviated by redesigning the wrist so that it functions as a three-axis gimbal system. This paper discussess the kinematics of gimbal robot wrists made of one and two Hooke universal joints. Derivations of the resolved rate motion control equations for the single and double Hooke universal joint wrists are presented using the three-axis gimbal system as a theoretical wrist model.
Kinematic Analysis Of Tricept Parallel Manipulator
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Mir Amin Hosseini
2012-01-01
Full Text Available Parallel manipulators consist of fixed and moving platforms connected to each other with some actuated links. They have some significant advantages over their serial counterparts. While, they suffer from relatively small workspaces, complex kinematics relations and highly singular points within their workspaces. In this paper, forward kinematics of Tricept parallel manipulator is solved analytically and its workspace optimization is performed. This parallel manipulator has a complex degree of freedom, therefore leads to dimensional in-homogeneous Jacobian matrices. Thus, we divide some entries of the Jacobian by units of length, thereby producing a new Jacobian that is dimensionally homogeneous. Moreover, its workspace is parameterized using some design parameters. Then, using GA method, the workspace is optimized subjects to some geometric constraints. Finally, dexterity of the design is evaluated. Keywords- Kinematic, Workspace, Singularity, TriceptABSTRAK - Manipulator selari terdiri daripada platform tetap dan bergerak yang bersambung antara satu sama lain dengan beberapa pautan bergerak. Manipulator selari mempunyai beberapa kebaikan tertentu dibandingkan dengan yang bersamaan dengannya. Walaupun ia mempunyai ruang kerja yang sempit, hubungan kinematik kompleks dan titik tunggal tinggi dalam linkungan ruang kerjanya. Dalam kajian ini, kinematik ke hadapan manipulator selari Tricept diselesaikan secara analisa dan pengoptimuman ruang kerja dijalankan. Manipulator selari ini mempunyai darjah kebebasan yang kompleks, yang menyebabkan ia mendorong kepada kehomogenan dimensi matriks Jacobian. Catatan Jacobian dibahagikan kepada unit panjang, dimana ia menghasilkan Jacobian baru yang homogen dimensinya. Tambahan, ruang kerjanya diparameterkan dengan menggunakan beberapa parameter reka bentuk. Kemudian, dengan kaedah GA, ruang kerja mengoptimakan subjek kepada beberapa kekangan geometrik. Akhirnya, kecakatan reka bentuk dinilaikan
Dwarf elliptical galaxies with kinematically decoupled cores
De Rijcke, S.; Dejonghe, H.; Zeilinger, W. W.; Hau, G. K. T.
2004-10-01
We present, for the first time, photometric and kinematical evidence, obtained with FORS2 on the VLT, for the existence of kinematically decoupled cores (KDCs) in two dwarf elliptical galaxies; FS76 in the NGC 5044 group and FS373 in the NGC 3258 group. Both kinematically peculiar subcomponents rotate in the same sense as the main body of their host galaxy but betray their presence by a pronounced bump in the rotation velocity profiles at a radius of about 1''. The KDC in FS76 rotates at 10 ± 3 km s-1, with the host galaxy rotating at 15 ± 6 km s-1; the KDC in FS373 has a rotation velocity of 6 ± 2 km s-1 while the galaxy itself rotates at 20 ± 5 km s-1. FS373 has a very complex rotation velocity profile with the velocity changing sign at 1.5 Re. The velocity and velocity dispersion profiles of FS76 are asymmetric at larger radii. This could be caused by a past gravitational interaction with the giant elliptical NGC 5044, which is at a projected distance of 50 kpc. We argue that these decoupled cores are most likely not produced by mergers in a group or cluster environment because of the prohibitively large relative velocities. A plausible alternative is offered by flyby interactions between a dwarf elliptical or its disky progenitor and a massive galaxy. The tidal forces during an interaction at the relative velocities and impact parameters typical for a group environment exert a torque on the dwarf galaxy that, according to analytical estimates, transfers enough angular momentum to its stellar envelope to explain the observed peculiar kinematics.
Efficient Kinematic Computations For 7-DOF Manipulators
Seraji, Homayoun; Long, Mark K.; Kreutz-Delgado, Kenneth
1994-01-01
Efficient algorithms for forward kinematic mappings of seven-degree-of-freedom (7-DOF) robotic manipulator having revolute joints developed on basis of representation of redundant DOF in terms of parameter called "arm angle." Continuing effort to exploit redundancy in manipulator according to concept of basic and additional tasks. Concept also discussed in "Configuration-Control Scheme Copes With Singularities" (NPO-18556) and "Increasing the Dexterity of Redundant Robots" (NPO-17801).
Bennett, C.; Dunne, J. F.; Trimby, S.; Richardson, D.
2017-02-01
A recurrent non-linear autoregressive with exogenous input (NARX) neural network is proposed, and a suitable fully-recurrent training methodology is adapted and tuned, for reconstructing cylinder pressure in multi-cylinder IC engines using measured crank kinematics. This type of indirect sensing is important for cost effective closed-loop combustion control and for On-Board Diagnostics. The challenge addressed is to accurately predict cylinder pressure traces within the cycle under generalisation conditions: i.e. using data not previously seen by the network during training. This involves direct construction and calibration of a suitable inverse crank dynamic model, which owing to singular behaviour at top-dead-centre (TDC), has proved difficult via physical model construction, calibration, and inversion. The NARX architecture is specialised and adapted to cylinder pressure reconstruction, using a fully-recurrent training methodology which is needed because the alternatives are too slow and unreliable for practical network training on production engines. The fully-recurrent Robust Adaptive Gradient Descent (RAGD) algorithm, is tuned initially using synthesised crank kinematics, and then tested on real engine data to assess the reconstruction capability. Real data is obtained from a 1.125 l, 3-cylinder, in-line, direct injection spark ignition (DISI) engine involving synchronised measurements of crank kinematics and cylinder pressure across a range of steady-state speed and load conditions. The paper shows that a RAGD-trained NARX network using both crank velocity and crank acceleration as input information, provides fast and robust training. By using the optimum epoch identified during RAGD training, acceptably accurate cylinder pressures, and especially accurate location-of-peak-pressure, can be reconstructed robustly under generalisation conditions, making it the most practical NARX configuration and recurrent training methodology for use on production engines.
Kinematics in special and general relativity
International Nuclear Information System (INIS)
Woodside, R.W.M.
1979-05-01
This thesis investigates the problem of motion for extended bodies from the viewpoint of classical field theory, where the classical field is the body's energy-momentum or matter tensor. In special relativity a symmetric and divergence-free matter tensor combined with inertial frames is used to generate a kinematics for extended bodies. In general relativity the author suggests an analogous kinematics and applies it to the simplest non-trivial example of static, spherical stars, looking for special sets of vector fields whose matter currents are conserved. Such a set of ten vector fields defines a special frame, and integrals of the conserved matter currents define ten momenta whcih give the kinematics. Application of de Rham cohomology theory shows that the conserved matter currents for isolated bodies will have mechanical potentials which enable the momenta to be found from flux integrals evaluated in the vacuum region surrounding the body. These potentials contain the full Riemann curvature, allowing a body's general relativistic momenta to be determined by its vacuum graviational field
New Kinematical Constraints on Cosmic Acceleration
Energy Technology Data Exchange (ETDEWEB)
Rapetti, David; Allen, Steve W.; Amin, Mustafa A.; Blandford, Roger; /-KIPAC, Menlo Park
2007-05-25
We present and employ a new kinematical approach to ''dark energy'' studies. We construct models in terms of the dimensionless second and third derivatives of the scale factor a(t) with respect to cosmic time t, namely the present-day value of the deceleration parameter q{sub 0} and the cosmic jerk parameter, j(t). An elegant feature of this parameterization is that all {Lambda}CDM models have j(t)=1 (constant), which facilitates simple tests for departures from the {Lambda}CDM paradigm. Applying our model to redshift-independent distance measurements, from type Ia supernovae and X-ray cluster gas mass fraction measurements, we obtain clear statistical evidence for a late time transition from a decelerating to an accelerating phase. For a flat model with constant jerk, j(t)=j, we measure q{sub 0}=-0.81 {+-} 0.14 and j=2.16 +0.81 -0.75, results that are consistent with {Lambda}CDM at about the 1{sigma} confidence level. In comparison to dynamical analyses, the kinematical approach uses a different model set and employs a minimum of prior information, being independent of any particular gravity theory. The results obtained with this new approach therefore provide important additional information and we argue that both kinematical and dynamical techniques should be employed in future dark energy studies, where possible.
Kinematic gait analyses in healthy Golden Retrievers
Directory of Open Access Journals (Sweden)
Gabriela C.A. Silva
2014-12-01
Full Text Available Kinematic analysis relates to the relative movement between rigid bodies and finds application in gait analysis and other body movements, interpretation of their data when there is change, determines the choice of treatment to be instituted. The objective of this study was to standardize the march of Dog Golden Retriever Healthy to assist in the diagnosis and treatment of musculoskeletal disorders. We used a kinematic analysis system to analyse the gait of seven dogs Golden Retriever, female, aged between 2 and 4 years, weighing 21.5 to 28 kg, clinically normal. Flexion and extension were described for shoulder, elbow, carpal, hip, femorotibialis and tarsal joints. The gait was characterized lateral and had accepted hypothesis of normality for all variables, except for the stance of hip and elbow, considering a confidence level of 95%, significance level α = 0.05. Variations have been attributed to displacement of the stripes during movement and the duplicated number of reviews. The kinematic analysis proved to be a consistent method of evaluation of the movement during canine gait and the data can be used in the diagnosis and evaluation of canine gait in comparison to other studies and treatment of dogs with musculoskeletal disorders.
Scapula Kinematics of Youth Baseball Players
Directory of Open Access Journals (Sweden)
Oliver Gretchen
2015-12-01
Full Text Available Literature has revealed the importance of quantifying resting scapular posture in overhead athletes as well as quantifying scapular kinematics during dynamic movement. Prior to this project much of the attention in throwing research had been focused on the position of the humerus without description of the positioning of the scapula. Therefore, it was the purpose of this study to present scapular kinematics during pitching in youth baseball players. Twenty-five youth baseball players (age 11.3 + 1.0 years; body height 152.4 + 9.0 cm; body mass 47.5 + 11.3 kg, with no history of injury, participated in the study. Scapular kinematics at the events of maximum humeral external rotation (MER and maximum humeral internal rotation (MIR during the pitching motion were assessed three-dimensionally while pitching fastballs for strikes. Results revealed that at the event of MER, the scapula was in a position of retraction, upward rotation and a posterior tilt. While at the event of MIR, the scapula was protracted, upward rotated and tilted anteriorly.
Energy Technology Data Exchange (ETDEWEB)
Cavalca, M.
2005-11-15
Seismic imaging of salt flanks still remains a challenge for oil exploration. We propose here to exploit the kinematic information contained in prismatic reflections for the delineation of steeply dipping structures, such as faults or overhangs of salt bodies. This double reflection (on a steeply dipping structure and on a sedimentary interface) contains in fact precious information on the geometry of such structures, information that we try to exploit in travel-time tomography. We first carry out a precise kinematic analysis of these unusual reflections, to better understand under which conditions prismatic reflections can be observed in surface data; and we propose some interpretative guidelines, of great help for identifying such reflections in seismic data. We then study the tomographic inversion of prismatic reflections. Our first attempts at inverting prismatic reflections by standard travel-time tomography reveal a major difficulty due to the possible non definition of the standard forward map. We thus propose a new formulation of travel-time tomography which ensures the definition of the forward map and therefore a robust inversion of prismatic reflections. This approach shows its efficiency for delineating steeply dipping (and/or overhanging) structures on different synthetic experiments. We finally illustrate the benefit of jointly using the information contained in prismatic reflections and in primary events for the velocity model building (simultaneous determination of velocities and interface geometries), through the joint inversion of events interpreted and picked on a realistic synthetic dataset (BP-AIT 2004). (author)
Entity models for trigger-reaction documents
Khalid, M.A.; Marx, M.; Makkes, M.X.
2008-01-01
We define the notion of an entity model for a special kind of document popular on the web: an article followed by a list of reactions on that article, usually by many authors, usually inverse chronologically ordered. We call these documents trigger-reactions pairs. The entity model describes which
Computation of the kinematics and the minimum peak joint moments of sit-to-stand movements
Directory of Open Access Journals (Sweden)
Nagano Akinori
2007-07-01
Full Text Available Abstract Background A sit-to-stand (STS movement requires muscle strength higher than that of other daily activities. There are many elderly people, who experience difficulty when standing up from a chair. The muscle strength required (or the load on the joints during a STS task is determined by the kinematics (movement pattern. The purpose of this study was to evaluate the kinematics and resultant joint moments of people standing up from a chair in order to determine the minimum peak joint moments required for a STS task. Methods This study consisted of three steps. In the first step, kinematic data of lower extremity joint angles (hip, knee and ankle during STS movements were experimentally collected from human subjects. Eighty-five sets of STS kinematic data were obtained. In the second step, the experimentally collected kinematic data and a link segment model of the human body were used to generate more than 5,000,000 computed STS movements. In the third step, using inverse dynamics method, joint moments of the lower extremity were calculated for all movements obtained through the preceding steps. From the outputs of the third step, the optimal kinematics (movement pattern in terms of minimized peak joint moment for the hip, knee and ankle was determined. Results The peak hip joint moment ranged from 0.24 to 1.92 N.m/kg. The peak knee joint moment ranged from 0.51 to 1.97 N.m/kg, and the peak ankle joint moment ranged from -0.11 to 1.32 N.m/kg. The optimal movement patterns differed depending on which minimized joint moment index was selected (hip, knee or ankle. However, the sum of the peak hip joint moment and peak knee joint moment was always approximately 1.53 N.m/kg regardless of which minimized joint moment index was selected. Conclusion The most important finding of this study was that the relation between the peak joint moments at the hip and knee joints was complementary and the sum of those moments needed to be greater than 1.53 N
Thornton, E.-Lexus; Hanner, A. P.; Hinnefeld, Jerry; Morales, Luis; Souza, R. T.; Couder, Manoel
2017-09-01
The Recoil Mass Separator St George in Notre Dame's Nuclear Science Laboratory (NSL) is being used for the study of low energy (α, γ) reactions using inverse kinematics to better understand the helium burning processes in stars. The St. George detector system uses two MCP detectors and a silicon strip detector to measure time of flight and energy, respectively, of ions reaching the end of the device. To improve the time resolution of the MCP detectors and to add position sensitivity, we modified the circuitry of both MCP detectors and added a segmented anode with readout via two delay lines. Details of the modifications and initial results showing the effects on time resolution and the added position information will be presented. Supported by NSF Grant PHY-0959816.
He, J J; Hass, M; Warr, N; Raabe, R; Neyskens, P; Aliotta, M; Robinson, A P; Murphy, A St J; Davinson, T; Buescler, J; Wenander, F; Woods, P J; Jenkins, D G; Clement, E; Kumar, V; van der Walle, J
2010-01-01
The inelastic component of the key astrophysical resonance (1(-), E-x=6.15 MeV) in the O-14(alpha,p)F-17 reaction has been studied by using the resonant scattering of F-17+p. The experiment was done at REX-ISOLDE CERN with the Miniball setup. The thick target method in inverse kinematics was utilized in the present experiment where a 44.2 MeV F-17 beam bombarded a similar to 40 mu m thick (CH2)(n) target. The inelastic scattering protons in coincidence with the de-excited 495 keV gamma rays have been clearly seen and they are from the inelastic branch to the first excited state in F-17 following decay of the 1(-) resonance in Ne-18. Some preliminary results are reported.
International Nuclear Information System (INIS)
He, J.J.; Woods, P.J.; Davinson, T.; Aliotta, M.; Buescler, J.; Clement, E.; Delahaye, P.; Hass, M.; Jenkins, D.G.; Kumar, V.; Murphy, A.St.J.; Neyskens, P.; Raabe, R.; Robinson, A.P.; Walle, J. van der; Warr, N.; Wenander, F.
2010-01-01
The inelastic component of the key astrophysical resonance (1 - , E x =6.15 MeV) in the 14 O(α,p) 17 F reaction has been studied by using the resonant scattering of 17 F+p. The experiment was done at REX-ISOLDE CERN with the Miniball setup. The thick target method in inverse kinematics was utilized in the present experiment where a 44.2 MeV 17 F beam bombarded a∼40μm thick (CH 2 ) n target. The inelastic scattering protons in coincidence with the de-excited 495 keV γ rays have been clearly seen and they are from the inelastic branch to the first excited state in 17 F following decay of the 1 - resonance in 18 Ne. Some preliminary results are reported.
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.
Inverse PCR for Point Mutation Introduction.
Silva, Diogo; Santos, Gustavo; Barroca, Mário; Collins, Tony
2017-01-01
Inverse PCR is a powerful tool for the rapid introduction of desired mutations at desired positions in a circular double-stranded DNA sequence. Here, custom-designed mutant primers oriented in the inverse direction are used to amplify the entire circular template with incorporation of the required mutation(s). By careful primer design it can be used to perform such diverse modifications as the introduction of point mutations and multiple mutations, the insertion of new sequences, and even sequence deletions. Three primer formats are commonly used; nonoverlapping, partially overlapping and fully overlapping primers, and here we describe the use of nonoverlapping primers for introduction of a point mutation. Use of such a primer setup in the PCR reaction, with one of the primers containing the desired mismatch mutation, results in the amplification of a linear, double-stranded, mutated product. Methylated template DNA is removed from the nonmethylated PCR product by DpnI digestion and the PCR product is then phosphorylated by polynucleotide kinase treatment before being recircularized by ligation, and transformed to E. coli. This relatively simple site-directed mutagenesis procedure is of major importance in biology and biotechnology today where it is commonly employed for the study and engineering of DNA, RNA, and proteins.
He, Kaifei; Xu, Tianhe; Förste, Christoph; Petrovic, Svetozar; Barthelmes, Franz; Jiang, Nan; Flechtner, Frank
2016-04-01
When applying the Global Navigation Satellite System (GNSS) for precise kinematic positioning in airborne and shipborne gravimetry, multiple GNSS receiving equipment is often fixed mounted on the kinematic platform carrying the gravimetry instrumentation. Thus, the distances among these GNSS antennas are known and invariant. This information can be used to improve the accuracy and reliability of the state estimates. For this purpose, the known distances between the antennas are applied as a priori constraints within the state parameters adjustment. These constraints are introduced in such a way that their accuracy is taken into account. To test this approach, GNSS data of a Baltic Sea shipborne gravimetric campaign have been used. The results of our study show that an application of distance constraints improves the accuracy of the GNSS kinematic positioning, for example, by about 4 mm for the radial component.
Male and female gluteal muscle activity and lower extremity kinematics during running.
Willson, John D; Petrowitz, Isaac; Butler, Robert J; Kernozek, Thomas W
2012-12-01
Patellofemoral pain is one of the most common lower extremity overuse injuries in runners and is significantly more common in females. This study evaluated differences in the timing and magnitude of gluteal muscle activity as well as hip and knee joint frontal and transverse plane kinematics between male and female runners in the context of this gender bias. Twenty healthy male and 20 healthy female runners were participants. Three-dimensional lower extremity kinematics, and gluteus medius and gluteus maximus muscle activation were recorded using motion analysis and electromyography as subjects ran at 3.7 m/s (+/-5%). Comparisons of hip and knee joint kinematic and gluteus muscle activation data were made using independent t-tests (α=0.05). Females ran with 40% greater peak gluteus maximus activation level (P=0.028, effect size=0.79) and 53% greater average activation level (P=0.013, effect size=0.93) than males. Female runners also displayed greater hip adduction (P=.001, effect size=1.20) and knee abduction (P=0.011, effect size=0.87) angles at initial contact, greater hip adduction at peak vertical ground reaction force (Pgluteus maximus activation levels during running may predispose females to earlier gluteus maximus fatigue, promoting altered lower extremity running kinematics thought to be associated with the etiology of patellofemoral pain. Gender differences in transverse and frontal plane hip and knee kinematics observed in this study may also contribute to the gender bias for patellofemoral pain among females. Copyright © 2012 Elsevier Ltd. All rights reserved.
Reeve, Helen K; Hopper, Luke S; Elliott, Bruce C; Ackland, Timothy R
2013-08-01
Elite dancers perform highly skilled and consistent movements. These movements require effective regulation of the intrinsic and extrinsic forces acting within and on the body. Customized, compliant floors typically used in dance are assumed to enhance dance performance and reduce injury risk by dampening ground reaction forces during tasks such as landings. As floor compliance can affect the extrinsic forces applied to the body, secondary effects of floor properties may be observed in the movement consistency or kinematic variability exhibited during dance performance. The aim of this study was to investigate the effects of floor mechanical properties on lower extremity kinematic variability in dancers performing landing tasks. A vector coding technique was used to analyze sagittal plane knee and ankle joint kinematic variability, in a cohort of 12 pre-professional dancers, through discrete phases of drop landings from a height of 0.2m. No effect on kinematic variability was observed between floors, indicating that dancers could accommodate the changing extrinsic floor conditions. Future research may consider repeat analysis under more dynamic task constraints with a less experienced cohort. However, knee/ankle joint kinematic variability was observed to increase late in the landing phase which was predominantly comprised of knee flexion coupled with the terminal range of ankle dorsiflexion. These findings may be the result of greater neural input late in the landing phase as opposed to the suggested passive mechanical interaction of the foot and ankle complex at initial contact with a floor. Analysis of joint coordination in discrete movement phases may be of benefit in identifying intrinsic sources of variability in dynamic tasks that involve multiple movement phases. Copyright © 2013 Elsevier B.V. All rights reserved.
Development and characterization of a tunable ultrafast X-ray source via inverse-Compton-scattering
International Nuclear Information System (INIS)
Jochmann, Axel
2014-01-01
Ultrashort, nearly monochromatic hard X-ray pulses enrich the understanding of the dynamics and function of matter, e.g., the motion of atomic structures associated with ultrafast phase transitions, structural dynamics and (bio)chemical reactions. Inverse Compton backscattering of intense laser pulses from relativistic electrons not only allows for the generation of bright X-ray pulses which can be used in a pump-probe experiment, but also for the investigation of the electron beam dynamics at the interaction point. The focus of this PhD work lies on the detailed understanding of the kinematics during the interaction of the relativistic electron bunch and the laser pulse in order to quantify the influence of various experiment parameters on the emitted X-ray radiation. The experiment was conducted at the ELBE center for high power radiation sources using the ELBE superconducting linear accelerator and the DRACO Ti:sapphire laser system. The combination of both these state-of-the-art apparatuses guaranteed the control and stability of the interacting beam parameters throughout the measurement. The emitted X-ray spectra were detected with a pixelated detector of 1024 by 256 elements (each 26μm by 26μm) to achieve an unprecedented spatial and energy resolution for a full characterization of the emitted spectrum to reveal parameter influences and correlations of both interacting beams. In this work the influence of the electron beam energy, electron beam emittance, the laser bandwidth and the energy-anglecorrelation on the spectra of the backscattered X-rays is quantified. A rigorous statistical analysis comparing experimental data to ab-initio 3D simulations enabled, e.g., the extraction of the angular distribution of electrons with 1.5% accuracy and, in total, provides predictive capability for the future high brightness hard X-ray source PHOENIX (Photon electron collider for Narrow bandwidth Intense X-rays) and potential all optical gamma-ray sources. The results
Inverse comptonization vs. thermal synchrotron
International Nuclear Information System (INIS)
Fenimore, E.E.; Klebesadel, R.W.; Laros, J.G.
1983-01-01
There are currently two radiation mechanisms being considered for gamma-ray bursts: thermal synchrotron and inverse comptonization. They are mutually exclusive since thermal synchrotron requires a magnetic field of approx. 10 12 Gauss whereas inverse comptonization cannot produce a monotonic spectrum if the field is larger than 10 11 and is too inefficient relative to thermal synchrotron unless the field is less than 10 9 Gauss. Neither mechanism can explain completely the observed characteristics of gamma-ray bursts. However, we conclude that thermal synchrotron is more consistent with the observations if the sources are approx. 40 kpc away whereas inverse comptonization is more consistent if they are approx. 300 pc away. Unfortunately, the source distance is still not known and, thus, the radiation mechanism is still uncertain
Inverse comorbidity in multiple sclerosis
DEFF Research Database (Denmark)
Thormann, Anja; Koch-Henriksen, Nils; Laursen, Bjarne
2016-01-01
discovery rate and investigated each of eight pre-specified comorbidity categories: psychiatric, cerebrovascular, cardiovascular, lung, and autoimmune comorbidities, diabetes, cancer, and Parkinson's disease. Results A total of 8947 MS-cases and 44,735 controls were eligible for inclusion. We found...... This study showed a decreased risk of cancers and pulmonary diseases after onset of MS. Identification of inverse comorbidity and of its underlying mechanisms may provide important new entry points into the understanding of MS.......Background Inverse comorbidity is disease occurring at lower rates than expected among persons with a given index disease. The objective was to identify inverse comorbidity in MS. Methods We performed a combined case-control and cohort study in a total nationwide cohort of cases with clinical onset...
Inverse photoemission of uranium oxides
International Nuclear Information System (INIS)
Roussel, P.; Morrall, P.; Tull, S.J.
2009-01-01
Understanding the itinerant-localised bonding role of the 5f electrons in the light actinides will afford an insight into their unusual physical and chemical properties. In recent years, the combination of core and valance band electron spectroscopies with theoretic modelling have already made significant progress in this area. However, information of the unoccupied density of states is still scarce. When compared to the forward photoemission techniques, measurements of the unoccupied states suffer from significantly less sensitivity and lower resolution. In this paper, we report on our experimental apparatus, which is designed to measure the inverse photoemission spectra of the light actinides. Inverse photoemission spectra of UO 2 and UO 2.2 along with the corresponding core and valance electron spectra are presented in this paper. UO 2 has been reported previously, although through its inclusion here it allows us to compare and contrast results from our experimental apparatus to the previous Bremsstrahlung Isochromat Spectroscopy and Inverse Photoemission Spectroscopy investigations
Inverse source problems in elastodynamics
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.
Optimization for nonlinear inverse problem
International Nuclear Information System (INIS)
Boyadzhiev, G.; Brandmayr, E.; Pinat, T.; Panza, G.F.
2007-06-01
The nonlinear inversion of geophysical data in general does not yield a unique solution, but a single model, representing the investigated field, is preferred for an easy geological interpretation of the observations. The analyzed region is constituted by a number of sub-regions where the multi-valued nonlinear inversion is applied, which leads to a multi-valued solution. Therefore, combining the values of the solution in each sub-region, many acceptable models are obtained for the entire region and this complicates the geological interpretation of geophysical investigations. In this paper are presented new methodologies, capable to select one model, among all acceptable ones, that satisfies different criteria of smoothness in the explored space of solutions. In this work we focus on the non-linear inversion of surface waves dispersion curves, which gives structural models of shear-wave velocity versus depth, but the basic concepts have a general validity. (author)
Energy Technology Data Exchange (ETDEWEB)
Sereville, N. de
2003-12-15
The gamma emission from novae at/or below 511 keV is due to the annihilation of the positrons produced in the beta + decay of F{sup 18}. The interpretation of this emission through observations made by the Integral satellite for instance, requires a good knowledge of F{sup 18} nucleosynthesis. The reaction rate of the F{sup 18}(p,{alpha})O{sup 15} is the least known because of 2 resonances corresponding to the levels 6.419 and 6.449 MeV of Ne{sup 19} whose proton widths are completely unknown. We have determined these proton widths via the study of one-nucleon transfer reaction D(F{sup 18},p{alpha})N{sup 15} populating equivalent levels in F{sup 19}. We have used a 14 MeV F{sup 18} radioactive beam on a CD{sub 2} target for inverse kinematics studies and the multi-track silicon detector LEDA. A DWBA (Distorted Wave Bound Approximation) has enabled us to determine the proton width of both resonances and has showed that they have an impact in the calculation of the reaction rate. A thorough study of the remaining uncertainties of the reaction rate has been undertaken, particularly for those concerning interferences between these resonances and a higher resonance of Ne{sup 19}. The reaction rate that we have obtained is very similar to the previous rate used but now it rests on a more solid basis.
The 152Sm(p,n) reaction and its astrophysical importance
International Nuclear Information System (INIS)
Pohl, Moritz
2014-01-01
Within the nucleosynthetic processes of the slow neutron-capture reaction network (called the s process) the so called branching points, unstable isotopes where different nuclear reactions are competing, are important to understand. For modeling and calculating the nucleosynthesis and compare the resulting abundances to the observed ones, it is indispensable to know the branching ratios as well as the corresponding cross sections. A great challenge in measuring those rates in experiments may be the radioactivity of the isotopes involved, which can make it nearly impossible to manufacture the needed targets. In addition, in stellar environments the excited states of isotopes can be in equilibrium with the ground state, affecting the half-lives and the branching ratios significantly. The isotope 152 Eu is such a branching point, with neutron captures and β-decays competing. Those challenges were approached in the s405 experiment performed at the GSI Helmholtzzentrum fuer Schwerionenforschung GmbH: the challenge the challenge of the radioactivity can be approached by experiments carried out in inverse kinematics with radioactive beams, solving the problem of unstable targets. Also a reversed reaction was used to access the excited states of the studied isotope. The performed 152 Sm(p,n) 152 Eu is a pioneering attempt to use those methods on heavy ions. The (p,n) reaction was used as a substitute for electron capture, the focus lies on reactions with low-momentum transfers, resulting in the emission of low-energy neutrons. The new developed low-energy detector array LENA was put to test for the fist time in the s405 experiment.
Activation cross-section data for -particle-induced nuclear reactions ...
Indian Academy of Sciences (India)
B M ALI
2018-02-20
Feb 20, 2018 ... Activation cross-section data for α-particle-induced nuclear reactions on natural ... (2018) 90:41. Table 1. Contributing reactions kinematics (taken from [35]). Product. Contributing reactions. Q-Value (MeV). Threshold energy Eth (MeV). 54Mn. 51V(α,n) ... peak) coupled to acquisition/analysis software. Their.
Inverse methods in hydrologic optics
Directory of Open Access Journals (Sweden)
Howard R. Gordon
2002-03-01
Full Text Available Methods for solving the hydrologic-optics inverse problem, i.e., estimating the inherent optical properties of a water body based solely on measurements of the apparent optical properties, are reviewed in detail. A new method is developed for the inverse problem in water bodies in which fluorescence is important. It is shown that in principle, given profiles of the spectra of up- and downwelling irradiance, estimation of the coefficient of inelastic scattering from any wave band to any other wave band can be effected.
Inverse Interval Matrix: A Survey
Czech Academy of Sciences Publication Activity Database
Rohn, Jiří; Farhadsefat, R.
2011-01-01
Roč. 22, - (2011), s. 704-719 E-ISSN 1081-3810 R&D Projects: GA ČR GA201/09/1957; GA ČR GC201/08/J020 Institutional research plan: CEZ:AV0Z10300504 Keywords : interval matrix * inverse interval matrix * NP-hardness * enclosure * unit midpoint * inverse sign stability * nonnegative invertibility * absolute value equation * algorithm Subject RIV: BA - General Mathematics Impact factor: 0.808, year: 2010 http://www.math.technion.ac.il/iic/ela/ela-articles/articles/vol22_pp704-719.pdf
Size Estimates in Inverse Problems
Di Cristo, Michele
2014-01-06
Detection of inclusions or obstacles inside a body by boundary measurements is an inverse problems very useful in practical applications. When only finite numbers of measurements are available, we try to detect some information on the embedded object such as its size. In this talk we review some recent results on several inverse problems. The idea is to provide constructive upper and lower estimates of the area/volume of the unknown defect in terms of a quantity related to the work that can be expressed with the available boundary data.
-Dimensional Fractional Lagrange's Inversion Theorem
Directory of Open Access Journals (Sweden)
F. A. Abd El-Salam
2013-01-01
Full Text Available Using Riemann-Liouville fractional differential operator, a fractional extension of the Lagrange inversion theorem and related formulas are developed. The required basic definitions, lemmas, and theorems in the fractional calculus are presented. A fractional form of Lagrange's expansion for one implicitly defined independent variable is obtained. Then, a fractional version of Lagrange's expansion in more than one unknown function is generalized. For extending the treatment in higher dimensions, some relevant vectors and tensors definitions and notations are presented. A fractional Taylor expansion of a function of -dimensional polyadics is derived. A fractional -dimensional Lagrange inversion theorem is proved.
Cocuzza, Silvio; Pretto, Isacco; Debei, Stefano
2011-06-01
This paper presents two novel redundancy resolution schemes aimed at locally minimizing the reaction torque transferred to the spacecraft during manipulator manoeuvres. The subject is of particular interest in space robotics because reduced reactions result in reduced energy consumption and longer operating life of the attitude control system. The first presented solution is based on a weighted Jacobian pseudoinverse and is derived by using Lagrangian multipliers. The weight matrix is defined by means of the inertia matrix which appears in the spacecraft reaction torque dynamics. The second one is based on a least squares formulation of the minimization problem. In this formulation the linearity of the forward kinematics and of the reaction torque dynamics equations with respect to the joint accelerations is used. A closed-form solution is derived for both the presented methods, and their equivalence is proven analytically. Moreover, the proposed solutions, which are suitable for real-time implementation, are extended in order to take into account the physical limits of the manipulator joints directly inside the solution algorithms. A software simulator has been developed in order to simulate the performance of the presented solutions for the selected test cases. The proposed solutions have then been experimentally tested using a 3D free-flying robot previously tested in an ESA parabolic flight campaign. In the test campaign the 3D robot has been converted in a 2D robot thanks to its modularity in order to perform planar tests, in which the microgravity environment can be simulated without time constraints. Air-bearings are used to sustain the links weight, and a dynamometer is used to measure the reaction torque. The experimental validation of the presented inverse kinematics solutions, with an insight on the effect of joint flexibility on their performance, has been carried out, and the experimental results confirmed the good performance of the proposed methods
A detector system for studying nuclear reactions relevant to Single Event Effects
Energy Technology Data Exchange (ETDEWEB)
Murin, Yu. [V.G. Khlopin Radium Institute, 2nd Murinski 28, 194021 St. Petersburg (Russian Federation)]. E-mail: murin@jinr.ru; Babain, Yu. [V.G. Khlopin Radium Institute, 2nd Murinski 28, 194021 St. Petersburg (Russian Federation); Chubarov, M. [V.G. Khlopin Radium Institute, 2nd Murinski 28, 194021 St. Petersburg (Russian Federation); Tuboltsev, Yu. [V.G. Khlopin Radium Institute, 2nd Murinski 28, 194021 St. Petersburg (Russian Federation); Pljuschev, V. [V.G. Khlopin Radium Institute, 2nd Murinski 28, 194021 St. Petersburg (Russian Federation); Zubkov, M. [V.G. Khlopin Radium Institute, 2nd Murinski 28, 194021 St. Petersburg (Russian Federation); Nomokonov, P. [High Energy Laboratory, Joint Institute for Nuclear Research, 141980 Moscow Region (Russian Federation); Voronin, A. [Moscow State University, 119992 Moscow (Russian Federation); Merkin, M. [Moscow State University, 119992 Moscow (Russian Federation); Kondratiev, V. [St. Petersburg State University, 198504 St. Petersburg (Russian Federation); Olsson, N.; Blomgren, J. [Department of Neutron Research, Uppsala University, Box 525, SE 751 20 Uppsala (Sweden); Westerberg, L. [Department of Physics, Uppsala University, Box 530, SE 751 21 Uppsala (Sweden); Ekstroem, C.; Kolozhvari, A. [The Svedberg Laboratory, Uppsala University, Box 533, SE 751 21 Uppsala (Sweden); Jaederstroem, H. [Department of Nuclear and Particle Physics, Uppsala University, Box 531, SE 751 21 Uppsala (Sweden); Jakobsson, B.; Golubev, P. [Department of Physics, Lund University, Box 118, SE 221 00 Lund (Sweden); Bargholz, Chr.; Geren, L.; Tegner, P.-E.; Zartova, I. [Department of Physics, Stockholm University, AlbaNova, SE 10691 Stockholm (Sweden); Budzanowski, A.; Czech, B.; Skwirczynska, I. [H. Niewodniczanski Institute of Nuclear Physics, PL 31 342 Cracow (Poland); Tang, H.H.K. [IBM, T.J. Watson Research Center, Yorktown Heights, NY 10598 (United States)
2007-08-01
We describe a device to study reactions relevant for the Single Event Effect (SEE) in microelectronics by means of 200A and 300AMeV, inverse kinematics, Si+H and Si+D reactions. The work is focused on the possibility to measure Z=2-14 projectile fragments as efficiently as possible. During commissioning and first experiments the fourth quadrant of the CELSIUS storage ring acted as a spectrometer to register fragments in two planes of Si strip detectors in the angular region 0{sup a}t -0.6{sup a}t. A combination of ring-structured and sector-structured Si strip detector planes operated at angles 0.6{sup a}t-1.1{sup a}t. For specific event tagging a Si+ phoswich scintillator wall operated in the range 3.9{sup a}t-11.7{sup a}t and Si {delta}E-E telescopes of CHICSi type operated at large angles.
International Nuclear Information System (INIS)
Urrego-Blanco, J.P.; Bingham, C.R.; Brandt, B. van den; Galindo-Uribarri, A.; Gomez del Campo, J.; Hautle, P.; Konter, J.A.; Padilla-Rodal, E.; Schmelzbach, P.A.
2007-01-01
Polarization observables in nuclear reactions with stable beams have provided important information concerning structural properties of nuclei and reaction mechanisms and hold great promise in the context of exotic nuclei. We report on the development of a polarized target based on plastic foils of 20-200 μm thickness to be used with radioactive ion beams. The operation of such a target requires a moderately high magnetic field and very low temperatures. The plastic foil is placed inside a chamber attached to the mixing chamber of a 3 He- 4 He dilution refrigerator. Cooling of the foil is achieved via a superfluid film of 4 He that can be supplied through two capillaries. The chamber has two thin, highly uniform silicon nitride windows. An NMR coil is attached to the target to monitor the polarization. Results of a first test to characterize the target system, using the elastic scattering of 38 MeV 12 C by protons in inverse kinematics are presented
Quasi-free one nucleon knockout reactions on neutron-rich oxygen isotopes
Energy Technology Data Exchange (ETDEWEB)
Atar, Leyla; Aumann, Thomas [TU Darmstadt, Darmstadt (Germany); GSI, Darmstadt (Germany); Bertulani, Carlos [Texas A and M University-Commerce, Commerse (United States); Paschalis, Stefanos [TU Darmstadt, Darmstadt (Germany); Nociforo, Chiara [GSI, Darmstadt (Germany); Collaboration: R3B-Collaboration
2015-07-01
Recent experiments have shown a reduction of spectroscopic strengths to about 60-70% for stable nuclei. When going to drip lines this tendency is changing, loosely bound nucleons have spectroscopic strengths close unity while deeply bound nucleons have a large reduction of the strength. We aim to make a systematic study of spectroscopic factors (SF) of the Oxygen isotopes using quasi-free (p,2p) and (p,pn) knockout reactions in inverse kinematics. Quasi-free knockout reactions are a direct tool to study the occupancy and the location of valance and deeply bound single particle states. The Oxygen isotopes offer a large variation of separation energies which will allow us to obtain a qualitative and quantitative understanding of SF in a large variation of isospin asymmetry. For this we performed an experiment at the R3B-LAND setup at the GSI with secondary beams containing {sup 14-24}O. The {sup 16-18}O and {sup 21-23}O isotopes have been analyzed and the preliminary results will be presented. The results include the partial cross sections, gamma ray spectra of the residual fragments in coincidence, and the SF obtained via comparison with theory.
Kinematics and Workspace of a 4-DOF Hybrid Palletizing Robot
Directory of Open Access Journals (Sweden)
Yong Tao
2014-06-01
Full Text Available We presented the kinematical analysis of a 4-DOF hybrid palletizing robot. The palletizing robot structure was proposed and the arm model of the robot was presented. The kinematical analysis of the end robotic manipulator was given. As a result, the position, velocity, and acceleration curves as well as the maximum workspace were demonstrated by simulation in Matlab. This study would be useful for the kinematical characteristics of the 4-DOF palletizing robot in space.
FORWARD KINEMATICS ANALYSIS OF 6-DOF ARC WELDING ROBOT
DR. ANURAG VERMA; MEHUL GOR
2010-01-01
The forward kinematics problem is concerned with the relationship between the individual joints of the robot manipulator and the position and orientation of the tool or end-effector. Stated more formally, the forward kinematics problem is to determine the position and orientation of the end-effector, given the values for the jointvariables of the robot. Present work is an attempt to develop kinematic model of a 6 DOF robot which is used for arc welding operation. Developed model will determin...
Optimal kinematics and morphologies for spermatozoa
Tam, Daniel; Hosoi, A. E.
2011-04-01
We investigate the role of hydrodynamics in the evolution of the morphology and the selection of kinematics in simple uniflagellated microorganisms. We find that the most efficient swimming strategies are characterized by symmetrical, nonsinusoidal bending waves propagating from the base of the head to the tip of the tail. In addition, we show that the ideal tail-to-head length ratio for such a swimmer is ≈12 and that this predicted ratio is consistent with data collected from over 400 species of mammalian sperm.
Galaxy structure and kinematics towards the NGP
Spagna, A.; Cacciari, C.; Drimmel, R.; Kinman, T.; Lattanzi, M. G.; Smart, R. L.
2002-01-01
We present a proper motion survey over about 200 square degrees towards the NGP, based on the material used for the construction of the GSC-II, that we are using to study the vertical structure and kinematics of the Galaxy. In particular, we measured the rotation velocity of the halo up to 10 kpc above the galactic plane traced by a sample of RR Lyr{\\ae} and BHB giants for which radial velocities were used to recover the complete distribution of the spatial velocities. Finally, the impact of ...
JFKengine: A Jacobian and Forward Kinematics Generator
Energy Technology Data Exchange (ETDEWEB)
Fischer, K.N.
2003-02-13
During robot path planning and control the equations that describe the robot motions are determined and solved. Historically these expressions were derived analytically off-line. For robots that must adapt to their environment or perform a wide range of tasks, a way is needed to rapidly re-derive these expressions to take into account the robot kinematic changes, such as when a tool is added to the end-effector. The JFKengine software was developed to automatically produce the expressions representing the manipulator arm motion, including the manipulator arm Jacobian and the forward kinematic expressions. Its programming interface can be used in conjunction with robot simulation software or with robot control software. Thus, it helps to automate the process of configuration changes for serial robot manipulators. If the manipulator undergoes a geometric change, such as tool acquisition, then JFKengine can be invoked again from the control or simulation software, passing it parameters for the new arm configuration. This report describes the automated processes that are implemented by JFKengine to derive the kinematic equations and the programming interface by which it is invoked. Then it discusses the tree data structure that was chosen to store the expressions, followed by several examples of portions of expressions as represented in the tree. The C++ classes and their methods that implement the expression differentiation and evaluation operations are described. The algorithms used to construct the Jacobian and forward kinematic equations using these basic building blocks are then illustrated. The activity described in this report is part of a larger project entitled ''Multi-Optimization Criteria-Based Robot Behavioral Adaptability and Motion Planning'' that focuses on the development of a methodology for the generalized resolution of robot motion equations with time-varying configurations, constraints, and task objective criteria. A specific
Theory of gearing kinematics, geometry, and synthesis
Radzevich, Stephen P
2012-01-01
The first book of its kind, Theory of Gearing: Kinematics, Geometry, and Synthesis systematically develops a scientific theory of gearing that makes it possible to synthesize novel gears with the desired performance. Written by a leading gearing expert who holds more than 200 patents, it presents a modern methodology for gear design. The proposed theory is based on a key postulate: all the design parameters for an optimal gear pair for a particular application can be derived from (a) a given configuration of the rotation vectors of the driving and driven shafts and (b) the power transmitted by
Null-strut calculus. I. Kinematics
International Nuclear Information System (INIS)
Kheyfets, A.; LaFave, N.J.; Miller, W.A.
1990-01-01
This paper describes the kinematics of null-strut calculus---a 3+1 Regge calculus approach to general relativity. We show how to model the geometry of spacetime with simplicial spacelike three-geometries (TET's) linked to ''earlier'' and ''later'' momentumlike lattice surfaces (TET * ) entirely by light rays or ''null struts.'' These three-layered lattice spacetime geometries are defined and analyzed using combinatorial formulas for the structure of polytopes. The following paper in this series describes how these three-layered spacetime lattices are used to model spacetimes in full conformity with Einstein's theory of gravity
Automobile Collisions, Kinematics and Related Injury Patterns
Siegel, A. W.
1972-01-01
It has been determined clinically that fatalities and injury severity resulting from automobile collisions have decreased during the last five years for low impact speeds. This reduction is a direct result of the application of biomechanics and occupant kinematics, as well as changes in automobile design. The paper defines terminology used in the field of mechanics and develops examples and illustrations of the physical concepts of acceleration, force strength, magnitude duration, rate of onset and others, as they apply to collision phenomena and injury. The mechanism of injury pattern reduction through the use of restraint systems is illustrated. PMID:5059661
Meng, Qizhi; Xie, Fugui; Liu, Xin-Jun
2017-11-01
This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot's DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.
Basic principles of forward and inverse geochemical modelization
International Nuclear Information System (INIS)
Gimeno, M.J.; Pena, J.
1994-01-01
Geochemical modeling consists in the application of thermodynamic and physicochemical principles in the hydrogeochemical systems interpretation. It has been developed following two different approaches: a) inverse modeling (or mass balance calculations), which uses observed chemical and isotopic data from waters and rocks to identify geochemical reactions responsible of them, in a quantitative way; and b) forward modeling, which attempts to predict water compositions and mass transfer that can result from hypothesized reactions, from observed initial conditions on water-rock system compositions. Both of them have intrinsic uses and limitations which drive to their use in specific problems. For systems with adequate chemical, isotopic, and mineralogic data, the inverse modeling approach of speciation and mass-balance modeling provides the most direct means of determining quantitative geochemical reaction models. In contrast, for systems with missing or inadequate data, reaction-path modeling provides an a priori method of predicting geochemical reactions. In some cases it is useful to combine forward modeling with the results from inverse models. The mass-balance results determine the net mass transfer along the flow path, but these results are only partially constrained by thermodynamics. The forward modeling can be used both, to prove thermodynamic consistency for them, and to predict water quality at points where there are no enough data. Recent advances in geochemical modeling are focused on finding the most efficient numerical procedures for coupling geochemical reactions (both equilibrium and kinetic) with the hydrodynamic transport equations in compositionally-complex systems, on uncertainty analysis, and on model validation for actual geochemical systems
Superconductivity in Pb inverse opal
International Nuclear Information System (INIS)
Aliev, Ali E.; Lee, Sergey B.; Zakhidov, Anvar A.; Baughman, Ray H.
2007-01-01
Type-II superconducting behavior was observed in highly periodic three-dimensional lead inverse opal prepared by infiltration of melted Pb in blue (D = 160 nm), green (D = 220 nm) and red (D = 300 nm) opals and followed by the extraction of the SiO 2 spheres by chemical etching. The onset of a broad phase transition (ΔT = 0.3 K) was shifted from T c = 7.196 K for bulk Pb to T c = 7.325 K. The upper critical field H c2 (3150 Oe) measured from high-field hysteresis loops exceeds the critical field for bulk lead (803 Oe) fourfold. Two well resolved peaks observed in the hysteresis loops were ascribed to flux penetration into the cylindrical void space that can be found in inverse opal structure and into the periodic structure of Pb nanoparticles. The red inverse opal shows pronounced oscillations of magnetic moment in the mixed state at low temperatures, T 0.9T c has been observed for all of the samples studied. The magnetic field periodicity of resistivity modulation is in good agreement with the lattice parameter of the inverse opal structure. We attribute the failure to observe pronounced modulation in magneto-resistive measurement to difficulties in the precision orientation of the sample along the magnetic field
Statistical and Computational Inverse Problems
Kaipio, Jari
2005-01-01
Develops the statistical approach to inverse problems with an emphasis on modeling and computations. The book discusses the measurement noise modeling and Bayesian estimation, and uses Markov Chain Monte Carlo methods to explore the probability distributions. It is for researchers and advanced students in applied mathematics.
Coin Tossing and Laplace Inversion
Indian Academy of Sciences (India)
An analysis of exchangeable sequences of coin tossings leads to inversion formulae for Laplace transforms of probability measures. Author Affiliations. J C Gupta1 2. Indian Statistical Institute, New Delhi 110 016, India; 32, Mirdha Tola, Budaun 243 601, India. Dates. Manuscript received: 5 May 1999; Manuscript revised: 3 ...
Givental Graphs and Inversion Symmetry
Dunin-Barkovskiy, P.; Shadrin, S.; Spitz, L.
2013-01-01
Inversion symmetry is a very non-trivial discrete symmetry of Frobenius manifolds. It was obtained by Dubrovin from one of the elementary Schlesinger transformations of a special ODE associated to a Frobenius manifold. In this paper, we review the Givental group action on Frobenius manifolds in
Wave-equation dispersion inversion
Li, Jing
2016-12-08
We present the theory for wave-equation inversion of dispersion curves, where the misfit function is the sum of the squared differences between the wavenumbers along the predicted and observed dispersion curves. The dispersion curves are obtained from Rayleigh waves recorded by vertical-component geophones. Similar to wave-equation traveltime tomography, the complicated surface wave arrivals in traces are skeletonized as simpler data, namely the picked dispersion curves in the phase-velocity and frequency domains. Solutions to the elastic wave equation and an iterative optimization method are then used to invert these curves for 2-D or 3-D S-wave velocity models. This procedure, denoted as wave-equation dispersion inversion (WD), does not require the assumption of a layered model and is significantly less prone to the cycle-skipping problems of full waveform inversion. The synthetic and field data examples demonstrate that WD can approximately reconstruct the S-wave velocity distributions in laterally heterogeneous media if the dispersion curves can be identified and picked. The WD method is easily extended to anisotropic data and the inversion of dispersion curves associated with Love waves.
Adjoint modeling for acoustic inversion
Hursky, Paul; Porter, Michael B.; Cornuelle, B. D.; Hodgkiss, W. S.; Kuperman, W. A.
2004-02-01
The use of adjoint modeling for acoustic inversion is investigated. An adjoint model is derived from a linearized forward propagation model to propagate data-model misfit at the observation points back through the medium to the medium perturbations not being accounted for in the model. This adjoint model can be used to aid in inverting for these unaccounted medium perturbations. Adjoint methods are being applied to a variety of inversion problems, but have not drawn much attention from the underwater acoustic community. This paper presents an application of adjoint methods to acoustic inversion. Inversions are demonstrated in simulation for both range-independent and range-dependent sound speed profiles using the adjoint of a parabolic equation model. Sensitivity and error analyses are discussed showing how the adjoint model enables calculations to be performed in the space of observations, rather than the often much larger space of model parameters. Using an adjoint model enables directions of steepest descent in the model parameters (what we invert for) to be calculated using far fewer modeling runs than if a forward model only were used.
International Nuclear Information System (INIS)
Lane, A.M.
1980-01-01
In reviewing work at Harwell over the past 25 years on nuclear reactions it is stated that a balance has to be struck in both experiment and theory between work on cross-sections of direct practical relevance to reactors and on those relevant to an overall understanding of reaction processes. The compound nucleus and direct process reactions are described. Having listed the contributions from AERE, Harwell to developments in nuclear reaction research in the period, work on the optical model, neutron capture theory, reactions at doorway states with fine structure, and sum-rules for spectroscopic factors are considered in more detail. (UK)
On the NN final-state interaction in the sup 1 sup 6 O(e,e sup ' pp) reaction
Schwamb, M; Giusti, C; Pacati, F D
2003-01-01
The influence of the mutual interaction between the two outgoing nucleons (NN-FSI) in the sup 1 sup 6 O(e,e'pp) reaction has been investigated. Results for various kinematics are discussed. In general, the effect of NN-FSI depends on kinematics and the chosen final state in the excitation spectrum of sup 1 sup 4 C. (orig.)
Rigid-body kinematics versus flapping kinematics of a flapping wing micro air vehicle
Caetano, J.V.; Weehuizen, M.B.; De Visser, C.C.; De Croon, G.C.H.E.; Mulder, M.
2015-01-01
Several formulations have been proposed to model the dynamics of ornithopters, with inconclusive results regarding the need for complex kinematic formulations. Furthermore, the impact of assumptions made in the collected results was never assessed by comparing simulations with real flight data. In
Geometric deviation modeling by kinematic matrix based on Lagrangian coordinate
Liu, Weidong; Hu, Yueming; Liu, Yu; Dai, Wanyi
2015-09-01
Typical representation of dimension and geometric accuracy is limited to the self-representation of dimension and geometric deviation based on geometry variation thinking, yet the interactivity affection of geometric variation and gesture variation of multi-rigid body is not included. In this paper, a kinematic matrix model based on Lagrangian coordinate is introduced, with the purpose of unified model for geometric variation and gesture variation and their interactive and integrated analysis. Kinematic model with joint, local base and movable base is built. The ideal feature of functional geometry is treated as the base body; the fitting feature of functional geometry is treated as the adjacent movable body; the local base of the kinematic model is fixed onto the ideal geometry, and the movable base of the kinematic model is fixed onto the fitting geometry. Furthermore, the geometric deviation is treated as relative location or rotation variation between the movable base and the local base, and it's expressed by the Lagrangian coordinate. Moreover, kinematic matrix based on Lagrangian coordinate for different types of geometry tolerance zones is constructed, and total freedom for each kinematic model is discussed. Finally, the Lagrangian coordinate library, kinematic matrix library for geometric deviation modeling is illustrated, and an example of block and piston fits is introduced. Dimension and geometric tolerances of the shaft and hole fitting feature are constructed by kinematic matrix and Lagrangian coordinate, and the results indicate that the proposed kinematic matrix is capable and robust in dimension and geometric tolerances modeling.
Kinematic and Attribute Fusion Using a Bayesian Belief Network Framework
National Research Council Canada - National Science Library
Krieg, Mark L
2006-01-01
.... However, attribute information has the potential to not only provide identity and class information, but it may also improve data association and kinematic tracking performance, Bayesian Belief...
Present Kinematic Regime and Recent Seismicity of Gulf Suez, Egypt
Mohamed, G.-E. A.; Abd El-Aal, A. K.
2018-01-01
In this study we computed recent seismicity and present kinematic regime in the northern and middle zones of Gulf of Suez as inferred from moment tensor settlings and focal mechanism of local earthquakes that happened in this region. On 18 and 22 of July, 2014 two moderate size earthquakes of local magnitudes 4.2 and 4.1 struck the northern zone of Gulf of Suez near Suez City. These events are instrumentally recorded by Egyptian National Seismic Network (ENSN). The earthquakes have been felt at Suez City and greater Cairo metropolitan zone while no losses were reported. The source mechanism and source parameters of the calculated events were considered by the near-source waveform data listed at very broadband stations of ENSN and supported by the P-wave polarity data of short period stations. The new settling method and software used deem the action of the source time function, which has been ignored in most of the program series of the moment tensor settling analysis with near source seismograms. The obtained results from settling technique indicate that the estimated seismic moments of both earthquakes are 0.6621E + 15 and 0.4447E + 15 Nm conforming to a moment magnitude Mw 3.8 and 3.7 respectively. The fault plan settlings obtained from both settling technique and polarity of first-arrival indicate the dominance of normal faulting. We also evaluated the stress field in north and middle zones of Gulf of Suez using a multiple inverse method. The prime strain axis shows that the deformation is taken up mainly as stretching in the E-W and NE-SW direction.
Workflows for Full Waveform Inversions
Boehm, Christian; Krischer, Lion; Afanasiev, Michael; van Driel, Martin; May, Dave A.; Rietmann, Max; Fichtner, Andreas
2017-04-01
Despite many theoretical advances and the increasing availability of high-performance computing clusters, full seismic waveform inversions still face considerable challenges regarding data and workflow management. While the community has access to solvers which can harness modern heterogeneous computing architectures, the computational bottleneck has fallen to these often manpower-bounded issues that need to be overcome to facilitate further progress. Modern inversions involve huge amounts of data and require a tight integration between numerical PDE solvers, data acquisition and processing systems, nonlinear optimization libraries, and job orchestration frameworks. To this end we created a set of libraries and applications revolving around Salvus (http://salvus.io), a novel software package designed to solve large-scale full waveform inverse problems. This presentation focuses on solving passive source seismic full waveform inversions from local to global scales with Salvus. We discuss (i) design choices for the aforementioned components required for full waveform modeling and inversion, (ii) their implementation in the Salvus framework, and (iii) how it is all tied together by a usable workflow system. We combine state-of-the-art algorithms ranging from high-order finite-element solutions of the wave equation to quasi-Newton optimization algorithms using trust-region methods that can handle inexact derivatives. All is steered by an automated interactive graph-based workflow framework capable of orchestrating all necessary pieces. This naturally facilitates the creation of new Earth models and hopefully sparks new scientific insights. Additionally, and even more importantly, it enhances reproducibility and reliability of the final results.
Energy Technology Data Exchange (ETDEWEB)
McCleskey, M; Mukhamedzhanov, A M; Trache, L; Tribble, R E; Banu, A; Eremenko, V; Goldberg, V Z; Lui, Y W; McCleskey, E; Roeder, B T; Spiridon, A; Carstoiu, F; Burjan, V; Hons, Z; Thompson, I J
2014-04-17
The ^{14}C + n <--> ^{15}C system has been used as a test case in the evaluation of a new method to determine spectroscopic factors that uses the asymptotic normalization coefficient (ANC). The method proved to be unsuccessful for this case. As part of this experimental program, the ANCs for the ^{15}C ground state and first excited state were determined using a heavy-ion neutron transfer reaction as well as the inverse kinematics (d,p) reaction, measured at the Texas A&M Cyclotron Institute. The ANCs were used to evaluate the astrophysical direct neutron capture rate on ^{14}C, which was then compared with the most recent direct measurement and found to be in good agreement. A study of the ^{15}C SF via its mirror nucleus ^{15}F and a new insight into deuteron stripping theory are also presented.
Monofrequency waveform acquisition and inversion: A new paradigm
Alkhalifah, Tariq Ali
2014-08-05
In seismic inversion, we tend to use the geometrical behavior of the wavefield (the kinematics), extracted from the data, to constrain the long wavelength model components and use the recorded reections to invert for the short wavelength features in a process referred to as full waveform inversion (FWI). For such a recipe, single frequency (the right frequency) data are capable of providing the ingredients for both model components. A frequency that provides model wavelengths (through the transmission components) low enough to update the background and high enough (reections) to map the scattering may render the other frequencies almost obsolete, especially large offset data are available to provide the transition from background to scattering components. Thus, I outline a scenario in which we acquire dedicated mono frequency data, allowing for more time to inject more of that single frequency energy at a reduced cost. The cost savings can be utilized to acquire larger offsets, which is an important for constraining the background model. Combing this single frequency data with a hierarchical scattering angle filter strategy in FWI, and potentially reection FWI, provides an opportunity to invert for complex models starting even with poor initial velocity models. The objective of this new paradigm is a high resolution model of the Earth to replace our focus on the image, which requires a band of frequencies.
Frequency-wavenumber domain phase inversion along reflection wavepaths
Yu, Han
2014-12-01
A background velocity model containing the correct low-wavenumber information is desired for both the quality of the migration image and the success of waveform inversion. To achieve this goal, the velocity is updated along the reflection wavepaths, rather than along both the reflection ellipses and transmission wavepaths as in conventional FWI. This method allows for reconstructing the low-wavenumber part of the background velocity model, even in the absence of long offsets and low-frequency component of the data. Moreover, in gradient-based iterative updates, instead of forming the data error conventionally, we propose to exploit the phase mismatch between the observed and the calculated data. The phase mismatch emphasizes a kinematic error and varies quasi-linearly with respect to the velocity error. The phase mismatch is computed (1) in the frequency-wavenumber (f-k) domain replacing the magnitudes of the calculated common shot gather by those of the observed one, and (2) in the temporal-spatial domain to form the difference between the transformed calculated common-shot gather and the observed one. The background velocity model inverted according to the proposed methods can serve as an improved initial velocity model for conventional waveform inversion. Tests with synthetic and field data show both the benefits and limitations of this method.
Czech Academy of Sciences Publication Activity Database
Růžek, Bohuslav; Hrubcová, Pavla; Novotný, Miroslav; Špičák, Aleš; Karousová, Olga
2007-01-01
Roč. 51, č. 1 (2007), s. 141-164 ISSN 0039-3169 R&D Projects: GA MŽP SB/630/3/02; GA ČR GA205/03/0999 Institutional research plan: CEZ:AV0Z30120515 Keywords : seismic tomography * kinematic velocity inversion * Bohemian Massif Subject RIV: DC - Siesmology, Volcanology, Earth Structure Impact factor: 0.733, year: 2007
The Pleiades apex and its kinematical structure
Elsanhoury, W. H.; Postnikova, E. S.; Chupina, N. V.; Vereshchagin, S. V.; Sariya, Devesh P.; Yadav, R. K. S.; Jiang, Ing-Guey
2018-03-01
A study of cluster characteristics and internal kinematical structure of the middle-aged Pleiades open star cluster is presented. The individual star apexes and various cluster kinematical parameters including the velocity ellipsoid parameters are determined using both Hipparcos and Gaia data. Modern astrometric parameters were taken from the Gaia Data Release 1 (DR1) in combination with the Radial Velocity Experiment Fifth Data Release (DR5). The necessary set of parameters including parallaxes, proper motions and radial velocities are used for n=17 stars from Gaia DR1+RAVE DR5 and for n=19 stars from the Hipparcos catalog using SIMBAD data base. Single stars are used to improve accuracy by eliminating orbital movements. RAVE DR5 measurements were taken only for the stars with the radial velocity errors not exceeding 2 km/s. For the Pleiades stars taken from Gaia, we found mean heliocentric distance as 136.8 ± 6.4 pc, and the apex position is calculated as: A_{CP}=92°.52± 1°.72, D_{CP}=-42°.28± 2°.56 by the convergent point method and A0=95°.59± 2°.30 and D0=-50°.90± 2°.04 using AD-diagram method (n=17 in both cases). The results are compared with those obtained historically before the Gaia mission era.
A KINEMATIC STUDY OF FINSWIMMING AT SURFACE
Directory of Open Access Journals (Sweden)
Pier-Giorgio Zanone
2004-06-01
Full Text Available Finswimming is a sport of speed practiced on the surface or underwater, in which performance is based on whole-body oscillations. The present study investigated the undulatory motion performed by finswimmers at the surface. This study aiming to analyze the influence of the interaction of gender, practice level, and race distance on selected kinematic parameters. Six elite and six novices finswimmers equipped with joints markers (wrist, elbow, shoulder, hip, knee, and ankle were recorded in the sagittal plane. The position of these anatomical marks was digitized at 50 Hz. An automated motion analysis software yielded velocity, vertical amplitude, frequency, and angular position. Results showed that stroke frequency decreased whereas the mean amplitude of all joints increased with increasing race distance (p < 0.01. Mean joint amplitude for the upper limbs (wrist, elbow and shoulder was smaller for experts than for novices. Whereas that of the ankle was larger, so that the oscillation amplitude increased from shoulder to ankle. Elite male finswimmers were pitching more acutely than female. Moreover, elite male finswimmers showed a smaller knee bending than novices and than elite females (p < 0.01. This indicated that elite male finswimmers attempt to reduce drag forces thanks to a weak knee bending and a low upper limbs pitch. To sum up, gender, expertise, and race distance affect the performance and its kinematics in terms frontal drag. Expertise in finswimming requires taking advantage of the mechanical constraints pertaining to hydrodynamic constraints in order to optimize performance
Feeding kinematics of phyllomedusine tree frogs.
Gray, L A; Nishikawa, K C
1995-02-01
Previous studies have demonstrated that the phyllomedusine hylids possess highly protrusible tongues, a derived characteristic within the family Hylidae. In the present study, the kinematics of the feeding behavior of a phyllomedusine species, Pachymedusa dacnicolor, was analyzed using high-speed video (180 frames s-1). Its behavior was compared with that of Hyla cinerea, a species with a weakly protrusible tongue. P. dacnicolor exhibits a faster rate of tongue protraction, a longer gape cycle and more variable feeding kinematics than H. cinerea. In addition, the tongue is used in a unique 'fly-swatter' fashion, to pin the prey to the substratum as the frog completes the lunge. The rapid tongue protraction, extended gape cycle and fly-swatter action may have evolved in response to a diet of large, rapidly moving insects. In addition, several duration variables of the feeding cycle were greater for misses than for captures and drops, which suggests that sensory feedback rather than biomechanics controls gape cycle duration.
Hedland, D. A.; Degonia, P. K.
1974-01-01
The RAE-1 spacecraft inversion performed October 31, 1972 is described based upon the in-orbit dynamical data in conjunction with results obtained from previously developed computer simulation models. The computer simulations used are predictive of the satellite dynamics, including boom flexing, and are applicable during boom deployment and retraction, inter-phase coast periods, and post-deployment operations. Attitude data, as well as boom tip data, were analyzed in order to obtain a detailed description of the dynamical behavior of the spacecraft during and after the inversion. Runs were made using the computer model and the results were analyzed and compared with the real time data. Close agreement between the actual recorded spacecraft attitude and the computer simulation results was obtained.
Validation of OSIRIS Ozone Inversions
Gudnason, P.; Evans, W. F.; von Savigny, C.; Sioris, C.; Halley, C.; Degenstein, D.; Llewellyn, E. J.; Petelina, S.; Gattinger, R. L.; Odin Team
2002-12-01
The OSIRIS instrument onboard the Odin satellite, that was launched on February 20, 2001, is a combined optical spectrograph and infrared imager that obtains profil sets of atmospheric spectra from 280 to 800 nm when Odin scans the terrestrial limb. It has been possible to make a preliminary analysis of the ozone profiles using the Chappuis absorption feature. Three algorithms have been developed for ozone profile inversions from these limb spectra sets. We have dubbed these the Gattinger, Von Savigny-Flittner and DOAS methods. These are being evaluated against POAM and other satellite data. Based on performance, one of these will be selected for the operational algorithm. The infrared imager data have been used by Degenstein with the tomographic inversion procedure to derive ozone concentrations above 60 km. This paper will present some of these initial observations and indicate the best algorithm potential of OSIRIS to make spectacular advances in the study of terrestrial ozone.
A kinematic and kinetic analysis of drop landings in military boots.
Oliver, G D; Stone, A J; Booker, J M; Plummer, H A
2011-09-01
The purpose of this study was to examine knee valgus in drop landings during three different footwear conditions and to examine the ground reaction forces exhibited during the drop landing in the three different footwear conditions. Sixteen male and female Reserve Officer Training Corps (ROTC) university undergraduate cadets (21 +/- 3 yrs, 79 +/- 12 kg, and 172 +/- 10 cm) volunteered to participate in the study. Kinematic data were collected while participants performed drop landings in three conditions: bare feet, tennis shoes, and issued military boots. Significant differences among footwear for ground reaction forces (bare feet: 1646 +/- 359%, tennis shoe: 1880 +/- 379%, boot: 1833 +/- 438%; p knee valgus among footwear. Though footwear conditions did not affect knee valgus, they did affect ground reaction forces. Participants in this study had yet to receive any military training on how to land properly from a specified height. Further research should be completed to analyze the kinematics and kinetics of the lower extremity during different landing strategies implemented by trained military personnel in order to better understand injury mechanisms of drop landings in this population. It is likely that injury prevention landing techniques would be beneficial if these were employed by the military and not just in the sporting community.
Directory of Open Access Journals (Sweden)
Landkammer Philipp
2016-01-01
Full Text Available Inverse form finding – as a type of shape optimization – aims in determining the optimal preform design of a workpiece for a specific forming process, whereby the desired target geometry is known. Recently, a novel parameter-free and heuristic approach was developed to tackle this nonlinear optimization problem. Benchmark tests already delivered promising results. As a particular note-worthy feature of the approach, a coupling to an arbitrary finite element software is feasible in a non-invasive fashion. The aim of this contribution is to investigate the effect of kinematic hardening and cyclic loading on the convergence behavior of the algorithm.
Inverse problem in transformation optics
Novitsky, Andrey V.
2011-01-01
The straightforward method of transformation optics implies that one starts from the coordinate transformation and determines the Jacobian matrix, the fields and material parameters of the cloak. However, the coordinate transformation appears as an optional function: it is not necessary to know it. We offer the solution of some sort of inverse problem: starting from the fields in the invisibility cloak we directly derive the permittivity and permeability tensors of the cloaking shell. This ap...
Fourier reconstruction with sparse inversions
Zwartjes, P.M.
2005-01-01
In seismic exploration an image of the subsurface is generated from seismic data through various data processing algorithms. When the data is not acquired on an equidistantly spaced grid, artifacts may result in the final image. Fourier reconstruction is an interpolation technique that can reduce these artifacts by generating uniformly sampled data from such non-uniformly sampled data. The method works by estimating via least-squares inversion the Fourier coefficients that describe the non-un...
The Inverse of Banded Matrices
2013-01-01
for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite ...numbers of summed or subtracted terms in computing the inverse of a term of an upper (lower) triangular matrix are the generalized order-k Fibonacci ... Fibonacci numbers are the usual Fibonacci numbers, that is, f 2m = Fm (mth Fibonacci number). When also k = 3, c1 = c2 = c3 = 1, then the generalized order-3
Force generation of bio-inspired hover kinematics
Vandenheede, R.B.R.; Bernal, L.P.; Morrison, C.L.; Humbert, S.
2012-01-01
This paper presents the results of an experimental study of the aerodynamics of an elliptical flap plate wing in pitch-plunge motion. Several wing motion kinematics are derived from the kinematics of the Agrius Convolvuli (hawk moth) in hover. The experiments are conducted at a Reynolds number of 4,
Testing Mass Determinations of Supermassive Black Holes via Stellar Kinematics
Cappellari, Michele; M. McDermid, Richard; Bacon, R.; L. Davies, Roger; T. de Zeeuw, P.; Emsellem, Eric; Falcón-Barroso, Jesús; Krajnović, Davor; Kuntschner, Harald; Peletier, R.F.; Sarzi, Marc; C. E. van den Bosch, Remco; van de Ven, Glenn; Debattista, Victor P.; Popescu, Cristina C.
We investigate the accuracy of mass determinations MBH of supermassive black holes in galaxies using dynamical models of the stellar kinematics. We compare 10 of our MBH measurements, using integral-field OASIS kinematics, to published values. For a sample of 25 galaxies we confront our new MBH
Kinematics of large scale asymmetric folds and associated smaller ...
Indian Academy of Sciences (India)
active-hinge folding (involving lateral migration of active axial surfaces, e.g., Suppe 1983) are invoked to explain finite fold development. Any inference about fold kinematics is based on the analysis of distributions of diagnostic deformation features (Stewart and Alvarez 1991; Fischer et al. Keywords. Kinematic history ...
Kinematic Mapping in Semi-Euclidean 4-Space
Directory of Open Access Journals (Sweden)
Mehdi JAFARI
2014-10-01
Full Text Available We study the some algebraic properties of matrix associated to Hamilton operators is defined for semi-quaternions. The kinematic mapping corresponding to these operators in semi-Euclidean 4-space is same as the kinematic mapping of Blaschke and Grünwald.Keywords: Hamilton operators, Quasi-elliptic geometry, Semi-quaternion
Lingual Kinematics during Rapid Syllable Repetition in Parkinson's Disease
Wong, Min Ney; Murdoch, Bruce E.; Whelan, Brooke-Mai
2012-01-01
Background: Rapid syllable repetition tasks are commonly used in the assessment of motor speech disorders. However, little is known about the articulatory kinematics during rapid syllable repetition in individuals with Parkinson's disease (PD). Aims: To investigate and compare lingual kinematics during rapid syllable repetition in dysarthric…
Shaping of Reach-to-Grasp Kinematics by Intentions
DEFF Research Database (Denmark)
Egmose, Ida; Køppe, Simo
2017-01-01
When we reach to grasp something, we need to take into account both the properties of the object we are grasping and the intention we have in mind. Previous research has found these constraints to be visible in the reach-to-grasp kinematics, but there is no consensus on which kinematic parameters...
Kinematic analysis of competitive sprinting | Ansari | African Journal ...
African Journals Online (AJOL)
The results of the study showed that the kinematic variables i.e. knee angle, hip angle, ankle angle, shoulder rotation and extension had a significant influence on sprinting style. The results indicated that the kinematic variables of running style, knee angle at landing, hip flexion, ankle angle at landing, ankle angle at take-off, ...
Predicting Object Size from Hand Kinematics : A Temporal Perspective
Ansuini, C.; Cavallo, A.; Koul, A.; Jacono, M.; Yang, Y.; Becchio, C.
2015-01-01
Research on reach-to-grasp movements generally concentrates on kinematics values that are expression of maxima, in particular the maximum aperture of the hand and the peak of wrist velocity. These parameters provide a snapshot description of movement kinematics at a specific time point during reach,
Sawacha, Zimi; Guarneri, Gabriella; Cristoferi, Giuseppe; Guiotto, Annamaria; Avogaro, Angelo; Cobelli, Claudio
2012-05-01
The fundamental cause of lower-extremity complications in diabetes is chronic hyperglycemia leading to diabetic foot ulcer pathology. While the relationship between abnormal plantar pressure distribution and plantar ulcers has been widely investigated, little is known about the role of shear stress. Moreover, the mutual relationship among plantar pressure, shear stress, and abnormal kinematics in the etiology of diabetic foot has not been established. This lack of knowledge is determined by the lack of commercially available instruments which allow such a complex analysis. This study aims to develop a method for the simultaneous assessment of kinematics, kinetics, and plantar pressure on foot subareas of diabetic subjects by means of combining three commercial systems. Data were collected during gait on 24 patients (12 controls and 12 diabetic neuropathics) with a motion capture system synchronized with two force plates and two baropodometric systems. A four segment three-dimensional foot kinematics model was adopted for the subsegment angles estimation together with a three segment model for the plantar sub-area definition during gait. The neuropathic group exhibited significantly excessive plantar pressure, ground reaction forces on each direction, and a reduced loading surface on the midfoot subsegment (p<0.04). Furthermore the same subsegment displayed excessive dorsiflexion, external rotation, and eversion (p<0.05). Initial results showed that this methodology may enable a more appropriate characterization of patients at risk of foot ulcerations, and help planning prevention programs. Copyright © 2011 Elsevier B.V. All rights reserved.
Inverse-magnetron mass spectrometer
International Nuclear Information System (INIS)
Pakulin, V.N.
1979-01-01
Considered is the operation of a typical magnetron mass spectrometer with an internal ion source and that of an inverse magnetron mass spectrometer with an external ion source. It is found that for discrimination of the same mass using the inverse design of mass spectrometers it is possible to employ either r 2 /r 1 times lesser magnetic fields at equal accelerating source-collector voltages, or r 2 /r 1 higher accelerating voltages at equal magnetic fields, as compared to the typical design (r 1 and r 2 being radii of the internal and external electrodes of the analyser, respectively). The design of an inverse-magnetron mass spectrometer is described. The mass analyzer is formed by a cylindrical electrode of 3 mm diameter and a coaxial tubular cylinder of 55 mm diameter. External to the analyzer is an ionizing chamber at the pressure of up to 5x10 -6 torr. The magnetic field along the chamber axis produced by a solenoid was 300 Oe. At the accelerating voltage of 100 V and mass 28, the spectrometer has a resolution of 30 at a half-peak height
Slip Inversion Along Inner Fore-Arc Faults, Eastern Tohoku, Japan
Regalla, Christine; Fisher, Donald M.; Kirby, Eric; Oakley, David; Taylor, Stephanie
2017-11-01
The kinematics of deformation in the overriding plate of convergent margins may vary across timescales ranging from a single seismic cycle to many millions of years. In Northeast Japan, a network of active faults has accommodated contraction across the arc since the Pliocene, but several faults located along the inner fore arc experienced extensional aftershocks following the 2011 Tohoku-oki earthquake, opposite that predicted from the geologic record. This observation suggests that fore-arc faults may be favorable for stress triggering and slip inversion, but the geometry and deformation history of these fault systems are poorly constrained. Here we document the Neogene kinematics and subsurface geometry of three prominent fore-arc faults in Tohoku, Japan. Geologic mapping and dating of growth strata provide evidence for a 5.6-2.2 Ma initiation of Plio-Quaternary contraction along the Oritsume, Noheji, and Futaba Faults and an earlier phase of Miocene extension from 25 to 15 Ma along the Oritsume and Futaba Faults associated with the opening of the Sea of Japan. Kinematic modeling indicates that these faults have listric geometries, with ramps that dip 40-65°W and sole into subhorizontal detachments at 6-10 km depth. These fault systems can experience both normal and thrust sense slip if they are mechanically weak relative to the surrounding crust. We suggest that the inversion history of Northeast Japan primed the fore arc with a network of weak faults mechanically and geometrically favorable for slip inversion over geologic timescales and in response to secular variations in stress state associated with the megathrust seismic cycle.