Study of the 6Li + p → 3He + 4He reaction in inverse kinematics

International Nuclear Information System (INIS)

Betsou, C.; Pakou, A.; Aslanoglou, X.; Nicolis, N.G.; Sgouros, O.; Soukeras, V.; Cappuzzello, F.; Acosta, L.; Agodi, C.; Carbone, D.; Cavallaro, M.; Di Pietro, A.; Fernandez-Garcia, J.P.; Figuera, P.; Fisichella, M.; Foti, A.; Keeley, N.; Marquinez-Duran, G.; Martel, I.; Mazzocco, M.; Strano, E.; Torresi, D.; Pierroutsakou, D.; Rusek, K.; Stiliaris, E.

2015-01-01

Angular distribution measurements were performed for the 6 Li + p → 3 He + 4 He reaction in inverse kinematics at incident energies of 2.7, 3.3, 4.2 and 4.8 MeV/u. The detection of both recoils ( 3 He and 4 He) over the laboratory angle range θ lab = 16 circle to 34 circle allowed the determination of the angular distribution over a wide angular range in the center-of-mass frame (θ c.m. ∝ 40 circle to 140 circle ). The results clarify inconsistencies between existing data sets and are consistent with compound nucleus model calculations. (orig.)

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.

Application of inverse kinematics to 1H+23Na→12C+12C

International Nuclear Information System (INIS)

Bennett, S.J.; Clarke, N.M.; Freer, M.; Fulton, B.R.; Hall, S.J.; Karban, O.; Murgatroyd, J.T.; Tungate, G.; Gyapong, G.J.; Jarvis, N.S.; Watson, D.L.; Rae, W.D.M.; Smith, A.E.; Lilley, J.S.; Woods, P.J.; Page, R.D.

1993-01-01

Some experimental techniques used in the measurement and analysis of inverse kinematic reactions are described and applied to a kinematically complete study of the 1 H( 23 Na, 12 C) 12 C reaction at an incident energy of 180 MeV. An excitation function is obtained for the energy range of 18.5 to 19.2 MeV in 24 Mg*; equivalent to proton energies from 7.1 MeV to 7.8 MeV for the 23 Na(p, 12 C) 12 C reaction. (orig.)

Transfer-induced fission in inverse kinematics: Impact on experimental and evaluated nuclear data bases

Energy Technology Data Exchange (ETDEWEB)

Farget, F.; Schmidt, K.H.; Clement, E.; Delaune, O.; Derkx, X.; Dijon, A.; Golabek, C.; Lemasson, A.; Roger, T.; Schmitt, C. [CEA/DSM-CNRS/IN2P3, GANIL, Caen (France); Caamano, M.; Ramos, D.; Benlliure, J.; Cortina, D.; Fernandez-Dominguez, B.; Paradela, C. [Universidade de Santiago de Compostela, Santiago de Compostela (Spain); Rodriguez-Tajes, C. [CEA/DSM-CNRS/IN2P3, GANIL, Caen (France); Universidade de Santiago de Compostela, Santiago de Compostela (Spain); Audouin, L. [Universite Paris-Sud 11, CNRS/IN2P3, Institut de Physique Nucleaire, Orsay (France); Casarejos, E. [Universidade de Vigo, Vigo (Spain); Dore, D.; Salsac, M.D. [Centre de Saclay, CEA, Irfu, Gif-sur-Yvette (France); Gaudefroy, L. [CEA DAM Ile-de-France, BP 12, Bruyeres-le-Chatel (France); Heinz, A. [Chalmers Tekniska Hoegskola, Fundamental Fysik, Goeteborg (Sweden); Jurado, B. [Universite Bordeaux, CENBG, UMR 5797 CNRS/IN2P3, Gradignan (France)

2015-12-15

Inverse kinematics is a new tool to study nuclear fission. Its main advantage is the possibility to measure with an unmatched resolution the atomic number of fission fragments, leading to new observables in the properties of fission-fragment distributions. In addition to the resolution improvement, the study of fission based on nuclear collisions in inverse kinematics beneficiates from a larger view with respect to the neutron-induced fission, as in a single experiment the number of fissioning systems and the excitation energy range are widden. With the use of spectrometers, mass and kinetic-energy distributions may now be investigated as a function of the proton and neutron number sharing. The production of fissioning nuclei in transfer reactions allows studying the isotopic yields of fission fragments as a function of the excitation energy. The higher excitation energy resulting in the fusion reaction leading to the compound nucleus {sup 250}Cf at an excitation energy of 45MeV is also presented. With the use of inverse kinematics, the charge polarisation of fragments at scission is now revealed with high precision, and it is shown that it cannot be neglected, even at higher excitation energies. In addition, the kinematical properties of the fragments inform on the deformation configuration at scission. (orig.)

The {sup 152}Sm(p,n) reaction measurements in inverse kinematics

Energy Technology Data Exchange (ETDEWEB)

Pohl, Moritz [Goethe Univ. Frankfurt am Main (Germany); Collaboration: S405-Collaboration

2013-07-01

Under stellar conditions, low-lying excited states in nuclei are in thermal equilibrium with the ground state. If those excited states undergo β-decays with a higher rate than the ground state, the β-decay half-life of this nucleus is dominated by the excited state. The corresponding life-times are extremely difficult to measure directly on earth, since the de-excitation occurs mostly via internal transition. For the understanding of the processes occurring during a star collapse, simulations are a crucial tool. To provide a detailed view on those processes and the underlying theoretical models, also to test and improve the simulation networks, information extracted from experiments is needed. Unfortunately, some reactions can not be reproduced directly in laboratories. This applies for example to electron capture processes, which can lead to excited states energetically forbidden on earth. Those reactions are dominated by the so called Gamow-Teller distribution B(GT). If the β-decay occurs via the Gamow-Teller transition, charge exchange reactions allow to investigate the decay strength. In order to verify the method of measuring the B(GT) strength of unstable heavy nuclei via inverse kinematics, the reaction p({sup 152}Sm,{sup 152}Eu)n was used as a test case. This measurement allows to set constraints on the temperature dependent electron capture of {sup 152}Eu, which is an important s-process branching point. The s405 experiment took place at the R{sup 3}B/LAND setup at GSI. A newly developed Low Energy Neutron detector Array (LENA) was used to measure the recoil neutrons, which are emitted at large angles relatively to the incoming beam. To determine the detector response, a GEANT3 simulation was performed. Preliminary results are presented.

Direct reactions in inverse kinematics for nuclear structure studies far off stability at low incident energies

International Nuclear Information System (INIS)

Egelhof, P.

1997-02-01

The investigation of light-ion induced direct reactions with exotic beams in inverse kinematics gives access to a wide field of nuclear structure studies in the region far off stability. The present contribution will focus on the investigation of few-nucleon transfer reactions, which turn out to be most favourably studied with good-quality low-energy radioactive beams, as provided by the new generation of radioactive beam facilities presently planned or under construction at Caen, Grenoble, Munich, and elsewhere. An overview on the physics motivation, basically concerning nuclear structure and nuclear astrophysics questions, is given. Of particular interest are the nuclear shell model in the region far off stability, the two-body residual interaction in nuclei, the structure of halo nuclei, as well as the understanding of the r-process scenario. The experimental conditions, along with the experimental concept, for such measurements are discussed with particular emphasis on the kinematical conditions, the observables, as well as the appropriate detection schemes. The concept of a large solid angle TPC ionization chamber as an active target for experiments with low-energy radioactive beams is presented. It turns out to be a highly effective detection scheme, well suited for the present experimental conditions, at least for light exotic beams up to Z∼20. (orig.)

Inverse kinematic control of LDUA and TWRMS

International Nuclear Information System (INIS)

Yih, T.C.; Burks, B.L.; Kwon, Dong-Soo

1995-01-01

A general inverse kinematic analysis is formulated particularly for the redundant Light Duty Utility Arm (LDUA) and Tank Waste Retrieval Manipulator System (TWRMS). The developed approach is applicable to the inverse kinematic simulation and control of LDUA, TWRMS, and other general robot manipulators. The 4 x 4 homogeneous Cylindrical coordinates-Bryant angles (C-B) notation is adopted to model LDUA, TWRMS, and any robot composed of R (revolute), P (prismatic), and/or S (spherical) joints

Study of the onset of deformation and shape coexistence in $^{46}$Ar via the inverse kinematics ($t,p$) reaction

CERN Multimedia

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.

Interactive inverse kinematics for human motion estimation

DEFF Research Database (Denmark)

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

2009-01-01

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

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

Directory of Open Access Journals (Sweden)

Emil Dale Bjoerlykhaug

2018-01-01

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

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.

Measurement of the spallation reaction {sup 56}Fe+p in inverse kinematics; Messung der Spallationsreaktion {sup 56}Fe+p in inverser Kinematik

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.)

Inverse kinematics of a dual linear actuator pitch/roll heliostat

Science.gov (United States)

Freeman, Joshua; Shankar, Balakrishnan; Sundaram, Ganesh

2017-06-01

This work presents a simple, computationally efficient inverse kinematics solution for a pitch/roll heliostat using two linear actuators. The heliostat design and kinematics have been developed, modeled and tested using computer simulation software. A physical heliostat prototype was fabricated to validate the theoretical computations and data. Pitch/roll heliostats have numerous advantages including reduced cost potential and reduced space requirements, with a primary disadvantage being the significantly more complicated kinematics, which are solved here. Novel methods are applied to simplify the inverse kinematics problem which could be applied to other similar problems.

Inverse kinematics problem in robotics using neural networks

Science.gov (United States)

Choi, Benjamin B.; Lawrence, Charles

1992-01-01

In this paper, Multilayer Feedforward Networks are applied to the robot inverse kinematic problem. The networks are trained with endeffector position and joint angles. After training, performance is measured by having the network generate joint angles for arbitrary endeffector trajectories. A 3-degree-of-freedom (DOF) spatial manipulator is used for the study. It is found that neural networks provide a simple and effective way to both model the manipulator inverse kinematics and circumvent the problems associated with algorithmic solution methods.

Study of the {sup 6}Li + p → {sup 3}He + {sup 4}He reaction in inverse kinematics

Energy Technology Data Exchange (ETDEWEB)

Betsou, C.; Pakou, A.; Aslanoglou, X.; Nicolis, N.G.; Sgouros, O.; Soukeras, V. [The University of Ioannina, Department of Physics and HINP, Ioannina (Greece); Cappuzzello, F. [Laboratori Nazionali del Sud, INFN, Catania (Italy); Universita di Catania, Dipartimento di Fisica e Astronomia, Catania (Italy); Acosta, L. [Universidad Nacional Autonoma de Mexico, Instituto de Fisica, Mexico Distrito Federal (Mexico); INFN, Catania (Italy); Agodi, C.; Carbone, D.; Cavallaro, M.; Di Pietro, A.; Fernandez-Garcia, J.P.; Figuera, P.; Fisichella, M. [Laboratori Nazionali del Sud, INFN, Catania (Italy); Foti, A. [Universita di Catania, Dipartimento di Fisica e Astronomia, Catania (Italy); INFN, Catania (Italy); Keeley, N. [National Centre for Nuclear Research, Otwock (Poland); Marquinez-Duran, G.; Martel, I. [Universidad de Huelva, Departamento de Fisica Aplicada, Huelva (Spain); Mazzocco, M.; Strano, E.; Torresi, D. [Universita di Padova, Departimento di Fisica e Astronomia, Padova (Italy); INFN, Padova (Italy); Pierroutsakou, D. [INFN, Napoli (Italy); Rusek, K. [University of Warsaw, Heavy Ion Laboratory, Warsaw (Poland); Stiliaris, E. [University of Athens, Institute of Accelerating Systems and Applications and Department of Physics, Athens (Greece)

2015-07-15

Angular distribution measurements were performed for the {sup 6}Li + p → {sup 3}He + {sup 4}He reaction in inverse kinematics at incident energies of 2.7, 3.3, 4.2 and 4.8 MeV/u. The detection of both recoils ({sup 3}He and {sup 4}He) over the laboratory angle range θ{sub lab} = 16 {sup circle} to 34 {sup circle} allowed the determination of the angular distribution over a wide angular range in the center-of-mass frame (θ{sub c.m.} ∝ 40 {sup circle} to 140 {sup circle}). The results clarify inconsistencies between existing data sets and are consistent with compound nucleus model calculations. (orig.)

Forward and inverse kinematics of double universal joint robot wrists

Science.gov (United States)

Williams, Robert L., II

1991-01-01

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

A Projected Non-linear Conjugate Gradient Method for Interactive Inverse Kinematics

DEFF Research Database (Denmark)

Engell-Nørregård, Morten; Erleben, Kenny

2009-01-01

Inverse kinematics is the problem of posing an articulated figure to obtain a wanted goal, without regarding inertia and forces. Joint limits are modeled as bounds on individual degrees of freedom, leading to a box-constrained optimization problem. We present A projected Non-linear Conjugate...... Gradient optimization method suitable for box-constrained optimization problems for inverse kinematics. We show application on inverse kinematics positioning of a human figure. Performance is measured and compared to a traditional Jacobian Transpose method. Visual quality of the developed method...

Application of inverse kinematics to [sup 1]H+[sup 23]Na[yields][sup 12]C+[sup 12]C

Energy Technology Data Exchange (ETDEWEB)

Bennett, S.J. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Clarke, N.M. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Freer, M. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Fulton, B.R. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Hall, S.J. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Karban, O. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Murgatroyd, J.T. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Tungate, G. (School of Physics and Space Research, Birmingham Univ. (United Kingdom)); Gyapong, G.J. (Dept. of Physics, York Univ. (United Kingdom)); Jarvis, N.S. (Dept. of Physics, York Univ. (United Kingdom)); Watson, D.L. (Dept. of Physics, York Univ. (United Kingdom)); Rae, W.D.M. (Dept. of Nuclear Physics, Oxford Univ. (United Kingdom)); Smith, A.E. (Dept. of Nuclear; Charissa Collaboration

1993-08-15

Some experimental techniques used in the measurement and analysis of inverse kinematic reactions are described and applied to a kinematically complete study of the [sup 1]H([sup 23]Na, [sup 12]C)[sup 12]C reaction at an incident energy of 180 MeV. An excitation function is obtained for the energy range of 18.5 to 19.2 MeV in [sup 24]Mg*; equivalent to proton energies from 7.1 MeV to 7.8 MeV for the [sup 23]Na(p, [sup 12]C)[sup 12]C reaction. (orig.)

The ⁸Li + ²H reaction studied in inverse kinematics at 3.15 MeV/nucleon using the REX-ISOLDE post-accelerator

DEFF Research Database (Denmark)

Tengborn, E.; Moro, A.M.; Nilsson, T.

2011-01-01

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......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...

Adding Image Constraints to Inverse Kinematics for Human Motion Capture

Science.gov (United States)

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.

Improved Inverse Kinematics Algorithm Using Screw Theory for a Six-DOF Robot Manipulator

OpenAIRE

Chen, Qingcheng; Zhu, Shiqiang; Zhang, Xuequn

2015-01-01

Based on screw theory, a novel improved inverse-kinematics approach for a type of six-DOF serial robot, “Qianjiang I”, is proposed in this paper. The common kinematics model of the robot is based on the Denavit-Hartenberg (D-H) notation method while its inverse kinematics has inefficient calculation and complicated solution, which cannot meet the demands of online real-time application. To solve this problem, this paper presents a new method to improve the efficiency of the inverse kinematics...

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

NARCIS (Netherlands)

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

2008-01-01

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

Inverse 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.

Inverse kinematics algorithm for a six-link manipulator using a polynomial expression

International Nuclear Information System (INIS)

Sasaki, Shinobu

1987-01-01

This report is concerned with the forward and inverse kinematics problem relevant to a six-link robot manipulator. In order to derive the kinematic relationships between links, the vector rotation operator was applied instead of the conventional homogeneous transformation. The exact algorithm for solving the inverse problem was obtained by transforming kinematics equations into a polynomial. As shown in test calculations, the accuracies of numerical solutions obtained by means of the present approach are found to be quite high. The algorithm proposed permits to find out all feasible solutions for the given inverse problem. (author)

A Neural Network Approach for Inverse Kinematic of a SCARA Manipulator

Directory of Open Access Journals (Sweden)

Panchanand Jha

2014-07-01

Full Text Available Inverse kinematic is one of the most interesting problems of industrial robot. The inverse kinematics problem in robotics is about the determination of joint angles for a desired Cartesian position of the end effector. It comprises of the computation need to find the joint angles for a given Cartesian position and orientation of the end effectors to control a robot arm. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network is one such technique which can be gainfully used to yield the acceptable results. This paper proposes a structured artificial neural network (ANN model to find the inverse kinematics solution of a 4-dof SCARA manipulator. The ANN model used is a multi-layered perceptron neural network (MLPNN, wherein gradient descent type of learning rules is applied. An attempt has been made to find the best ANN configuration for the problem. It is found that multi-layered perceptron neural network gives minimum mean square error.

Kinematic relations in heavy-ion reactions

International Nuclear Information System (INIS)

Gippner, P.; Kalpakchieva, R.

1988-01-01

The present work gives a short overview of the non-relativistic kinematics of nuclear reactions derived on the basis of the conservation laws of energy and linear momentum. Section 2 contains kinematic relations valid for two-body reactions, sections 3 makes use of these relations to describe sequential fission as a special case of reactions with three particles in the exit channel. It is the aim of this work to comprise the kinematic formulae essential for planning of experiments, data analysis and critical examination of the obtained results. (author)

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.

An adaptive inverse kinematics algorithm for robot manipulators

Science.gov (United States)

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

1990-01-01

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

The role of reversed kinematics and double kinematic solutions in nuclear reactions studies

International Nuclear Information System (INIS)

Kaplan, M.; Parker, W.E.; Moses, D.J.; Lacey, R.; Alexander, J.M.

1993-01-01

The advantages of reversed kinematics in nuclear reactions studies are discussed, with particular emphasis on the origin of double solutions in the reaction kinematics. This possibility for double solutions does not exist in normal kinematics, and provides the basis for a new method of imposing important experimental constraints on the uniqueness of fitting complex observations. By gating on one or the other of the two solutions, light particle kinematics can be greatly influenced in coincidence measurements. The power of the method is illustrated with data for the reaction 1030 MeV 121 Sb+ 27 Al, where charged particle emissions arise from several different sources. (orig.)

Caliko: An Inverse Kinematics Software Library Implementation of the FABRIK Algorithm

OpenAIRE

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...

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.

Rapid kinematic finite source inversion for Tsunamic Early Warning using high rate GNSS data

Science.gov (United States)

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

Improved Inverse Kinematics Algorithm Using Screw Theory for a Six-DOF Robot Manipulator

Directory of Open Access Journals (Sweden)

Qingcheng Chen

2015-10-01

Full Text Available Based on screw theory, a novel improved inverse-kinematics approach for a type of six-DOF serial robot, “Qianjiang I”, is proposed in this paper. The common kinematics model of the robot is based on the Denavit-Hartenberg (D-H notation method while its inverse kinematics has inefficient calculation and complicated solution, which cannot meet the demands of online real-time application. To solve this problem, this paper presents a new method to improve the efficiency of the inverse kinematics solution by introducing the screw theory. Unlike other methods, the proposed method only establishes two coordinates, namely the inertial coordinate and the tool coordinate; the screw motion of each link is carried out based on the inertial coordinate, ensuring definite geometric meaning. Furthermore, we adopt a new inverse kinematics algorithm, developing an improved sub-problem method along with Paden-Kahan sub-problems. This method has high efficiency and can be applied in real-time industrial operation. It is convenient to select the desired solutions directly from among multiple solutions by examining clear geometric meaning. Finally, the effectiveness and reliability performance of the new algorithm are analysed and verified in comparative experiments carried out on the six-DOF serial robot “Qianjiang I”.

Inverse kinematic solution for near-simple robots and its application to robot calibration

Science.gov (United States)

Hayati, Samad A.; Roston, Gerald P.

1986-01-01

This paper provides an inverse kinematic solution for a class of robot manipulators called near-simple manipulators. The kinematics of these manipulators differ from those of simple-robots by small parameter variations. Although most robots are by design simple, in practice, due to manufacturing tolerances, every robot is near-simple. The method in this paper gives an approximate inverse kinematics solution for real time applications based on the nominal solution for these robots. The validity of the results are tested both by a simulation study and by applying the algorithm to a PUMA robot.

The development of computational algorithms for manipulator inverse kinematics

International Nuclear Information System (INIS)

Sasaki, Shinobu

1989-10-01

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

Caliko: An Inverse Kinematics Software Library Implementation of the FABRIK Algorithm

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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

Kinematical coincidence method in transfer reactions

Energy Technology Data Exchange (ETDEWEB)

Acosta, L.; Amorini, F. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Auditore, L. [INFN Gruppo Collegato di Messina and Dipartimento di Fisica, Università di Messina (Italy); Berceanu, I. [Institute for Physics and Nuclear Engineering, Bucharest (Romania); Cardella, G., E-mail: cardella@ct.infn.it [INFN—Sezione di Catania, Via S. Sofia, 95123 Catania (Italy); Chatterjiee, M.B. [Saha Institute for Nuclear Physics, Kolkata (India); De Filippo, E. [INFN—Sezione di Catania, Via S. Sofia, 95123 Catania (Italy); Francalanza, L.; Gianì, R. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Dipartimento di Fisica e Astronomia, Università di Catania, Via S. Sofia, Catania (Italy); Grassi, L. [INFN—Sezione di Catania, Via S. Sofia, 95123 Catania (Italy); Rudjer Boskovic Institute, Zagreb (Croatia); Grzeszczuk, A. [Institut of Physics, University of Silesia, Katowice (Poland); La Guidara, E. [INFN—Sezione di Catania, Via S. Sofia, 95123 Catania (Italy); Centro Siciliano di Fisica Nucleare e Struttura della Materia, Catania (Italy); Lanzalone, G. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Facoltà di Ingegneria e Architettura, Università Kore, Enna (Italy); Lombardo, I. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Dipartimento di Scienze Fisiche, Università Federico II and INFN Sezione di Napoli (Italy); Loria, D.; Minniti, T. [INFN Gruppo Collegato di Messina and Dipartimento di Fisica, Università di Messina (Italy); Pagano, E.V. [INFN—Laboratori Nazionali del Sud, Via S. Sofia, Catania (Italy); Dipartimento di Fisica e Astronomia, Università di Catania, Via S. Sofia, Catania (Italy); and others

2013-07-01

A new method to extract high resolution angular distributions from kinematical coincidence measurements in binary reactions is presented. Kinematics is used to extract the center of mass angular distribution from the measured energy spectrum of light particles. Results obtained in the case of {sup 10}Be+p→{sup 9}Be+d reaction measured with the CHIMERA detector are shown. An angular resolution of few degrees in the center of mass is obtained. The range of applicability of the method is discussed.

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

Directory of Open Access Journals (Sweden)

Zongxing Lu

2015-01-01

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

A Structure-dependent matrix representation of manipulator kinematics and its inverse solution

International Nuclear Information System (INIS)

Sasaki, Shinobu

1987-03-01

In this paper, derivation of kinematic equations for a six-link manipulator is presented using the homogeneous transformation (A i -matrix) based on Denavit-Hartenberg method, and additionally a solution procedure of its inverse problem is outlined. In order to examine the validity of a system of equations, solutions were compared with the exact ones of the inverse kinematics (for the same type of a manipulator) expressed in arbitrarily given co-ordinate systems. Through complete agreement of joint solutions between the two, the present purpose was accomplished. As shown in this paper, an explicit description between adjacent links will give a possible clue to a systematic treatment of the inverse problem for a class of manipulators. (author)

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

Science.gov (United States)

2013-03-01

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

Circular braiding take-up speed generation using inverse kinematics

NARCIS (Netherlands)

van Ravenhorst, J.H.; Akkerman, Remko

2014-01-01

Circular overbraiding of composite preforms on complex mandrels currently lacks automatic generation of machine control data. To solve this limitation, an inverse kinematics-based procedure was designed and implemented for circular braiding machines with optional guide rings, resulting in a take-up

A neutron spectrometer for studying giant resonances with (p,n) reactions in inverse kinematics

International Nuclear Information System (INIS)

Stuhl, L.; Krasznahorkay, A.; Csatlós, M.; Algora, A.; Gulyás, J.; Kalinka, G.; Timár, 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 energy is determined using the time-of-flight technique, while the position of the neutron detection is deduced from the time-difference information from photomultipliers attached to both ends of each bar. A novel wrapping method has been developed for the plastic scintillators. The array has a larger than 25% detection efficiency for neutrons of approximately 500 keV in kinetic energy and an angular resolution of less than 1°. Details of the design, construction and experimental tests of the spectrometer will be presented

Collision-free inverse kinematics of the redundant seven link manipulator used in a cucumber harvesting robot

NARCIS (Netherlands)

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

2010-01-01

The paper presents results of research on an inverse kinematics algorithm that has been used in a functional model of a cucumber-harvesting robot consisting of a redundant P6R manipulator. Within a first generic approach, the inverse kinematics problem was reformulated as a non-linear programming

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

Cortex Inspired Model for Inverse Kinematics Computation for a Humanoid Robotic Finger

Science.gov (United States)

Gentili, Rodolphe J.; Oh, Hyuk; Molina, Javier; Reggia, James A.; Contreras-Vidal, José L.

2013-01-01

In order to approach human hand performance levels, artificial anthropomorphic hands/fingers have increasingly incorporated human biomechanical features. However, the performance of finger reaching movements to visual targets involving the complex kinematics of multi-jointed, anthropomorphic actuators is a difficult problem. This is because the relationship between sensory and motor coordinates is highly nonlinear, and also often includes mechanical coupling of the two last joints. Recently, we developed a cortical model that learns the inverse kinematics of a simulated anthropomorphic finger. Here, we expand this previous work by assessing if this cortical model is able to learn the inverse kinematics for an actual anthropomorphic humanoid finger having its two last joints coupled and controlled by pneumatic muscles. The findings revealed that single 3D reaching movements, as well as more complex patterns of motion of the humanoid finger, were accurately and robustly performed by this cortical model while producing kinematics comparable to those of humans. This work contributes to the development of a bioinspired controller providing adaptive, robust and flexible control of dexterous robotic and prosthetic hands. PMID:23366569

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

Science.gov (United States)

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

2014-12-01

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

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

Science.gov (United States)

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

2014-05-01

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

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

Directory of Open Access Journals (Sweden)

M. Šoch

2005-01-01

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

Inelastic Proton Scattering on 21Na in Inverse Kinematics

Science.gov (United States)

Austin, Roby

2009-10-01

R.A.E. Austin, R. Kanungo, S. Reeve, Saint Mary's University; D.G. Jenkins, C.Aa.Diget, A. Robinson, A.G. Tuff, O. Roberts, University of York, UK; P.J. Woods, T. Davinson, G. J. Lotay, University of Edinburgh; C.-Y. Wu, Lawrence Livermore National Laboratory; H. Al Falou, G.C. Ball, M. Djongolov, A. Garnsworthy, G. Hackman, J.N. Orce, C.J. Pearson, S. Triambak, S.J. Williams, TRIUMF; C. Andreiou, D.S. Cross, N. Galinski, R. Kshetri, Simon Fraser University; C. Sumithrarachchi, M.A. Schumaker, University of Guelph; M.P. Jones, S.V. Rigby, University of Liverpool; D. Cline, A. Hayes, University of Rochester; T.E. Drake, University of Toronto; We describe an experiment and associated technique [1] to measure resonances of interest in astrophysical reactions. At the TRIUMF ISAC-II radioactive beam accelerator facility in Canada, particles inelastically scattered in inverse kinematics are detected with Bambino, a δE-E silicon telescope spanning 15-40 degrees in the lab. We use the TIGRESS to detect gamma rays in coincidence with the charged particles to cleanly select inelastic scattering events. We measured resonances above the alpha threshold in ^22Mg of relevance to the rate of break-out from the hot-CNO cycle via the reaction ^ 18Ne(α,p)^21Na. [1] PJ Woods et al. Rex-ISOLDE proposal 424 Cern (2003).

Incremental inverse kinematics based vision servo for autonomous robotic capture of non-cooperative space debris

Science.gov (United States)

Dong, Gangqi; Zhu, Z. H.

2016-04-01

This paper proposed a new incremental inverse kinematics based vision servo approach for robotic manipulators to capture a non-cooperative target autonomously. The target's pose and motion are estimated by a vision system using integrated photogrammetry and EKF algorithm. Based on the estimated pose and motion of the target, the instantaneous desired position of the end-effector is predicted by inverse kinematics and the robotic manipulator is moved incrementally from its current configuration subject to the joint speed limits. This approach effectively eliminates the multiple solutions in the inverse kinematics and increases the robustness of the control algorithm. The proposed approach is validated by a hardware-in-the-loop simulation, where the pose and motion of the non-cooperative target is estimated by a real vision system. The simulation results demonstrate the effectiveness and robustness of the proposed estimation approach for the target and the incremental control strategy for the robotic manipulator.

Ground reaction forces, kinematics, and muscle activations during the windmill softball pitch.

Science.gov (United States)

Oliver, Gretchen D; Plummer, Hillary

2011-07-01

The aims of the present study were to examine quantitatively ground reaction forces, kinematics, and muscle activations during the windmill softball pitch, and to determine relationships between knee valgus and muscle activations, ball velocity and muscle activation as well as ball velocity and ground reaction forces. It was hypothesized that there would be an inverse relationship between degree of knee valgus and muscle activation, a direct relationship between ground reaction forces and ball velocity, and non-stride leg muscle activations and ball velocity. Ten female windmill softball pitchers (age 17.6 ± 3.47 years, stature 1.67 ± 0.07 m, weight 67.4 ± 12.2 kg) participated. Dependent variables were ball velocity, surface electromyographic (sEMG), kinematic, and kinetic data while the participant was the independent variable. Stride foot contact reported peak vertical forces of 179% body weight. There were positive relationships between ball velocity and ground reaction force (r = 0.758, n = 10, P = 0.029) as well as ball velocity and non-stride leg gluteus maximus (r = 0.851, n = 10, P = 0.007) and medius (r = 0.760, n = 10, P = 0.029) muscle activity, while there was no notable relationship between knee valgus and muscle activation. As the windmill softball pitcher increased ball velocity, her vertical ground reaction forces also increased. Proper conditioning of the lumbopelvic-hip complex, including the gluteals, is essential for injury prevention. From the data presented, it is evident that bilateral strength and conditioning of the gluteal muscle group is salient in the windmill softball pitch as an attempt to decrease incidence of injury.

Cross section measurement of residues produced in proton- and deuteron-induced spallation reactions on 93Zr at 105 MeV/u using the inverse kinematics method

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.

Production of light radioactive ion beams (RIB) using inverse kinematics

International Nuclear Information System (INIS)

Das, J.J.; Sugathan, P.; Madhavan, N.; Madhusudhana Rao, P.V.; Jhingan, A.; Varughese, T.; Barua, S.; Nath, S.; Sinha, A.K.; Kumar, B.; Zacharias, J.

2005-01-01

At Nuclear Science Centre (NSC), New Delhi, we have implemented a facility to produce low energy light radioactive ion beams (RIBs) using (p,n) type of reactions in inverse kinematics. For this purpose primary beams from the 15-UD Pelletron accelerator impinged on a thin polypropylene foil mounted on a rotating/linearly moving target assembly. For efficiently separating the secondary beam from primary beam, the existing recoil mass spectrometer (RMS) HIRA was operated with new ion optics. Suitable hardware modifications were also made. Using this facility, we have extracted a 7 Be beam of purity better than 99% and spot-size ∼4 mm in diameter. This 7 Be beam has been utilized in a variety of experiments in the energy range of 15-22 MeV. Typical beam parameters are: intensity 10 4 pps, angular spread ±30 mrad and energy spread ±0.5 MeV. Development of appropriate detector setup/target arrangement were also made to perform these experiments. In this paper, we describe the implementation of this project

Inverse kinematics for the variable geometry truss manipulator via a Lagrangian dual method

Directory of Open Access Journals (Sweden)

Yanchun Zhao

2016-11-01

Full Text Available This article studies the inverse kinematics problem of the variable geometry truss manipulator. The problem is cast as an optimization process which can be divided into two steps. Firstly, according to the information about the location of the end effector and fixed base, an optimal center curve and the corresponding distribution of the intermediate platforms along this center line are generated. This procedure is implemented by solving a non-convex optimization problem that has a quadratic objective function subject to quadratic constraints. Then, in accordance with the distribution of the intermediate platforms along the optimal center curve, all lengths of the actuators are calculated via the inverse kinematics of each variable geometry truss module. Hence, the approach that we present is an optimization procedure that attempts to generate the optimal intermediate platform distribution along the optimal central curve, while the performance index and kinematic constraints are satisfied. By using the Lagrangian duality theory, a closed-form optimal solution of the original optimization is given. The numerical simulation substantiates the effectiveness of the introduced approach.

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...

Inverse-kinematics study of 78Kr + 40Ca at 10 AMeV

Directory of Open Access Journals (Sweden)

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.

Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra.

Science.gov (United States)

Fu, Zhongtao; Yang, Wenyu; Yang, Zhen

2013-08-01

In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist some difficulties to solve the inverse kinematics problem when the kinematics equations are complex, highly nonlinear, coupled and multiple solutions in terms of these robot manipulators stated mathematically, we apply the theory of Geometric Algebra to the kinematic modeling of 6R robot manipulators simply and generate closed-form kinematics equations, reformulate the problem as a generalized eigenvalue problem with symbolic elimination technique, and then yield 16 solutions. Finally, a spray painting robot, which conforms to the type of robot manipulators, is used as an example of implementation for the effectiveness and real-time of this method. The experimental results show that this method has a large advantage over the classical methods on geometric intuition, computation and real-time, and can be directly extended to all serial robot manipulators and completely automatized, which provides a new tool on the analysis and application of general robot manipulators.

Landslide Kinematical Analysis through Inverse Numerical Modelling and Differential SAR Interferometry

Science.gov (United States)

Castaldo, R.; Tizzani, P.; Lollino, P.; Calò, F.; Ardizzone, F.; Lanari, R.; Guzzetti, F.; Manunta, M.

2015-11-01

The aim of this paper is to propose a methodology to perform inverse numerical modelling of slow landslides that combines the potentialities of both numerical approaches and well-known remote-sensing satellite techniques. In particular, through an optimization procedure based on a genetic algorithm, we minimize, with respect to a proper penalty function, the difference between the modelled displacement field and differential synthetic aperture radar interferometry (DInSAR) deformation time series. The proposed methodology allows us to automatically search for the physical parameters that characterize the landslide behaviour. To validate the presented approach, we focus our analysis on the slow Ivancich landslide (Assisi, central Italy). The kinematical evolution of the unstable slope is investigated via long-term DInSAR analysis, by exploiting about 20 years of ERS-1/2 and ENVISAT satellite acquisitions. The landslide is driven by the presence of a shear band, whose behaviour is simulated through a two-dimensional time-dependent finite element model, in two different physical scenarios, i.e. Newtonian viscous flow and a deviatoric creep model. Comparison between the model results and DInSAR measurements reveals that the deviatoric creep model is more suitable to describe the kinematical evolution of the landslide. This finding is also confirmed by comparing the model results with the available independent inclinometer measurements. Our analysis emphasizes that integration of different data, within inverse numerical models, allows deep investigation of the kinematical behaviour of slow active landslides and discrimination of the driving forces that govern their deformation processes.

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

Data-driven methods towards learning the highly nonlinear inverse kinematics of tendon-driven surgical manipulators.

Science.gov (United States)

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.

Damped least square based genetic algorithm with Gaussian distribution of damping factor for singularity-robust inverse kinematics

International Nuclear Information System (INIS)

Phuoc, Le Minh; Lee, Suk Han; Kim, Hun Mo; Martinet, Philippe

2008-01-01

Robot inverse kinematics based on Jacobian inversion encounters critical issues of kinematic singularities. In this paper, several techniques based on damped least squares are proposed to lead robot pass through kinematic singularities without excessive joint velocities. Unlike other work in which the same damping factor is used for all singular vectors, this paper proposes a different damping coefficient for each singular vector based on corresponding singular value of the Jacobian. Moreover, a continuous distribution of damping factor following Gaussian function guarantees the continuous in joint velocities. A genetic algorithm is utilized to search for the best maximum damping factor and singular region, which used to require ad hoc searching in other works. As a result, end effector tracking error, which is inherited from damped least squares by introducing damping factors, is minimized. The effectiveness of our approach is compared with other methods in both non-redundant robot and redundant robot

Damped least square based genetic algorithm with Gaussian distribution of damping factor for singularity-robust inverse kinematics

Energy Technology Data Exchange (ETDEWEB)

Phuoc, Le Minh; Lee, Suk Han; Kim, Hun Mo [Sungkyunkwan University, Suwon (Korea, Republic of); Martinet, Philippe [Blaise Pascal University, Clermont-Ferrand Cedex (France)

2008-07-15

Robot inverse kinematics based on Jacobian inversion encounters critical issues of kinematic singularities. In this paper, several techniques based on damped least squares are proposed to lead robot pass through kinematic singularities without excessive joint velocities. Unlike other work in which the same damping factor is used for all singular vectors, this paper proposes a different damping coefficient for each singular vector based on corresponding singular value of the Jacobian. Moreover, a continuous distribution of damping factor following Gaussian function guarantees the continuous in joint velocities. A genetic algorithm is utilized to search for the best maximum damping factor and singular region, which used to require ad hoc searching in other works. As a result, end effector tracking error, which is inherited from damped least squares by introducing damping factors, is minimized. The effectiveness of our approach is compared with other methods in both non-redundant robot and redundant robot

Neutron transfer reactions in the fp-shell region

Energy Technology Data Exchange (ETDEWEB)

Mahgoub, Mahmoud

2008-06-26

Neutron transfer reactions were used to study the stability of the magic number N=28 near {sup 56}Ni. On one hand the one-neutron pickup (d,p) reaction was used for precision spectroscopy of single-particle levels in {sup 55}Fe. On the other hand we investigated the two-neutron transfer mechanism into {sup 56}Ni using the pickup reaction {sup 58}Ni((vector)p,t){sup 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({sup 40}Ar,p){sup 42}Ar and d({sup 54}Fe,p){sup 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 ((vector)d,p) on {sup 54}Fe the 1f{sub 7/2} shell in the ground state configuration was found to be partly broken. The instability of the 1f{sub 7/2} shell and the magic number N=28 was confirmed once by observing a number of levels with J{sup {pi}} = 7/2{sup -} at low excitation energies, which should not be populated if {sup 54}Fe has a closed 1f{sub 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{sub 7/2} shell show better agreement with the experiment. The instability of the 1f{sub 7/2} shell was confirmed also by performing the two-neutron pick-up reaction ((vector)p,t) on {sup 58}Ni to study {sup 56}Ni, where a considerable improvement in the DWBA calculation was observed after considering 1f{sub 7/2} as a broken shell. To prove the reliability of inverse kinematics transfer reactions at low energies ({proportional_to} 2 AMeV), the aforementioned single-neutron transfer reaction (d,p) was repeated using a beam of {sup 54}Fe ions and a

Nucleon transfer reactions with radioactive beams

Science.gov (United States)

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.

A projected back-tracking line-search for constrained interactive inverse kinematics

DEFF Research Database (Denmark)

Engell-Nørregård, Morten Pol; Erleben, Kenny

2011-01-01

Inverse kinematics is the problem of manipulating the pose of an articulated figure in order to achieve a desired goal disregarding inertia and forces. One can approach the problem as a non-linear optimization problem or as non-linear equation solving. The former approach is superior in its...... of joint limits in an interactive solver. This makes it possible to compute the pose in each frame without the discontinuities exhibited by existing key frame animation techniques....

Sensor module design and forward and inverse kinematics analysis of 6-DOF sorting transferring robot

Science.gov (United States)

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.

Inverse kinematics research using obstacle avoidance geometry method for EAST Articulated Maintenance Arm (EAMA)

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.

Inverse kinematics research using obstacle avoidance geometry method for EAST Articulated Maintenance Arm (EAMA)

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.

A hybrid press system: Motion design and inverse kinematics issues

Directory of Open Access Journals (Sweden)

M. Erkan Kütük

2016-06-01

Full Text Available A hybrid machine (HM is a system integrating two types of motor; servo and constant velocity with a mechanism. The purpose is to make use of the energy in the system efficiently with a flexible system having more than one degree of freedom (DOF. A review is included on hybrid press systems. This study is included as a part of an industrial project used for metal forming. The system given here includes a 7 link mechanism, one of link is driven by a constant velocity motor (CV and the other is driven by a servo motor (SM. Kinematics analysis of the hybrid driven mechanism is presented here as inverse kinematics analysis. Motion design is very crucial step when using a hybrid machine. So motion design procedure is given with motion curve examples needed. Curve Fitting Toolbox (CFT in Matlab® is offered as an auxiliary method which can be successfully applied. Motion characteristics are chosen by looking at requirements taken from metal forming industry. Results are then presented herein.

Determining the reaction in kinematic pairs of certain mechanisms using a digital computer

Energy Technology Data Exchange (ETDEWEB)

Chifchieva, V N

1980-01-01

In Dorr classifiers, walking excavators, conveyors, sieves and other mechanisms, one finds a triad with a sliding pair. An algorithm is proposed for determining reactions in the kinematic connections of a triad with one, two or three sliding pairs. The algorithm is suitable for use in digital computers. It is based on the transfer function method, and has several advantages over the technnique of determining reactions in kinematic pairs of V. Zinovyev. A concrete example is given of calculating reactions in the connections of a crank and lever mechanism of a walking excavator.

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.

A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242)

Science.gov (United States)

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

A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242).

Science.gov (United States)

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.

Kinematical program package for nuclear reaction

International Nuclear Information System (INIS)

Dai Nengxiong; Xie Ying

1988-01-01

A FORTRAN package is designed to provide users as many conveniences as possible. Besides adopting man-machine interaction mode and setting nuclide mass file, there are still some other features which are, for examples, the functions of offering the initial values for some transcendental equations and evaluating all the kinematic variables in nuclear reactions at low energies of the form of T (p,1)2, T (p,12)3 and T (p,12)34. All these make the users much easier to use the package

Anatomical kinematic constraints: consequences on muscular forces and joint reactions

OpenAIRE

MOISSENET, F; CHEZE, L; DUMAS, R

2011-01-01

This paper presents a method to determine musculo-tendon forces and joint reactions during gait, using a 3D right leg model with 5 DoFs: spherical joint at the hip and parallel mechanisms at both knee and ankle. A typical set of natural coordinates is used to obtain the dynamic equations. First, using a global optimization method, "anatomical" kinematic constraints (i.e., parallel mechanisms) are applied on the kinematics obtained from motion capture data. Consistent derivatives are computed ...

Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics

Energy Technology Data Exchange (ETDEWEB)

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.

Derivation of three closed loop kinematic velocity models using normalized quaternion feedback for an autonomous redundant manipulator with application to inverse kinematics

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

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

CSIR Research Space (South Africa)

Singh, GK

2010-10-01

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

Kinematical analysis of the data from three-particle reactions by statistical methods

International Nuclear Information System (INIS)

Krug, J.; Nocken, U.

1976-01-01

A statistical procedure to unfold the kinematics of coincidence spectra from three-particle reactions is presented which is used to protect the coincidence events on the kinematical curve. The width of the projection intervals automatically matches the experimental resolution.. The method is characterized by its consistency thus also permitting a reasonable projection of sum-coincidences. (Auth.)

Classical kinematic model for direct reactions of oriented reagents

International Nuclear Information System (INIS)

Schechter, I.; Prisant, M.G.; Levine, R.D.

1987-01-01

A simple kinematic model based on the concept of an orientation-dependent critical configuration for reaction is introduced and applied. The model serves two complementary purposes. In the predictive mode the model provides an easily implemented procedure for computing the reactivity of oriented reagents (including those actually amenable to measure) from a given potential energy surface. The predictions of the model are compared against classical trajectory results for the H + D 2 reaction. By use of realistic potential energy surfaces the model is applied to the Li + HF and O + HCl reactions where the HX molecules are pumped by a polarized laser. A given classical trajectory is deemed reactive or not according to whether it can surmount the barrier at that particular orientation. The essential difference with the model of Levine and Bernstein is that the averaging over initial conditions is performed by using a Monte Carlo integration. One can therefore use the correct orientation-dependent shape (and not only height) of the barrier to reaction and, furthermore, use oriented or aligned reagents. Since the only numerical step is a Monte Carlo sampling of initial conditions, very many trajectories can be run. This suffices to determine the reaction cross section for different initial conditions. To probe the products, they have employed the kinematic approach of Elsum and Gordon. The result is a model where, under varying initial conditions, examining final-state distributions or screening different potential energy surfaces can be efficiently carried out

Inverse Kinematics for Upper Limb Compound Movement Estimation in Exoskeleton-Assisted Rehabilitation.

Science.gov (United States)

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.

Inverse Kinematics for Upper Limb Compound Movement Estimation in Exoskeleton-Assisted Rehabilitation

Science.gov (United States)

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. PMID:27403420

Inverse Kinematics for Upper Limb Compound Movement Estimation in Exoskeleton-Assisted Rehabilitation

Directory of Open Access Journals (Sweden)

Camilo Cortés

2016-01-01

Full Text Available 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.

128Xe Lifetime Measurement Using the Coulex-Plunger Technique in Inverse Kinematics

International Nuclear Information System (INIS)

Konstantinopoulos, T.; Lagoyannis, A.; Harissopulos, S.; Dewald, A.; Rother, W.; Ilie, G.; Jones, P.; Rakhila, P.; Greenlees, P.; Grahn, T.; Julin, R.; Balabanski, D. L.

2008-01-01

The lifetimes of the lowest collective yrast and non-yrast states in 128 Xe were measured in a Coulomb excitation experiment using the recoil distance method (RDM) in inverse kinematics. Hereby, the Cologne plunger apparatus was employed together with the JUROGAM spectrometer. Excited states in 128 Xe were populated using a 128 Xe beam impinging on a nat Fe target with E( 128 Xe)≅525 MeV. Recoils were detected by means of an array of solar cells placed at forward angles. Recoil-gated γ-spectra were measured at different plunger distances

128Xe Lifetime Measurement Using the Coulex-Plunger Technique in Inverse Kinematics

Science.gov (United States)

Konstantinopoulos, T.; Lagoyannis, A.; Harissopulos, S.; Dewald, A.; Rother, W.; Ilie, G.; Jones, P.; Rakhila, P.; Greenlees, P.; Grahn, T.; Julin, R.; Balabanski, D. L.

2008-05-01

The lifetimes of the lowest collective yrast and non-yrast states in 128Xe were measured in a Coulomb excitation experiment using the recoil distance method (RDM) in inverse kinematics. Hereby, the Cologne plunger apparatus was employed together with the JUROGAM spectrometer. Excited states in 128Xe were populated using a 128Xe beam impinging on a natFe target with E(128Xe)~525 MeV. Recoils were detected by means of an array of solar cells placed at forward angles. Recoil-gated γ-spectra were measured at different plunger distances.

Observation of isoscalar multipole strengths in exotic doubly-magic 56Ni in inelastic α scattering in inverse kinematics

Directory of Open Access Journals (Sweden)

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.

Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-DOF Humanoid Robot Arms

Directory of Open Access Journals (Sweden)

Hsu-Chih Huang

2014-01-01

Full Text Available This paper presents a hybrid Taguchi deoxyribonucleic acid (DNA swarm intelligence for solving the inverse kinematics redundancy problem of six degree-of-freedom (DOF humanoid robot arms. The inverse kinematics problem of the multi-DOF humanoid robot arm is redundant and has no general closed-form solutions or analytical solutions. The optimal joint configurations are obtained by minimizing the predefined performance index in DNA algorithm for real-world humanoid robotics application. The Taguchi method is employed to determine the DNA parameters to search for the joint solutions of the six-DOF robot arms more efficiently. This approach circumvents the disadvantage of time-consuming tuning procedure in conventional DNA computing. Simulation results are conducted to illustrate the effectiveness and merit of the proposed methods. This Taguchi-based DNA (TDNA solver outperforms the conventional solvers, such as geometric solver, Jacobian-based solver, genetic algorithm (GA solver and ant, colony optimization (ACO solver.

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

Cryotherapy does not affect peroneal reaction following sudden inversion.

Science.gov (United States)

Berg, Christine L; Hart, Joseph M; Palmieri-Smith, Riann; Cross, Kevin M; Ingersoll, Christopher D

2007-11-01

If ankle joint cryotherapy impairs the ability of the ankle musculature to counteract potentially injurious forces, the ankle is left vulnerable to injury. To compare peroneal reaction to sudden inversion following ankle joint cryotherapy. Repeated measures design with independent variables, treatment (cryotherapy and control), and time (baseline, immediately post treatment, 15 minutes post treatment, and 30 minutes post treatment). University research laboratory. Twenty-seven healthy volunteers. An ice bag was secured to the lateral ankle joint for 20 minutes. The onset and average root mean square amplitude of EMG activity in the peroneal muscles was calculated following the release of a trap door mechanism causing inversion. There was no statistically significant change from baseline for peroneal reaction time or average peroneal muscle activity at any post treatment time. Cryotherapy does not affect peroneal muscle reaction following sudden inversion perturbation.

FAST INTEGER AMBIGUITY RESOLUTION IN GPS KINEMATIC POSITIONING USING LEFT NULL SPACE AND MULTI-TIME (INVERSE PAIRED CHOLESKY DECORRELATION

Directory of Open Access Journals (Sweden)

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.

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.

Measurement of resonances in 12 C + 4 He through inverse kinematics with thick targets

International Nuclear Information System (INIS)

Aguilera, E.F.; Lizcano, D.; Martinez Q, E.; Fernandez, M.C.; Murillo, G.; Goldberg, V.; Skorodumov, B.B.; Rogachev, G.

2003-01-01

The excitation function of elastic scattering for the system 12 C + 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

Science.gov (United States)

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.

The first organocatalytic, ortho-regioselective inverse-electron-demand hetero-Diels-Alder reaction.

Science.gov (United States)

Hejmanowska, Joanna; Jasiński, Marcin; Wojciechowski, Jakub; Mlostoń, Grzegorz; Albrecht, Łukasz

2017-10-17

The development of the unprecedented ortho-regioselective inverse-electron-demand hetero-Diels-Alder (IEDHDA) reaction is described. It has been demonstrated that by proper choice of reactants and reaction conditions the inverse-electron-demand hetero-Diels-Alder cycloaddition can be realized with unprecedented regioselectivity arising from the reaction between the terminal carbon atom of the dienophile and the heteroatom of the heterodiene.

The Natural-CCD Algorithm, a Novel Method to Solve the Inverse Kinematics of Hyper-redundant and Soft Robots.

Science.gov (United States)

Martín, Andrés; Barrientos, Antonio; Del Cerro, Jaime

2018-03-22

This article presents a new method to solve the inverse kinematics problem of hyper-redundant and soft manipulators. From an engineering perspective, this kind of robots are underdetermined systems. Therefore, they exhibit an infinite number of solutions for the inverse kinematics problem, and to choose the best one can be a great challenge. A new algorithm based on the cyclic coordinate descent (CCD) and named as natural-CCD is proposed to solve this issue. It takes its name as a result of generating very harmonious robot movements and trajectories that also appear in nature, such as the golden spiral. In addition, it has been applied to perform continuous trajectories, to develop whole-body movements, to analyze motion planning in complex environments, and to study fault tolerance, even for both prismatic and rotational joints. The proposed algorithm is very simple, precise, and computationally efficient. It works for robots either in two or three spatial dimensions and handles a large amount of degrees-of-freedom. Because of this, it is aimed to break down barriers between discrete hyper-redundant and continuum soft robots.

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

International Nuclear Information System (INIS)

Sasaki, Shinobu

1987-01-01

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

Intramolecular inverse electron demand Diels-Alder reactions of pyrimidines

NARCIS (Netherlands)

Frissen, A.E.

1990-01-01

This thesis deals with the intramolecular inverse electron demand Diels-Alder reaction of pyrimidines. The main objective of the study was to investigate the synthetic applicability of this reaction and to get more insight in the electronic and steric effects which determine the reactivity

A new recoil distance technique using low energy coulomb excitation in inverse kinematics

Energy Technology Data Exchange (ETDEWEB)

Rother, W., E-mail: wolfram.rother@googlemail.com [Institut fuer Kernphysik der Universitaet zu Koeln, Zuelpicher Str. 77, D-50937 Koeln (Germany); Dewald, A.; Pascovici, G.; Fransen, C.; Friessner, G.; Hackstein, M. [Institut fuer Kernphysik der Universitaet zu Koeln, Zuelpicher Str. 77, D-50937 Koeln (Germany); Ilie, G. [Wright Nuclear Structure Laboratory, Yale University, New Haven, CT 06520 (United States); National Institute of Physics and Nuclear Engineering, P.O. Box MG-6, Bucharest-Magurele (Romania); Iwasaki, H. [National Superconducting Cyclotron Laboratory, Michigan State University, East Lansing, MI 48824 (United States); Department of Physics and Astronomy, Michigan State University, East Lansing, MI 48824 (United States); Jolie, J. [Institut fuer Kernphysik der Universitaet zu Koeln, Zuelpicher Str. 77, D-50937 Koeln (Germany); Melon, B. [Dipartimento di Fisica, Universita di Firenze and INFN Sezione di Firenze, Sesto Fiorentino (Firenze) I-50019 (Italy); Petkov, P. [Institut fuer Kernphysik der Universitaet zu Koeln, Zuelpicher Str. 77, D-50937 Koeln (Germany); INRNE-BAS, Sofia (Bulgaria); Pfeiffer, M. [Institut fuer Kernphysik der Universitaet zu Koeln, Zuelpicher Str. 77, D-50937 Koeln (Germany); Pissulla, Th. [Institut fuer Kernphysik der Universitaet zu Koeln, Zuelpicher Str. 77, D-50937 Koeln (Germany); Bundesumweltministerium, Robert-Schuman-Platz 3, D - 53175 Bonn (Germany); Zell, K.-O. [Institut fuer Kernphysik der Universitaet zu Koeln, Zuelpicher Str. 77, D-50937 Koeln (Germany); Jakobsson, U.; Julin, R.; Jones, P.; Ketelhut, S.; Nieminen, P.; Peura, P. [Department of Physics, University of Jyvaeskylae, P.O. Box 35, FI-40014 (Finland); and others

2011-10-21

We report on the first experiment combining the Recoil Distance Doppler Shift technique and multistep Coulomb excitation in inverse kinematics at beam energies of 3-10 A MeV. The setup involves a standard plunger device equipped with a degrader foil instead of the normally used stopper foil. An array of particle detectors is positioned at forward angles to detect target-like recoil nuclei which are used as a trigger to discriminate against excitations in the degrader foil. The method has been successfully applied to measure lifetimes in {sup 128}Xe and is suited to be a useful tool for experiments with radioactive ion beams.

Ground reaction forces and kinematics in distance running in older-aged men

NARCIS (Netherlands)

Bus, Sicco A.

2003-01-01

Purpose: The biomechanics of distance running has not been studied before in older-aged runners but may be different than in younger-aged runners because of musculoskeletal degeneration at older age. This study aimed at determining whether the stance phase kinematics and ground reaction forces in

Extraction of human gait signatures: an inverse kinematic approach using Groebner basis theory applied to gait cycle analysis

Science.gov (United States)

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.

Complete kinematics study of the 11B+p→3α reaction

DEFF Research Database (Denmark)

Fynbo, H.O.U.; Laursen, K.L.; Riisager, K.

2012-01-01

The 11B(p,3α) reaction measured in complete kinematics is used to search for broad resonances in 12C. Evidence for natural parity states around 10 MeV and 12 MeV is presented. The most likely assignment is 2+. Measurements of Dalitz distributions from the 2+ and 2- states at 16.11 MeV and 16.57 Me...

Kinematic and ground reaction force accommodation during weighted walking.

Science.gov (United States)

James, C Roger; Atkins, Lee T; Yang, Hyung Suk; Dufek, Janet S; Bates, Barry T

2015-12-01

Weighted walking is a functional activity common in daily life and can influence risks for musculoskeletal loading, injury and falling. Much information exists about weighted walking during military, occupational and recreational tasks, but less is known about strategies used to accommodate to weight carriage typical in daily life. The purposes of the study were to examine the effects of weight carriage on kinematics and peak ground reaction force (GRF) during walking, and explore relationships between these variables. Twenty subjects walked on a treadmill while carrying 0, 44.5 and 89 N weights in front of the body. Peak GRF, sagittal plane joint/segment angular kinematics, stride length and center of mass (COM) vertical displacement were measured. Changes in peak GRF and displacement variables between weight conditions represented accommodation. Effects of weight carriage were tested using analysis of variance. Relationships between peak GRF and kinematic accommodation variables were examined using correlation and regression. Subjects were classified into sub-groups based on peak GRF responses and the correlation analysis was repeated. Weight carriage increased peak GRF by an amount greater than the weight carried, decreased stride length, increased vertical COM displacement, and resulted in a more extended and upright posture, with less hip and trunk displacement during weight acceptance. A GRF increase was associated with decreases in hip extension (|r|=.53, p=.020) and thigh anterior rotation (|r|=.57, p=.009) displacements, and an increase in foot anterior rotation displacement (|r|=.58, p=.008). Sub-group analysis revealed that greater GRF increases were associated with changes at multiple sites, while lesser GRF increases were associated with changes in foot and trunk displacement. Weight carriage affected walking kinematics and revealed different accommodation strategies that could have implications for loading and stability. Copyright © 2015 Elsevier B

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

Science.gov (United States)

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

2015-12-01

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

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

Science.gov (United States)

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

1987-01-01

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

Kinematic Identification of Parallel Mechanisms by a Divide and Conquer Strategy

DEFF Research Database (Denmark)

Durango, Sebastian; Restrepo, David; Ruiz, Oscar

2010-01-01

using the inverse calibration method. The identification poses are selected optimizing the observability of the kinematic parameters from a Jacobian identification matrix. With respect to traditional identification methods the main advantages of the proposed Divide and Conquer kinematic identification...... strategy are: (i) reduction of the kinematic identification computational costs, (ii) improvement of the numerical efficiency of the kinematic identification algorithm and, (iii) improvement of the kinematic identification results. The contributions of the paper are: (i) The formalization of the inverse...... calibration method as the Divide and Conquer strategy for the kinematic identification of parallel symmetrical mechanisms and, (ii) a new kinematic identification protocol based on the Divide and Conquer strategy. As an application of the proposed kinematic identification protocol the identification...

First Nuclear Reaction Experiment with Stored Radioactive 56Ni Beam and Internal Hydrogen and Helium Targets

NARCIS (Netherlands)

Egelhof, P.; Bagchi, Soumya; Csatlós, M.; Dillmann, I.; Dimopoulou, C.; Furuno, T; Geissel, H.; Gernhauser, R.; Kalantar-Nayestanaki, Nasser; Kuilman, M.; Mahjour-Shafiei, M.; Najafi, M.A.; Rigollet, C.; Streicher, B.

2014-01-01

The investigation of light-ion induced direct reactions using stored and cooled radioactive beams, interacting with internal targets of storage rings, can lead to substantial advantages over external target experiments, in particular for direct reaction experiments in inverse kinematics at very low

Effects of load on ground reaction force and lower limb kinematics during concentric squats.

Science.gov (United States)

Kellis, Eleftherios; Arambatzi, Fotini; Papadopoulos, Christos

2005-10-01

The purpose of this study was to examine the effects of external load on vertical ground reaction force, and linear and angular kinematics, during squats. Eight males aged 22.1 +/- 0.8 years performed maximal concentric squats using loads ranging from 7 to 70% of one-repetition maximum on a force plate while linear barbell velocity and the angular kinematics of the hip, knee and ankle were recorded. Maximum, average and angle-specific values were recorded. The ground reaction force ranged from 1.67 +/- 0.20 to 3.21 +/- 0.29 times body weight and increased significantly as external load increased (P squat exercises is not achieved at the same position of the lower body as external load is increased. In contrast, joint velocity coordination does not change as load is increased. The force-velocity relationship was linear and independent from the set of data used for its determination.

Simulations of nuclear reactions for a future HIE-ISOLDE spectrometer

Energy Technology Data Exchange (ETDEWEB)

Tveten, Gry [University of Oslo (Norway); CERN (Switzerland); Cederkall, Joakim [Lund University (Sweden); CERN (Switzerland); Blumenfeld, Yorick [CERN (Switzerland)

2009-07-01

The planned High Intensity and Energy (HIE) upgrade of the radioactive beam facility ISOLDE will enable post-acceleration of radioactive beams up to an energy of about 10 MeV/u, thus opening the door to nuclear reaction studies. In the case of transfer reactions in inverse kinematics a recoil separator is often well suited or even needed to tell recoils and beam apart and to select the exit channel or to do spectroscopic studies. Two different types of spectrometer designs are being considered for HIE-ISOLDE, namely a recoil mass separator or a ray-tracing type of spectrometer. A set of nuclear transfer reactions in inverse kinematics have been simulated using realistic parameters for HIE-ISOLDE. The performance of the two types of spectrometer designs is compared and their scientific possibilities and limitations discussed based on the simulation results. To evaluate the validity of the simulations a data set from PRISMA at LNL is also compared with simulation results and a comparison between simulations and these data will be presented.

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

Test of distorted wave kinematic coupling approximation calculations for knockout reactions

International Nuclear Information System (INIS)

Jain, A.K.

1990-01-01

A test has been devised to check the validity of conventional distorted-wave impulse approximation (DWIA) treatment of knockout reactions. The conventional DWIA formalism separates the three-body final state Schroedinger equation for a knockout reaction into two two-body Schroedinger equations by assuming an asymptotic constant value for the three-body coupling term commonly known as the kinematic coupling approximation (KCA). In the test case, which consists of an extreme asymmetric situation where one of the distorting optical potentials is assumed to vanish, the three-body final state Schroedinger equation can be solved exactly as a product of two two-body solutions using one particular set of relative coordinates. Large influence of the three-body coupling term is seen in the comparison of the exact and KCA results for (α,2α) and (p,pα) knockout reactions when the distorting optical potentials are weakly absorbing

Measurement of the magnetic moment of the 2$^{+}$ state in neutron-rich radioactive $^{72,74}$Zn using the transient field technique in inverse kinematics

CERN Multimedia

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 $\

Plunger lifetime measurements in {sup 128}Xe using Coulomb excitation in inverse kinematics

Energy Technology Data Exchange (ETDEWEB)

Rother, Wolfram; Dewald, Alfred; Ilie, Gabriela; Pissulla, Thomas; Melon, Barbara; Jolie, Jan; Pascovici, Gheorghe; Zell, Karl-Oskar [IKP, Universitaet zu Koeln, Koeln (Germany); Julin, Rauno; Jones, Peter; Greenless, Paul; Rahkila, Panu; Scholey, Cath [JYFL, University of Jyvaeskylae, Jyvaeskylae (Finland); Harissopulos, Sotirios; Lagoyannis, Anastasios; Konstantinopoulos, T. [INP, N.C.S.R. ' ' Demokritos' ' , Athens (Greece); Grahn, Tuomas [JYFL, University of Jyvaeskylae, Jyvaeskylae (Finland)]|[Oliver Lodge Lab., University of Liverpool, Liverpool (United Kingdom); Balabanski, Dimiter [INRNE, Sofia (Bulgaria)

2008-07-01

We report on an experiment using Coulomb excitation in inverse kinematics in combination with the plunger technique for measuring lifetimes of excited states of the projectile. Aside from the investigation of E(2) features in {sup 128}Xe, the aim was to explore the special features of such experiments which are also suited to be used with radioactive beams. The measurement was performed at the JYFL with the Koeln coincidence plunger device and the JuroGam spectrometer using a {sup 128}Xe beam impinging on a {sup nat}Fe target at a beam energy of 525 MeV. Recoils were detected by means of 32 solar cells placed at extrem forward angles. Recoil-gated {gamma}-singles and {gamma}{gamma}-coincidences were measured at different target-degrader distances. Details of the experiment and first results are presented.

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

Elastic scattering and cluster-transfer reactions of 98Rb on 7Li at REX-ISOLDE

CERN Document Server

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...

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

New findings on the onset of thermal disassembly in spallation reactions

International Nuclear Information System (INIS)

Napolitani, P.

2004-09-01

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 56 +p, Fe 56 +Ti(nat), Xe 136 +p, Xe 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 56 +p, and Xe 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)

Influence of chronic back pain on kinematic reactions to unpredictable arm pulls.

Science.gov (United States)

Götze, Martin; Ernst, Michael; Koch, Markus; Blickhan, Reinhard

2015-03-01

There is evidence that muscle reflexes are delayed in patients with chronic low back pain in response to perturbations. It is still unrevealed whether these delays accompanied by an altered kinematic or compensated by adaption of other muscle parameters. The aim of this study was to investigate whether chronic low back pain patients show an altered kinematic reaction and if such data are reliable for the classification of chronic low back pain. In an experiment involving 30 females, sudden lateral perturbations were applied to the arm of a subject in an upright, standing position. Kinematics was used to distinguish between chronic low back pain patients and healthy controls. A calculated model of a stepwise discriminant function analysis correctly predicted 100% of patients and 80% of healthy controls. The estimation of the classification error revealed a constant rate for the classification of the healthy controls and a slightly decreased rate for the patients. Observed reflex delays and identified kinematic differences inside and outside the region of pain during impaired movement indicated that chronic low back pain patients have an altered motor control that is not restricted to the lumbo-pelvic region. This applied paradigm of external perturbations can be used to detect chronic low back pain patients and also persons without chronic low back pain but with an altered motor control. Further investigations are essential to reveal whether healthy persons with changes in motor function have an increased potential to develop chronic back pain. Copyright © 2015 Elsevier Ltd. All rights reserved.

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.

Cross-sections of spallation residues produced in Proton –Induced reactions

International Nuclear Information System (INIS)

Al-Haydari, A.; Khan, A.A.; Abdul Ganai, A.; Hassan, G.S.

2013-01-01

The recent available GSI data for proton-induced spallation reactions by using inverse kinematics at different energies are analyzed for different reactions in terms of the percolation model together with the intranuclear cascade model (MCAS). The simulation results obtained for the cross sections of production of light ions and isotopes as a function of mass and charge number is calculated. Results of calculations are in good agreement with experiment

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.

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

Directory of Open Access Journals (Sweden)

Rafael Cisneros Limón

2013-04-01

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

Extended methods using thick-targets for nuclear reaction data of radioactive isotopes

Science.gov (United States)

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.

Inverse-Electron-Demand Diels-Alder Reactions: Principles and Applications.

Science.gov (United States)

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.

Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanism

Science.gov (United States)

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.

Alpha resonant scattering for astrophysical reaction studies

International Nuclear Information System (INIS)

Yamaguchi, H.; Kahl, D.; Nakao, T.; Wakabayashi, Y.; Kubano, S.; Hashimoto, T.; Hayakawa, S.; Kawabata, T.; Iwasa, N.; Teranishi, T.; Kwon, Y. K.; Binh, D. N.; Khiem, L. H.; Duy, N. G.

2014-01-01

Several alpha-induced astrophysical reactions have been studied at CRIB (CNS Radioactive Ion Beam separator), which is a low-energy RI beam separator at Center for Nuclear Study (CNS) of the University of Tokyo. One of the methods to study them is the α resonant scattering using the thick-target method in inverse kinematics. Among the recent studies at CRIB, the measurement of 7 Be+α resonant scattering is discussed. Based on the result of the experiment, we evaluated the contributions of high-lying resonances for the 7 Be(α,γ) reaction, and proposed a new cluster band in 11 C

Estimation of Vertical Ground Reaction Forces and Sagittal Knee Kinematics During Running Using Three Inertial Sensors

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

(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

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

Kinematic power corrections in off-forward hard reactions.

Science.gov (United States)

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.

Kinematic and Dynamic Analysis of a Lower Limb Exoskeleton

OpenAIRE

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.

S-factor measurement of the 13C(p,γ)14N reaction in reverse kinematics

International Nuclear Information System (INIS)

Genard, G; Terwagne, G; Descouvemont, P

2010-01-01

We measure the S-factor of the 13 C(p,γ) 14 N reaction in reverse kinematics for energies ranging from 561 down to 225 keV with a low background experimental setup. The results are compared with previous measurements and an R-matrix treatment is applied to the data in order to obtain the properties of the 511 keV resonance that dominates the cross section at low energies.

Alpha resonant scattering for astrophysical reaction studies

Energy Technology Data Exchange (ETDEWEB)

Yamaguchi, H.; Kahl, D.; Nakao, T. [Center for Nuclear Study (CNS), University of Tokyo, RIKEN campus, 2-1 Hirosawa, Wako, Saitama 351-0198 (Japan); Wakabayashi, Y.; Kubano, S. [The Institute of Physical and Chemical Research (RIKEN), 2-1 Hirosawa, Wako, Saitama 351-0198 (Japan); Hashimoto, T. [Research Center for Nuclear Physics (RCNP), Osaka University, 10-1 Mihogaoka, Ibaraki, Osaka 567-0047 (Japan); Hayakawa, S. [Istituto Nazionale Fisica Nucleare - Laboratori Nazionali del Sud (INFN-LNS), Via S. Sofia 62, 95125 Catania (Italy); Kawabata, T. [Department of Physics, Kyoto University, Kita-Shirakawa, Kyoto 606-8502 (Japan); Iwasa, N. [Department of Physics, Tohoku University, Aoba, Sendai, Miyagi 980-8578 (Japan); Teranishi, T. [Department of Physics, Kyushu University, 6-10-1 Hakozaki, Fukuoka 812-8581 (Japan); Kwon, Y. K. [Institute for Basic Science, 70, Yuseong-daero 1689-gil, Yuseong-gu, Daejeon 305-811 (Korea, Republic of); Binh, D. N. [30 MeV Cyclotron Center, Tran Hung Dao Hospital, Hoan Kiem District, Hanoi (Viet Nam); Khiem, L. H.; Duy, N. G. [Institute of Physics, Vietnam Academy of Science and Technology, 18 Hong Quoc Viet, Nghia do, Hanoi (Viet Nam)

2014-05-02

Several alpha-induced astrophysical reactions have been studied at CRIB (CNS Radioactive Ion Beam separator), which is a low-energy RI beam separator at Center for Nuclear Study (CNS) of the University of Tokyo. One of the methods to study them is the α resonant scattering using the thick-target method in inverse kinematics. Among the recent studies at CRIB, the measurement of {sup 7}Be+α resonant scattering is discussed. Based on the result of the experiment, we evaluated the contributions of high-lying resonances for the {sup 7}Be(α,γ) reaction, and proposed a new cluster band in {sup 11}C.

Bayesian inversion analysis of nonlinear dynamics in surface heterogeneous reactions.

Science.gov (United States)

Omori, Toshiaki; Kuwatani, Tatsu; Okamoto, Atsushi; Hukushima, Koji

2016-09-01

It is essential to extract nonlinear dynamics from time-series data as an inverse problem in natural sciences. We propose a Bayesian statistical framework for extracting nonlinear dynamics of surface heterogeneous reactions from sparse and noisy observable data. Surface heterogeneous reactions are chemical reactions with conjugation of multiple phases, and they have the intrinsic nonlinearity of their dynamics caused by the effect of surface-area between different phases. We adapt a belief propagation method and an expectation-maximization (EM) algorithm to partial observation problem, in order to simultaneously estimate the time course of hidden variables and the kinetic parameters underlying dynamics. The proposed belief propagation method is performed by using sequential Monte Carlo algorithm in order to estimate nonlinear dynamical system. Using our proposed method, we show that the rate constants of dissolution and precipitation reactions, which are typical examples of surface heterogeneous reactions, as well as the temporal changes of solid reactants and products, were successfully estimated only from the observable temporal changes in the concentration of the dissolved intermediate product.

Multi-segment foot kinematics and ground reaction forces during gait of individuals with plantar fasciitis.

Science.gov (United States)

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 (pfoot 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.

(4+2) Cycloaddition reactions with inverse electron demand of nitrogen bearing, heteroaromatic cations

International Nuclear Information System (INIS)

Ritzberger-Baumgartner, W.

1996-06-01

Three cationic, heteroaromatic diene-systems (1, 2, 3, 4-tetramethoxycarbonyl-quinolizinium-tetrafluoroborate (M), 8, 9, 10, 11-tetrarnethoxycarbonylpyrido[2,1-a]-isoquinolinium-TFB and triazolo[1,5-b]isoquinolinium-TFBs) and a cationic, non-aromatic diene (2,5,5-trimethyl-3-oxo-1, 2, 4-triazolium-TFB) were synthesized. The dienes were employed successfully in cycloaddition reactions with a number ofconjugated dienophiles (including norbornene). The mechanism underlying these cycloaddition reactions was discussed in the theoretical section. At first quantumchemical calculations of the frontier orbital energies provided the proof, that the reactions followed the pattern of reactions with inverse electron demand. Calculation of the charge distribution and of the orbital coefficients led to the conclusion, that these reactions are mainly orbital controlled. Two mechanistic variants were in discussion. Either the reactions proceed in a concerted manner resembling the Diels-Alder reaction with inverse electron demand or in two distinct steps with the formation of a cationic intermediate following the attack of the heterodienes acting as weak electrophiles at the dienophiles being weak nucleophiles. Calculations of a possible transition state of these cycloaddition reactions revealed a pronounced preference for the formation of the bond between the logical reaction centers in the first step of a two-step reaction. However, experimental and theoretical findings led to the conviction, that cationic polar cycloaddition reactions proceed exactly along the crossroad between a concerted and a two-step mechanism and depending on the electrophilic strength of the diene and the nucleophilic strength of the dienophile these reactions show more characteristics of one of the two mechanistic possibilities. The high regioselectivity as well as the high stereoselectivity could be explained satisfactory with the help of the calculated orbital coefficients. (author)

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

Nuclear astrophysics with DRAGON at ISAC: the 21Na(p, γ)22Mg reaction

International Nuclear Information System (INIS)

D'Auria, J.M.

2003-01-01

The DRAGON facility at the new intense radioactive beams facility, ISAC, is now operational. It was built to perform studies of radiative alpha and proton capture reactions involving radioactive reactants, and of interest to nuclear astrophysics. The rate of the 21 Na(p, γ) 22 Mg reaction has been measured using inverse kinematics. Resonance strengths have been measured for states of importance for novae explosions. This report will summarize aspects of this study and its impact. (orig.)

Trajectory following and stabilization control of fully actuated AUV using inverse kinematics and self-tuning fuzzy PID.

Science.gov (United States)

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.

Nuclear reactions of neutron-rich Sn isotopes investigated at relativistic energies at R{sup 3}B

Energy Technology Data Exchange (ETDEWEB)

Schindler, Fabia; Aumann, Thomas; Horvat, Andrea [TU Darmstadt (Germany); Boretzky, Konstanze [GSI Helmholtzzentrum (Germany); Schrock, Philipp [CNS, University of Tokyo (Japan); Johansen, Jacob [Aarhus University (Denmark); Collaboration: R3B-Collaboration

2016-07-01

Nuclei with a large neutron excess are expected to form a neutron-rich surface layer which is often referred to as the neutron skin. The investigation of this phenomenon is of great interest in nuclear-structure physics and offers a possibility to constrain the equation-of-state of neutron-rich matter. Assuming a geometrical description of reaction processes as in the eikonal approximation, nuclear-induced reactions are a good tool to probe the neutron skin. Measured reaction cross sections can be used to constrain the density distributions of protons and neutrons in the nucleus and therefore the neutron-skin thickness. For this purpose, reactions of neutron-rich tin isotopes in the A=124-134 mass range have been measured on a carbon target at the R{sup 3}B-setup at GSI in inverse kinematics in a kinematically complete manner. Preliminary results for the reaction cross sections of {sup 124}Sn are presented.

Kinematics and design of a class of parallel manipulators

Science.gov (United States)

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

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 ,? Dipartimento di Elettronica, Informatica e Sistemistica (DEIS), Universit a di Bologna [Online]; Available at: http://www- lar.deis.unibo.it/people/cmelchiorri/Files Robotica/FIR 04 Kinem.pdf[31 October 2012] [18] Manocha, D.; Canny, J.F.; , ?Efficient... to the inverse kinematics of the Pioneer 2 robotic arm ?, Robotica, 2005, vol.23, pp.123, DOI: 10.1017/S0263574704000529 [20] De Xu, Carlos A. Acosta Calderon, John Q. Gan etc .An Analysis of the Inverse Kinematics for a 5-DOF Manipulator, International...

Ground reaction forces and kinematics in distance running in older-aged men.

Science.gov (United States)

Bus, Sicco A

2003-07-01

The biomechanics of distance running has not been studied before in older-aged runners but may be different than in younger-aged runners because of musculoskeletal degeneration at older age. This study aimed at determining whether the stance phase kinematics and ground reaction forces in running are different between younger- and older-aged men. Lower-extremity kinematics using three-dimensional motion analysis and ground reaction forces (GRF) using a force plate were assessed in 16 older-aged (55-65 yr) and 13 younger-aged (20-35 yr) well-trained male distance runners running at a self-selected (SRS) and a controlled (CRS) speed of 3.3 m.s-1. The older subjects ran at significantly lower self-selected speeds than the younger subjects (mean 3.34 vs 3.77 m.s-1). In both speed conditions, the older runners exhibited significantly more knee flexion at heel strike and significantly less knee flexion and extension range of motion. No age group differences were present in subtalar joint motion. Impact peak force (1.91 vs 1.70 BW) and maximal initial loading rate (107.5 vs 85.5 BW.s-1) were significantly higher in the older runners at the CRS. Maximal peak vertical and anteroposterior forces and impulses were significantly lower in the older runners at the SRS. The biomechanics of running is different between older- and younger-aged runners on several relevant parameters. The larger impact peak force and initial loading rate indicate a loss of shock-absorbing capacity in the older runners. This may increase their susceptibility to lower-extremity overuse injuries. Moreover, it emphasizes the focus on optimizing cushioning properties in the design and prescription of running shoes and suggests that older-aged runners should be cautious with running under conditions of high impact.

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

OpenAIRE

Baki Koyuncu; Mehmet Güzel

2007-01-01

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

Silver-catalyzed formal inverse electron-demand Diels-Alder reaction of 1,2-diazines and siloxy alkynes.

Science.gov (United States)

Türkmen, Yunus E; Montavon, Timothy J; Kozmin, Sergey A; Rawal, Viresh H

2012-06-06

A highly effective silver-catalyzed formal inverse electron-demand Diels-Alder reaction of 1,2-diazines and siloxy alkynes has been developed. The reactions provide ready access to a wide range of siloxy naphthalenes and anthracenes, which are formed in good to high yields, under mild reaction conditions, using low catalyst loadings.

Quasi-free scattering off {sup 12}C in inverse kinematics at the R3B/LAND-setup

Energy Technology Data Exchange (ETDEWEB)

Panin, Valerii; Aumann, Thomas [Institut fuer Kernphysik, TU Darmstadt (Germany); Taylor, Jonathan [Department of Physics, University of Liverpool (United Kingdom); Collaboration: R3B-Collaboration

2011-07-01

An important part of the physics program at the future R3B (Reactions with Relativistic Radioactive Beams) experiment at FAIR will be based on the study of proton-induced reactions in a kinematical complete measurement. These are in particular the quasi-free scattering processes of the type (p,2p), (p,pn), (p,p{alpha}) etc, which will be used to investigate the single-particle and cluster structure of neutron-proton asymmetric nuclei and the role of nucleon-nucleon correlations in nuclei. A prototype setup for the detection of high-energy protons in (p,2p) reactions in coincidence with forward emitted light particles and heavy fragments has been built based on an array of Si micro-strip detectors for tracking and thick NaI scintillators for energy measurements. A {sup 12}C beam has been chosen for the bench-mark experiment since its structure is well known, and results from proton- as well as electron-induced knockout reactions are available. First results on two-proton angular correlations and momentum distributions of the knocked-out protons inside {sup 12}C are discussed as well as the excitation energy spectrum of the residual {sup 11}B nuclei.

Kinematic inversion of the 2008 Mw7 Iwate-Miyagi (Japan) earthquake by two independent methods: Sensitivity and resolution analysis

Science.gov (United States)

Gallovic, Frantisek; Cirella, Antonella; Plicka, Vladimir; Piatanesi, Alessio

2013-04-01

On 14 June 2008, UTC 23:43, the border of Iwate and Miyagi prefectures was hit by an Mw7 reverse-fault type crustal earthquake. The event is known to have the largest ground acceleration observed to date (~4g), which was recorded at station IWTH25. We analyze observed strong motion data with the objective to image the event rupture process and the associated uncertainties. Two different slip inversion approaches are used, the difference between the two methods being only in the parameterization of the source model. To minimize mismodeling of the propagation effects we use crustal model obtained by full waveform inversion of aftershock records in the frequency range between 0.05-0.3 Hz. In the first method, based on linear formulation, the parameters are represented by samples of slip velocity functions along the (finely discretized) fault in a time window spanning the whole rupture duration. Such a source description is very general with no prior constraint on the nucleation point, rupture velocity, shape of the velocity function. Thus the inversion could resolve very general (unexpected) features of the rupture evolution, such as multiple rupturing, rupture-propagation reversals, etc. On the other hand, due to the relatively large number of model parameters, the inversion result is highly non-unique, with possibility of obtaining a biased solution. The second method is a non-linear global inversion technique, where each point on the fault can slip only once, following a prescribed functional form of the source time function. We invert simultaneously for peak slip velocity, slip angle, rise time and rupture time by allowing a given range of variability for each kinematic model parameter. For this reason, unlike to the linear inversion approach, the rupture process needs a smaller number of parameters to be retrieved, and is more constrained with a proper control on the allowed range of parameter values. In order to test the resolution and reliability of the

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.

Instantaneous Kinematics Analysis via Screw-Theory of a Novel 3-CRC Parallel Mechanism

Directory of Open Access Journals (Sweden)

Hussein de la Torre

2016-06-01

Full Text Available This paper presents the mobility and kinematics analysis of a novel parallel mechanism that is composed by one base, one platform and three identical limbs with CRC joints. The paper obtains closed-form solutions to the direct and inverse kinematics problems, and determines the mobility of the mechanism and instantaneous kinematics by applying screw theory. The obtained results show that this parallel robot is part of the family 2R1T, since the platform shows 3 DOF, i.e.: one translation perpendicular to the base and two rotations about skew axes. In order to calculate the direct instantaneous kinematics, this paper introduces the vector mh, which is part of the joint velocity vector that multiplies the overall inverse Jacobian matrix. This paper compares the results between simulations and numerical examples using Mathematica and SolidWorks in order to prove the accuracy of the analytical results.

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

Directory of Open Access Journals (Sweden)

Signe eMoe

2016-04-01

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

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.

Halo structure of 8B determined from intermediate energy proton elastic scattering in inverse kinematics

Science.gov (United States)

Korolev, G. A.; Dobrovolsky, A. V.; Inglessi, A. G.; Alkhazov, G. D.; Egelhof, P.; Estradé, A.; Dillmann, I.; Farinon, F.; Geissel, H.; Ilieva, S.; Ke, Y.; Khanzadeev, A. V.; Kiselev, O. A.; Kurcewicz, J.; Le, X. C.; Litvinov, Yu. A.; Petrov, G. E.; Prochazka, A.; Scheidenberger, C.; Sergeev, L. O.; Simon, H.; Takechi, M.; Tang, S.; Volkov, V.; Vorobyov, A. A.; Weick, H.; Yatsoura, V. I.

2018-05-01

The absolute differential cross section for small-angle proton elastic scattering on the proton-rich 8B nucleus has been measured in inverse kinematics for the first time. The experiment was performed using a secondary radioactive beam with an energy of 0.7 GeV/u at GSI, Darmstadt. The active target, namely hydrogen-filled time projection ionization chamber IKAR, was used to measure the energy, angle and vertex point of the recoil protons. The scattering angle of the projectiles was simultaneously determined by the tracking detectors. The measured differential cross section is analyzed on the basis of the Glauber multiple scattering theory using phenomenological nuclear-density distributions with two free parameters. The radial density distribution deduced for 8B exhibits a halo structure with the root-mean-square (rms) matter radius Rm = 2.58 (6) fm and the rms halo radius Rh = 4.24 (25) fm. The results on 8B are compared to those on the mirror nucleus 8Li investigated earlier by the same method. A comparison is also made with previous experimental results and theoretical predictions for both nuclei.

Variability of dynamic source parameters inferred from kinematic models of past earthquakes

KAUST Repository

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.

Inverse kinematics of redundant systems driver IKORv1.0-2.0 (full space parameterization with orientation control, platform mobility, and portability)

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.

The kinematic determinants of anuran swimming performance: an inverse and forward dynamics approach.

Science.gov (United States)

Richards, Christopher T

2008-10-01

The aims of this study were to explore the hydrodynamic mechanism of Xenopus laevis swimming and to describe how hind limb kinematics shift to control swimming performance. Kinematics of the joints, feet and body were obtained from high speed video of X. laevis frogs (N=4) during swimming over a range of speeds. A blade element approach was used to estimate thrust produced by both translational and rotational components of foot velocity. Peak thrust from the feet ranged from 0.09 to 0.69 N across speeds ranging from 0.28 to 1.2 m s(-1). Among 23 swimming strokes, net thrust impulse from rotational foot motion was significantly higher than net translational thrust impulse, ranging from 6.1 to 29.3 N ms, compared with a range of -7.0 to 4.1 N ms from foot translation. Additionally, X. laevis kinematics were used as a basis for a forward dynamic anuran swimming model. Input joint kinematics were modulated to independently vary the magnitudes of foot translational and rotational velocity. Simulations predicted that maximum swimming velocity (among all of the kinematics patterns tested) requires that maximal translational and maximal rotational foot velocity act in phase. However, consistent with experimental kinematics, translational and rotational motion contributed unequally to total thrust. The simulation powered purely by foot translation reached a lower peak stroke velocity than the pure rotational case (0.38 vs 0.54 m s(-1)). In all simulations, thrust from the foot was positive for the first half of the power stroke, but negative for the second half. Pure translational foot motion caused greater negative thrust (70% of peak positive thrust) compared with pure rotational simulation (35% peak positive thrust) suggesting that translational motion is propulsive only in the early stages of joint extension. Later in the power stroke, thrust produced by foot rotation overcomes negative thrust (due to translation). Hydrodynamic analysis from X. laevis as well as forward

Dynamical barrier and isotope effects in the simplest substitution reaction via Walden inversion mechanism

Science.gov (United States)

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.

High effective inverse dynamics modelling for dual-arm robot

Science.gov (United States)

Shen, Haoyu; Liu, Yanli; Wu, Hongtao

2018-05-01

To deal with the problem of inverse dynamics modelling for dual arm robot, a recursive inverse dynamics modelling method based on decoupled natural orthogonal complement is presented. In this model, the concepts and methods of Decoupled Natural Orthogonal Complement matrices are used to eliminate the constraint forces in the Newton-Euler kinematic equations, and the screws is used to express the kinematic and dynamics variables. On this basis, the paper has developed a special simulation program with symbol software of Mathematica and conducted a simulation research on the a dual-arm robot. Simulation results show that the proposed method based on decoupled natural orthogonal complement can save an enormous amount of CPU time that was spent in computing compared with the recursive Newton-Euler kinematic equations and the results is correct and reasonable, which can verify the reliability and efficiency of the method.

Aspects of kinematical coincidence measurements of excitation energy division in damped reactions

International Nuclear Information System (INIS)

Toke, J.; Schroeder, W.U.; Huizenga, J.R.; Rochester Univ., NY

1990-01-01

It is shown that the finite resolution inherent in the kinematical coincidence method leads to systematic errors in the deduced (primary) physical quantities if the latter are calculated based on mass and linear momentum conservation equations alone. As an example, application of this method for measuring excitation energy of the fragments from damped reactions is reviewed. In such a case, finite resolution effects generate significant instrumental, or 'background' correlations between the physical quantities reconstructed in a straightforward fashion, hence, if not accounted for, they may lead to the qualitative misinterpretation of the data. Experimental measures are discussed which appear necessary in order to ensure proper accuracy of the finite resolution corrections. An alternative method of data analysis is presented which is much less susceptible to the finite resolution effects discussed. (orig.)

The Effects of Opposition and Gender on Knee Kinematics and Ground Reaction Force during Landing from Volleyball Block Jumps

Science.gov (United States)

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…

Reactions of neutron-rich Sn isotopes investigated at relativistic energies at R{sup 3}B

Energy Technology Data Exchange (ETDEWEB)

Schindler, Fabia; Aumann, Thomas; Johansen, Jacob; Schrock, Philipp [IKP, TU Darmstadt (Germany); Boretzky, Konstanze [GSI Helmholtzzentrum (Germany); Collaboration: R3B-Collaboration

2015-07-01

Reactions of neutron-rich tin isotopes in a mass range of A=124 to A=134 have been measured at the R{sup 3}B setup at GSI in inverse kinematics. Due to the neutron excess, which results in a weaker binding of the valence neutrons such isotopes are expected to form a neutron skin. The investigation of this phenomenon is an important goal in nuclear-structure physics. Reactions of the tin isotopes with different targets have been performed kinematically complete. The taken data set therefore allows for the extraction of the neutron-skin thickness from two independent reaction channels. These are dipole excitations on the one hand and nuclear-induced reactions on the other hand. This contribution focuses on the latter mechanism. The analysis techniques which are used to extract the total charge-changing as well as the total neutron-removal cross section are presented using the example of {sup 124}Sn. The total neutron-removal cross section is of particular interest because of its high sensitivity to the neutron-skin thickness.

The spallation in reverse kinematics: what for a coincidence measurement?; La spallation en cinematique inverse: pourquoi faire une mesure en coincidence?

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.)

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.

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

Kinematic control of redundant robots and the motion optimizability measure.

Science.gov (United States)

Li, L; Gruver, W A; Zhang, Q; Yang, Z

2001-01-01

This paper treats the kinematic control of manipulators with redundant degrees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint trajectories subject to multiple criteria. An implementation of the method for a 7-dof experimental redundant robot is present.

Kinematics of an in-parallel actuated manipulator based on the Stewart platform mechanism

Science.gov (United States)

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.

The "7Li(d, p)"8Li reaction in inverse kinematics at 5.44 MeV/u

International Nuclear Information System (INIS)

Pakou, A.; Aslanoglou, X.; Sgouros, O.; Soukeras, V.; Keeley, N.; Cappuzzello, F.; Acosta, L.; Agodi, C.; Calabrese, S.; Carbone, D.; Cavallaro, M.; Foti, A.; Marquinez-Duran, G.; Martel, I.; Mazzocco, M.; Strano, E.; Parascandolo, C.; Pierroutsakou, D.; Rusek, K.; Zagatto, V.A.B.

2017-01-01

New data are presented for the "7Li(d, p)"8Li 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"+ and 0.98 MeV 1"+ states of "8Li were obtained using a set of left angle "8Li vertical stroke "7Li + 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.)

Experimental study of bound states in ¹²Be through low-energy ¹¹Be(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...

Obstacle avoidance for kinematically redundant robots using an adaptive fuzzy logic algorithm

International Nuclear Information System (INIS)

Beheshti, M.T.H.; Tehrani, A.K.

1999-05-01

In this paper the Adaptive Fuzzy Logic approach for solving the inverse kinematics of redundant robots in an environment with obstacles is presented. The obstacles are modeled as convex bodies. A fuzzy rule base that is updated via an adaptive law is used to solve the inverse kinematic problem. Additional rules have been introduced to take care of the obstacles avoidance problem. The proposed method has advantages such as high accuracy, simplicity of computations and generality for all redundant robots. Simulation results illustrate much better tracking performance than the dynamic base solution for a given trajectory in cartesian space, while guaranteeing a collision-free trajectory and observation of a mechanical joint limit

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.

New findings on the onset of thermal disassembly in spallation reactions; Nouvelles approches pour l'etude de la multifragmentation thermique dans la spallation

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)

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

Energy Technology Data Exchange (ETDEWEB)

Pelle, L.

2003-12-01

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

Production and de-excitation modes of hot nuclei in the 84Kr + 12C, 84Kr + 27Al, 84Kr + Nat Ti reactions at 26.4, 34.4 and 45.4 MeV/nucleon

International Nuclear Information System (INIS)

Faure-Ramstein, B.

1988-01-01

The inclusive characteristics of nuclear fragments, of mass greater than 10 uma, from KR + C, Al and Ti reactions at 25, 35 and 45 MeV/u, are investigated. The inverse kinematic method is applied. The analysis of velocity and fragment (mass [fr

Nuclear transfer reaction measurements at the ESR—for the investigation of the astrophysical 15O(α,γ)19Ne reaction

International Nuclear Information System (INIS)

Doherty, D T; Woods, P J; Davinson, T; Estrade, A; Lotay, G; Litvinov, Yu A; Brandau, C; Dillmann, I; Egelhof, P; Evdokimov, A; Gumberidze, A; Heil, M; Litvinov, S A; Kiselev, O; Najafi, M Ali; Bagchi, S; Kalantar-Nayestanaki, N; Bishop, S; Bo, M; Lederer, C

2015-01-01

Astrophysical x-ray bursts are thought to be a result of thermonuclear explosions on the atmosphere of an accreting neutron star. Between these bursts, energy is thought to be generated by the hot CNO cycles. The 15 O(α,γ) 19 Ne reaction is one reaction that allows breakout from these CNO cycles and into the rp-process to fuel outbursts. The reaction is expected to be dominated by a single 3/2 + resonance at 4.033 MeV in 19 Ne, however, limited information is available on this key state. This work reports on a pioneering study of the 20 Ne(p,d) 19 Ne reaction, performed in inverse kinematics at the experimental storage ring (ESR) as a means of accessing the astrophysically important 4.033 MeV state in 19 Ne. The unique, background free, high luminosity conditions of the storage ring were utilized for this, the first transfer reaction performed at the ESR. The results of this pioneering test experiment are presented along with suggestions for future measurements at storage ring facilities. (paper)

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

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 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...... 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...

Kinematics analysis of ankle inversion ligamentous sprain injuries in sports: five cases from televised tennis competitions.

Science.gov (United States)

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

Design of an embedded inverse-feedforward biomolecular tracking controller for enzymatic reaction processes.

Science.gov (United States)

Foo, Mathias; Kim, Jongrae; Sawlekar, Rucha; Bates, Declan G

2017-04-06

Feedback control is widely used in chemical engineering to improve the performance and robustness of chemical processes. Feedback controllers require a 'subtractor' that is able to compute the error between the process output and the reference signal. In the case of embedded biomolecular control circuits, subtractors designed using standard chemical reaction network theory can only realise one-sided subtraction, rendering standard controller design approaches inadequate. Here, we show how a biomolecular controller that allows tracking of required changes in the outputs of enzymatic reaction processes can be designed and implemented within the framework of chemical reaction network theory. The controller architecture employs an inversion-based feedforward controller that compensates for the limitations of the one-sided subtractor that generates the error signals for a feedback controller. The proposed approach requires significantly fewer chemical reactions to implement than alternative designs, and should have wide applicability throughout the fields of synthetic biology and biological engineering.

Elementary introduction to relativistic kinematics

International Nuclear Information System (INIS)

Gerber, H.J.

1979-01-01

This paper includes the most important results and applications of the theory of special relativity to high energy phenomena; it provides an analysis of the kinematics of particle decays and reactions as well as an introduction to the Lorentz group

Implementation of TTIK method and time of flight for resonance reaction studies at heavy ion accelerator DC-60

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.

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

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

International Nuclear Information System (INIS)

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

2010-01-01

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

The inverse electron demand Diels-Alder click reaction in radiochemistry.

Science.gov (United States)

Reiner, Thomas; Zeglis, Brian M

2014-04-01

The inverse electron-demand Diels-Alder (IEDDA) cycloaddition between 1,2,4,5-tetrazines and strained alkene dienophiles is an emergent variety of catalyst-free 'click' chemistry that has the potential to have a transformational impact on the synthesis and development of radiopharmaceuticals. The ligation is selective, rapid, high-yielding, clean, and bioorthogonal and, since its advent in 2008, has been employed in a wide variety of chemical settings. In radiochemistry, the reaction has proven particularly useful with (18)  F and has already been utilized to create a number of (18)  F-labeled agents, including the PARP1-targeting small molecule (18)  F-AZD2281, the αv β3 integrin-targeting peptide (18)  F-RGD, and the GLP-1-targeting peptide (18)  F-exendin. The inherent flexibility of the ligation has also been applied to the construction of radiometal-based probes, specifically the development of a modular strategy for the synthesis of radioimmunoconjugates that effectively eliminates variability in the construction of these agents. Further, the exceptional speed and biorthogonality of the reaction have made it especially promising in the realm of in vivo pretargeted imaging and therapy, and pretargeted imaging strategies based on the isotopes (111) In, (18)  F, and (64) Cu have already proven capable of producing images with high tumor contrast and low levels of uptake in background, nontarget organs. Ultimately, the characteristics of inverse electron-demand Diels-Alder click chemistry make it almost uniquely well-suited for radiochemistry, and although the field is young, this ligation has the potential to make a tremendous impact on the synthesis, development, and study of novel radiopharmaceuticals. Copyright © 2013 John Wiley & Sons, Ltd.

Testing earthquake source inversion methodologies

KAUST Repository

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.

Variability of dynamic source parameters inferred from kinematic models of past earthquakes

KAUST Repository

Causse, M.; Dalguer, L. A.; Mai, Paul Martin

2013-01-01

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

Source rupture process of the 2016 Kaikoura, New Zealand earthquake estimated from the kinematic waveform inversion of strong-motion data

Science.gov (United States)

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 adaptations of the hindfoot, forefoot, and hallux during cross-slope walking.

Science.gov (United States)

Damavandi, Mohsen; Dixon, Philippe C; Pearsall, David J

2010-07-01

Despite cross-slope surfaces being a regular feature of our environment, little is known about segmental adaptations required to maintain both balance and forward locomotion. The purpose of this study was to determine kinematic adaptations of the foot segments in relation to transverse (cross-sloped) walking surfaces. Ten young adult males walked barefoot along an inclinable walkway (level, 0° and cross-slope, 10°). Kinematic adaptations of hindfoot with respect to tibia (HF/TB), forefoot with respect to hindfoot (FF/HF), and hallux with respect to forefoot (HX/FF) in level walking (LW), inclined walking up-slope (IWU), i.e., the foot at the higher elevation, and inclined walking down-slope (IWD), i.e., the foot at the lower elevation, were measured. Multivariate analysis of variance (MANOVA) for repeated measures was used to analyze the data. In the sagittal plane, the relative FF/HF and HX/FF plantar/dorsiflexion angles differed across conditions (p=0.024 and p=0.026, respectively). More importantly, numerous frontal plane alterations occurred. For the HF/TB angle, inversion of IWU and eversion of IWD was seen at heel-strike (p<0.001). This pattern reversed with IWU showing eversion and IWD inversion in early stance (p=0.024). For the FF/HF angle, significant differences were observed in mid-stance with IWD revealing inversion while IWU was everted (p<0.004). At toe-off, the pattern switched to eversion of IWD and inversion of IWU (p=0.032). The information obtained from this study enhances our understanding of the kinematics of the human foot in stance during level and cross-slope walking. Copyright © 2010 Elsevier B.V. All rights reserved.

Jefferson Lab E89-044 experiment: study of the quasi-elastic He3(e,e'p)d reaction in parallel kinematics

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)

Analysis of a closed-kinematic chain robot manipulator

Science.gov (United States)

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.

Study of the 66Ni(t,d)67Ni Transfer Reaction in Inverse Kinematics

CERN Document Server

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 ...

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

Workspace optimization and kinematic performance evaluation of 2-DOF parallel mechanisms

International Nuclear Information System (INIS)

Nam, Yun Joo; Park, Myeong Kwan

2006-01-01

This paper presents the kinematics and workspace optimization of the two different 2-DOF (Degrees-of-Freedom) planar parallel mechanisms: one (called 2-RPR mechanism) with translational actuators and the other (called 2-RRR mechanism) with rotational ones. First of all, the inverse kinematics and Jacobian matrix for each mechanism are derived analytically. Then, the workspace including the output-space and the joint-space is systematically analyzed in order to determine the geometric parameters and the operating range of the actuators. Finally, the kinematic optimization of the mechanisms is performed in consideration of their dexterity and rigidity. It is expected that the optimization results can be effectively used as a basic material for the applications of the presented mechanisms to more industrial fields

Shoe collar height effect on athletic performance, ankle joint kinematics and kinetics during unanticipated maximum-effort side-cutting performance.

Science.gov (United States)

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.

Knee joint kinematics and kinetics during the hop and cut after soft tissue artifact suppression: Time to reconsider ACL injury mechanisms?

Science.gov (United States)

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.

[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

Task oriented design of robot kinematics using grid method and its application to nuclear power plant

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)

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

OpenAIRE

Thorne, Lawrence R.

2011-01-01

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

Workflow for near-surface velocity automatic estimation: Source-domain full-traveltime inversion followed by waveform inversion

KAUST Repository

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.

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.)

Real-time estimation of helicopter rotor blade kinematics through measurement of rotation induced acceleration

Science.gov (United States)

Allred, C. Jeff; Churchill, David; Buckner, Gregory D.

2017-07-01

This paper presents a novel approach to monitoring rotor blade flap, lead-lag and pitch using an embedded gyroscope and symmetrically mounted MEMS accelerometers. The central hypothesis is that differential accelerometer measurements are proportional only to blade motion; fuselage acceleration and blade bending are inherently compensated for. The inverse kinematic relationships (from blade position to acceleration and angular rate) are derived and simulated to validate this hypothesis. An algorithm to solve the forward kinematic relationships (from sensor measurement to blade position) is developed using these simulation results. This algorithm is experimentally validated using a prototype device. The experimental results justify continued development of this kinematic estimation approach.

Spectroscopy of low-lying single-particle states in $^{81}$Zn populated in the $^{80}$Zn(d,p) reaction

CERN Multimedia

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.

Study of the kinematically complete breakup reaction 2H(p vector, pp)n at Ep=13.0 MeV with polarized protons

International Nuclear Information System (INIS)

Rauprich, G.; Lemaitre, S.; Niessen, P.; Nyga, K.R.; Reckenfelderbaeumer, R.; Sydow, L.; Paetz genannt Schieck, H.; Witala, H.; Gloeckle, W.

1991-01-01

The breakup reaction 2 H(p vector,pp)n at E p =13.0 MeV has been measured in a kinematically complete experiment with polarized protons in four special kinematical situations: np final-state interaction, pp quasi-free scattering, collinearity and symmetric space star. These configurations are identical to those of a corresponding 2 H(n,nn) 1 H experiment. The cross sections d 3 σ/dΩ 3 dΩ 4 dS and the vector analyzing powers A y are presented as a function of the arclength of the relevant kinematical loci. They are compared to the rigorous Faddeev calculations using realistic meson-exchange NN potentials, i.e. the Paris and Bonn potential. Comparison with the cross section data of the analog neutron experiment is made. In the quasi-free scattering and the space-star cross sections marked discrepancies with the theoretical predictions, in the latter case also with the neutron results are found. In the collinear and final-state interaction situations the agreement is rather good as well as for all analyzing powers and is even improved by taking the finite angular spread into account. (orig.)

Bio-orthogonal Fluorescent Labelling of Biopolymers through Inverse-Electron-Demand Diels-Alder Reactions.

Science.gov (United States)

Kozma, Eszter; Demeter, Orsolya; Kele, Péter

2017-03-16

Bio-orthogonal labelling schemes based on inverse-electron-demand Diels-Alder (IEDDA) cycloaddition have attracted much attention in chemical biology recently. The appealing features of this reaction, such as the fast reaction kinetics, fully bio-orthogonal nature and high selectivity, have helped chemical biologists gain deeper understanding of biochemical processes at the molecular level. Listing the components and discussing the possibilities and limitations of these reagents, we provide a recent snapshot of the field of IEDDA-based biomolecular manipulation with special focus on fluorescent modulation approaches through the use of bio-orthogonalized building blocks. At the end, we discuss challenges that need to be addressed for further developments in order to overcome recent limitations and to enable researchers to answer biomolecular questions in more detail. © 2017 The Authors. Published by Wiley-VCH Verlag GmbH & Co. KGaA.

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

Science.gov (United States)

Mai, P. M.

2017-12-01

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

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

Cluster-transfer reactions with radioactive beams: a spectroscopic tool for neutron-rich nuclei

CERN Document Server

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...

Nuclear lifetime measurements with the DSA coincidence method in inverse reactions

International Nuclear Information System (INIS)

Hermans, J.A.J.

1977-01-01

This thesis describes lifetime measurements with the DSA coincidence method in inverse reactions. Bombardment of 2 H and 3 H targets with heavy ions of energies up to 50 MeV produces nuclei recoiling at initial velocities of v(0) approximately equal to 0.05 c. Heavy-ion beams of 11 B, 12 C, 14 N, 16 O, 18 O, 19 F, 27 A1, 28 Si, 30 Si, 31 P, 32 S, 35 Cl and 37 Cl are at present available from the Utrecht 6 MV EN tandem accelerator. The recoil nuclei are slowed down in Mg, Al, Cu, Ag or Au and the γ-ray Doppler pattern is observed with a large Ge(Li) detector in coincidence with protons

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.

Analysis of the reaction γp → K{sup 0}Σ{sup +} in the neutral decay channel at the BGO-OD experiment using kinematic fitting

Energy Technology Data Exchange (ETDEWEB)

Alef, Stefan [Physikalisches Institut, Universitaet Bonn (Germany); Collaboration: BGO-OD-Collaboration

2016-07-01

The BGO-OD experiment at the ELSA facility in Bonn is built to investigate nucleon excitations via meson photoproduction. One research objective is associated strangeness production, which includes the reaction channel γp → K{sup 0}Σ{sup +}. Results of the analysis for the neutral decay channel K{sup 0}Σ{sup +} → π{sup 0}π{sup 0}π{sup 0}p will be presented. Due to the small production cross section and branching ratio kinematic fitting is used to discriminate the reaction against background.

The effects of age and step length on joint kinematics and kinetics of large out-and-back steps.

Science.gov (United States)

Schulz, Brian W; Ashton-Miller, James A; Alexander, Neil B

2008-06-01

Maximum step length (MSL) is a clinical test that has been shown to correlate with age, various measures of fall risk, and knee and hip joint extension speed, strength, and power capacities, but little is known about the kinematics and kinetics of the large out-and-back step utilized. Body motions and ground reaction forces were recorded for 11 unimpaired younger and 10 older women while attaining maximum step length. Joint kinematics and kinetics were calculated using inverse dynamics. The effects of age group and step length on the biomechanics of these large out-and-back steps were determined. Maximum step length was 40% greater in the younger than in the older women (P<0.0001). Peak knee and hip, but not ankle, angle, velocity, moment, and power were generally greater for younger women and longer steps. After controlling for age group, step length generally explained significant additional variance in hip and torso kinematics and kinetics (incremental R2=0.09-0.37). The young reached their peak knee extension moment immediately after landing of the step out, while the old reached their peak knee extension moment just before the return step liftoff (P=0.03). Maximum step length is strongly associated with hip kinematics and kinetics. Delays in peak knee extension moment that appear to be unrelated to step length, may indicate a reduced ability of older women to rapidly apply force to the ground with the stepping leg and thus arrest the momentum of a fall.

Multi-level quantum mechanics theories and molecular mechanics study of the double-inversion mechanism of the F- + CH3I reaction in aqueous solution.

Science.gov (United States)

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.

On dynamically consistent Jacobian inverse for non-holonomic robotic systems

Directory of Open Access Journals (Sweden)

Ratajczak Joanna

2017-12-01

Full Text Available This paper presents the dynamically consistent Jacobian inverse for non-holonomic robotic system, and its application to solving the motion planning problem. The system’s kinematics are represented by a driftless control system, and defined in terms of its input-output map in accordance with the endogenous configuration space approach. The dynamically consistent Jacobian inverse (DCJI has been introduced by means of a Riemannian metric in the endogenous configuration space, exploiting the reduced inertia matrix of the system’s dynamics. The consistency condition is formulated as the commutativity property of a diagram of maps. Singular configurations of DCJI are studied, and shown to coincide with the kinematic singularities. A parametric form of DCJI is derived, and used for solving example motion planning problems for the trident snake mobile robot. Some advantages in performance of DCJI in comparison to the Jacobian pseudoinverse are discovered.

The nuclear reaction n + 3He -> 1H + 3H as proximity reaction

International Nuclear Information System (INIS)

Hilber, H.C.

1982-01-01

The present thesis tries to give by means of the nuclear reaction n + 3 He -> 1 H + 3 H as proximity reaction on the three-particle system 3 He + 9 Be -> 1 H + 3 H + 8 Be an experimental verification to the second term of a multiple scattering series. The study of these rescattering effects is of great interest for the present theory of the final-state interaction. At three incident energies (7.08 MeV, 8.98 MeV, and 6.37 MeV) to detector telescopes identify the exit channel of the three-particle system in list-mode coincidence experiments according to protons and tritons. Peaks on the kinematical curves occur. The detailed study of their kinematic behaviour allows to exclude the inconcurrence to the proximity reaction lying cascade decays via intermediate states in 4 He, 9 B, and 11 B. Regarding the Coulomb interaction the experimental results can be also explained in the sense of the classical kinematics by the proximity model. (orig.) [de

Quasifree (p ,p N ) scattering of light neutron-rich nuclei near N =14

Science.gov (United States)

Díaz Fernández, P.; Alvarez-Pol, H.; Crespo, R.; Cravo, E.; Atar, L.; Deltuva, A.; Aumann, T.; Avdeichikov, V.; Beceiro-Novo, S.; Bemmerer, D.; Benlliure, J.; Bertulani, C. A.; Boillos, J. M.; Boretzky, K.; Borge, M. J. G.; Caamaño, M.; Cabanelas, P.; Caesar, C.; Casarejos, E.; Catford, W.; Cederkäll, J.; Chartier, M.; Chulkov, L. V.; Cortina-Gil, D.; Datta Pramanik, U.; Dillmann, I.; Elekes, Z.; Enders, J.; Ershova, O.; Estradé, A.; Farinon, F.; Fernández-Domínguez, B.; Fraile, L. M.; Freer, M.; Galaviz, D.; Geissel, H.; Gernhäuser, R.; Golubev, P.; Göbel, K.; Hagdahl, J.; Heftrich, T.; Heil, M.; Heine, M.; Heinz, A.; Henriques, A.; Holl, M.; Hufnagel, A.; Ignatov, A.; Johansson, H. T.; Jonson, B.; Jurčiukonis, D.; 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, J.; Moro, A. M.; Movsesyan, A.; Nacher, E.; Najafi, A.; Nikolskii, E.; Nilsson, T.; Nociforo, C.; Panin, V.; Paschalis, S.; Perea, A.; Petri, M.; Pietras, B.; Pietri, S.; Plag, R.; Reifarth, R.; Ribeiro, G.; Rigollet, C.; Rossi, D.; 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.; Winfield, J. S.; Woods, P.; Yakorev, D.; Zhukov, M.; Zilges, A.; Zuber, K.; R3B Collaboration

2018-02-01

Background: For many years, quasifree scattering reactions in direct kinematics have been extensively used to study the structure of stable nuclei, demonstrating the potential of this approach. The R 3B collaboration has performed a pilot experiment to study quasifree scattering reactions in inverse kinematics for a stable 12C beam. The results from that experiment constitute the first quasifree scattering results in inverse and complete kinematics. This technique has lately been extended to exotic beams to investigate the evolution of shell structure, which has attracted much interest due to changes in shell structure if the number of protons or neutrons is varied. Purpose: In this work we investigate for the first time the quasifree scattering reactions (p ,p n ) and (p ,2 p ) simultaneously for the same projectile in inverse and complete kinematics for radioactive beams with the aim to study the evolution of single-particle properties from N =14 to N =15 . Method: The structure of the projectiles 23O, 22O, and 21N has been studied simultaneously via (p ,p n ) and (p ,2 p ) quasifree knockout reactions in complete inverse kinematics, allowing the investigation of proton and neutron structure at the same time. The experimental data were collected at the R3B -LAND setup at GSI at beam energies of around 400 MeV/u. Two key observables have been studied to shed light on the structure of those nuclei: the inclusive cross sections and the corresponding momentum distributions. Conclusions: The knockout reactions (p ,p n ) and (p ,2 p ) with radioactive beams in inverse kinematics have provided important and complementary information for the study of shell evolution and structure. For the (p ,p n ) channels, indications of a change in the structure of these nuclei moving from N =14 to N =15 have been observed, i.e., from the 0 d5 /2 shell to the 1 s1 /2 . This supports previous observations of a subshell closure at N =14 for neutron-rich oxygen isotopes and its weakening

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

Studying astrophysical reactions with low-energy RI beams at CRIB

Directory of Open Access Journals (Sweden)

Yamaguchi H.

2016-01-01

Full Text Available Studies on nuclear astrophysics, nuclear structure, and other interests have been performed using the radioactive-isotope (RI beams at the low-energy RI beam separator CRIB, operated by Center for Nuclear Study (CNS, the University of Tokyo. A typical measurement performed at CRIB is the elastic resonant scattering with the inverse kinematics. One recent experiment was on the α resonant scattering with 7Li and 7Be beams. This study is related to the astrophysical 7Li/7Be(α,γ reactions, important at hot p-p chain and νp-process in supernovae. There have also been measurements based on other experimental methods. The first THM measurement using an RI beam has been performed at CRIB, to study the 18F(p, α15O reaction at astrophysical energies via the three body reaction 2H(18F, α15On. The 18F(p, α 15O reaction rate is crucial to understand the 511-keV γ-ray production in nova explosion phenomena, and we successfully evaluated the reaction cross section at novae temperature and below experimentally for the first time.

Parallel kinematics type, kinematics, and optimal design

CERN Document Server

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...

Study of (α , p) and (α , n) reactions with a Multi-Sampling Ionization Chamber

Science.gov (United States)

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.

Measurement of resonances in {sup 12} C + {sup 4} He through inverse kinematics with thick targets; Medicion de resonancias en {sup 12} C + {sup 4} He mediante cinematica inversa con blancos gruesos

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)

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.

Direct and inverse reactions of LiH+ with He(1S) from quantum calculations: mechanisms and rates.

Science.gov (United States)

Tacconi, M; Bovino, S; Gianturco, F A

2012-01-14

The gas-phase reaction of LiH(+) (X(2)Σ) with He((1)S) atoms, yielding Li(+)He with a small endothermicity for the rotovibrational ground state of the reagents, is analysed using the quantum reactive approach that employs the Negative Imaginary Potential (NIP) scheme discussed earlier in the literature. The dependence of low-T rates on the initial vibrational state of LiH(+) is analysed and the role of low-energy Feshbach resonances is also discussed. The inverse destruction reaction of LiHe(+), a markedly exothermic process, is also investigated and the rates are computed in the same range of temperatures. The possible roles of these reactions in early universe astrophysical networks, in He droplets environments or in cold traps are briefly discussed.

Constraining the 19Ne(p,γ)20Na Reaction Rate Using a Direct Measurement at DRAGON

Science.gov (United States)

Wilkinson, R.; Lotay, G.; Lennarz, A.; Ruiz, C.; Christian, G.; Akers, C.; Catford, W. N.; Chen, A. A.; Connolly, D.; Davids, B.; Hutcheon, D. A.; Jedrejcic, D.; Laird, A. M.; Martin, L.; McNeice, E.; Riley, J.; Williams, M.

2018-01-01

A direct measurement of the 19Ne(p, γ)20 Na reaction has been performed in inverse kinematics at the DRAGON recoil separator, at an energy ˜ 10 keV higher than previous measurements. The key resonance in the 19 Ne + p system relevant for ONe novae and Type-I X-ray burst temperatures have been successfully measured for the first time. Preliminary estimates of the resonance energy and strength are reported as Ec.m. ≈ 458 keV and ωγ ≈ 18 meV. These results are consistent with previous direct measurements, but disagree with the most recent study of the 19Ne(p, γ)20 Na reaction rate. These preliminary results will be finalised after a forthcoming negative log-likelihood analysis.

Inversion of seismic data: how to take the correlated nature of noise into account; Inversion de donnees sismiques: prise en compte de la nature correlee du bruit

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)

Recent results on reactions with radioactive beams at RIBRAS (Radioactive Ion Beams in Brazil)

Science.gov (United States)

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.

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)

Surgical robot setup simulation with consistent kinematics and haptics for abdominal surgery.

Science.gov (United States)

Hayashibe, Mitsuhiro; Suzuki, Naoki; Hattori, Asaki; Suzuki, Shigeyuki; Konishi, Kozo; Kakeji, Yoshihiro; Hashizume, Makoto

2005-01-01

Preoperative simulation and planning of surgical robot setup should accompany advanced robotic surgery if their advantages are to be further pursued. Feedback from the planning system will plays an essential role in computer-aided robotic surgery in addition to preoperative detailed geometric information from patient CT/MRI images. Surgical robot setup simulation systems for appropriate trocar site placement have been developed especially for abdominal surgery. The motion of the surgical robot can be simulated and rehearsed with kinematic constraints at the trocar site, and the inverse-kinematics of the robot. Results from simulation using clinical patient data verify the effectiveness of the proposed system.

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.

Nuclear reactions with ¹¹C and ¹⁴O radioactive ion beams

Energy Technology Data Exchange (ETDEWEB)

Guo, Fanqing [Univ. of California, Berkeley, CA (United States)

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

Invariant mass spectroscopy of {sup 19,17}C and {sup 14}B using proton inelastic and charge-exchange reactions

Energy Technology Data Exchange (ETDEWEB)

Satou, Y., E-mail: satou@phya.snu.ac.k [Department of Physics and Astronomy, Seoul National University, Seoul (Korea, Republic of); Nakamura, T. [Department of Physics, Tokyo Institute of Technology, Tokyo (Japan); Fukuda, N. [Institute of Physical and Chemical Research (RIKEN), Saitama (Japan); Sugimoto, T.; Kondo, Y.; Matsui, N.; Hashimoto, Y.; Nakabayashi, T.; Okumura, Y.; Shinohara, M. [Department of Physics, Tokyo Institute of Technology, Tokyo (Japan); Motobayashi, T.; Yanagisawa, Y.; Aoi, N.; Takeuchi, S.; Gomi, T.; Togano, Y. [Institute of Physical and Chemical Research (RIKEN), Saitama (Japan); Kawai, S. [Department of Physics, Rikkyo University, Tokyo (Japan); Sakurai, H. [Institute of Physical and Chemical Research (RIKEN), Saitama (Japan); Ong, H.J.; Onishi, T.K. [Department of Physics, University of Tokyo, Tokyo (Japan)

2010-03-01

The neutron-rich carbon isotopes {sup 19,17}C and the boron isotope {sup 14}B have been investigated, respectively, by the proton inelastic and charge-exchange reactions on a liquid hydrogen target at around 70 MeV/nucleon. The invariant mass method in inverse kinematics was employed to map the energy spectrum above the neutron decay threshold of the residual nuclei. New states on carbon isotopes are reported. An experimental capability of extracting beta-decay strengths via forward angle (p,n) cross sections on unstable nuclei is shown.

Quasifree (p , 2 p ) Reactions on Oxygen Isotopes: Observation of Isospin Independence of the Reduced Single-Particle Strength

Science.gov (United States)

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.

Quasifree (p, 2p) Reactions on Oxygen Isotopes: Observation of Isospin Independence of the Reduced Single-Particle Strength.

Science.gov (United States)

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

2018-02-02

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 R^{3}B/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 ^{A}O(p,2p)^{A-1}N 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.

The SAMI Galaxy Survey: gas content and interaction as the drivers of kinematic asymmetry

Science.gov (United States)

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⊙) < 10.0. Moreover, low-mass galaxies [log (M*/M⊙) < 9.0] have greater kinematic asymmetry at all separations, suggesting a different physical source of asymmetry is important in low-mass 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⊙) < 9.0 have offset \\overline{σ _m/V} from the rest of the sample. Further, asymmetry as a fraction of dispersion decreases for galaxies with log (M*/M⊙) < 9.0. Gas mass and asymmetry are also inversely correlated in our sample. We propose that low gas masses in dwarf galaxies may lead to asymmetric distribution of gas clouds, leading to increased relative turbulence.

Fission fragment yields from heavy-ion-induced reactions measured with a fragment separator

Science.gov (United States)

Tarasov, O. B.; Delaune, O.; Farget, F.; Morrissey, D. J.; Amthor, A. M.; Bastin, B.; Bazin, D.; Blank, B.; Cacéres, L.; Chbihi, A.; Fernández-Dominguez, B.; Grévy, S.; Kamalou, O.; Lukyanov, S. M.; Mittig, W.; Pereira, J.; Perrot, L.; Saint-Laurent, M.-G.; Savajols, H.; Sherrill, B. M.; Stodel, C.; Thomas, J. C.; Villari, A. C.

2018-04-01

The systematic study of fission fragment yields under different initial conditions has provided valuable experimental data for benchmarking models of fission product yields. Nuclear reactions using inverse kinematics coupled to the use of a high-resolution spectrometer with good fragment identification are shown here to be a powerful tool to measure the inclusive isotopic yields of fission fragments. In-flight fusion-fission was used in this work to produce secondary beams of neutron-rich isotopes in the collisions of a 238U beam at 24 MeV/u with 9Be and 12C targets at GANIL using the LISE3 fragment separator. Unique identification of the A, Z, and atomic charge state, q, of fission products was attained with the Δ E- TKE-B ρ- ToF measurement technique. Mass, and atomic number distributions are reported for the two reactions. The results show the importance of different reaction mechanisms in the two cases. The optimal target material for higher yields of neutron-rich high- Z isotopes produced in fusion-fission reactions as a function of projectile energy is discussed.

The Inverse Demand Oxa-Diels-Alder Reaction of Resorcinarenes: An Experimental and Theoretical Analysis of Regioselectivity and Diastereoselectivity.

Science.gov (United States)

Stefańska, Karolina; Jędrzejewska, Hanna; Wierzbicki, Michał; Szumna, Agnieszka; Iwanek, Waldemar

2016-07-15

The Diels-Alder reaction enables introduction of new functionalities onto the resorcinarene skeleton with simultaneous generation of new stereogenic centers and expansion of the internal cavity. We present highly regio- and diastereoselective inverse electron demand oxa-Diels-Alder reactions of resorcinarene ortho-quinone methide with benzofuran and indene, each generating 12 new stereogenic centers. The mechanism and reasons for regioselectivity and diastereoselectivity were analyzed using theoretical calculations (NBO charges, Fukui functions, transition state energies, and thermodynamic stability of the products). Enantiomers were separated, and their configurations were determined by comparison of experimental and theoretical electronic circular dichroism spectra.

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

Structure of 14C and 14B from the C,1514(d ,3He)B,1413 reactions

Science.gov (United States)

Bedoor, S.; Wuosmaa, A. H.; Albers, M.; Alcorta, M.; Almaraz-Calderon, Sergio; Back, B. B.; Bertone, P. F.; Deibel, C. M.; Hoffman, C. R.; Lighthall, J. C.; Marley, S. T.; Mcneel, D. G.; Pardo, R. C.; Rehm, K. E.; Schiffer, J. P.; Shetty, D. V.

2016-04-01

We have studied the C,1514(d ,3He)B,1413 proton-removing reactions in inverse kinematics. The (d ,3He ) reaction probes the proton occupation of the target ground state, and also provides spectroscopic information about the final states in B,1413. The experiments were performed using C,1514 beams from the ATLAS accelerator at Argonne National Laboratory. The reaction products were analyzed with the HELIOS device. Angular distributions were obtained for transitions from both reactions. The 14C-beam data reveal transitions to excited states in 13B that suggest configurations with protons outside the π (0 p3 /2) orbital, and some possibility of proton cross-shell 0 p -1 s 0 d excitations, in the 14C ground state. The 15C-beam data confirm the existence of a broad 2- excited state in 14B. The experimental data are compared to the results of shell-model calculations.

Inverse relationship between the complexity of midfoot kinematics and muscle activation in patients with medial tibial stress syndrome

DEFF Research Database (Denmark)

Rathleff, M S; Samani, Afshin; Olesen, C G

2011-01-01

Medial tibial stress syndrome is a common overuse injury characterized by pain located on the medial side of the lower leg during weight bearing activities such as gait. The purpose of this study was to apply linear and nonlinear methods to compare the structure of variability of midfoot kinematics...... and surface electromyographic (SEMG) signals between patients with medial tibial stress syndrome and healthy controls during gait. Fourteen patients diagnosed with medial tibial stress syndrome and 11 healthy controls were included from an orthopaedic clinic. SEMG from tibialis anterior and the soleus muscles...... as well as midfoot kinematics were recorded during 20 consecutive gait cycles. Permuted sample entropy and permutation entropy were used as a measure of complexity from SEMG signals and kinematics. SEMG signals in patients with medial tibial stress syndrome were characterized by higher structural...

Kinematics of the Ethiopian Rift and Absolute motion of Africa and Somalia Plates

Science.gov (United States)

Muluneh, A. A.; Cuffaro, M.; Doglioni, C.

2013-12-01

The Ethiopian Rift (ER), in the northern part of East African Rift System (EARS), forms a boundary zone accommodating differential motion between Africa and Somalia Plates. Its orientation was influenced by the inherited Pan-African collisional system and related lithospheric fabric. We present the kinematics of ER derived from compilation of geodetic velocities, focal mechanism inversions, structural data analysis, and construction of geological profiles. GPS velocity field shows a systematic eastward magnitude increase in NE direction in the central ER. In the same region, incremental extensional strain axes recorded by earthquake focal mechanism and fault slip inversion show ≈N1000E orientation. This deviation between GPS velocity trajectories and orientation of incremental extensional strain is developed due to left lateral transtensional deformation. This interpretation is consistent with the en-échelon pattern of tensional and transtensional faults, the distribution of the volcanic centers, and the asymmetry of the rift itself. Small amount of vertical axis blocks rotation, sinistral strike slip faults and dyke intrusions in the rift accommodate the transtensional deformation. We analyzed the kinematics of ER relative to Deep and Shallow Hot Spot Reference Frames (HSRF). Comparison between the two reference frames shows different kinematics in ER and also Africa and Somalia plate motion both in magnitude and direction. Plate spreading direction in shallow HSRF (i.e. the source of the plumes locates in the asthenosphere) and the trend of ER deviate by about 27°. Shearing and extension across the plate boundary zone contribute both to the style of deformation and overall kinematics in the rift. We conclude that the observed long wavelength kinematics and tectonics are consequences of faster SW ward motion of Africa than Somalia in the shallow HSRF. This reference frame seems more consistent with the geophysical and geological constraints in the Rift. The

Study of (α,p) and (α,n) reactions with a Multi-Sampling Ionization Chamber

International Nuclear Information System (INIS)

Avila, M. L.; Rehm, K. E.; Almaraz-Calderon, S.; Ayangeakaa, A. D.; Dickerson, C.

2017-01-01

Here, 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 "1"7O (α, n) "2"0Ne, "2"3Na (α,p) "2"6Mg, and "2"3Na "2"6Al. 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 "1"7O (α, n) "2"0Ne reaction measured in this work and previous measurements. Furthermore we have successfully performed a simultaneous measurement of the "2"3Na (α,p) "2"6Mg and "2"3Na (α, n) "2"6Al reactions.

Site-specific DNA Inversion by Serine Recombinases

Science.gov (United States)

2015-01-01

Reversible site-specific DNA inversion reactions are widely distributed in bacteria and their viruses. They control a range of biological reactions that most often involve alterations of molecules on the surface of cells or phage. These programmed DNA rearrangements usually occur at a low frequency, thereby preadapting a small subset of the population to a change in environmental conditions, or in the case of phages, an expanded host range. A dedicated recombinase, sometimes with the aid of additional regulatory or DNA architectural proteins, catalyzes the inversion of DNA. RecA or other components of the general recombination-repair machinery are not involved. This chapter discusses site-specific DNA inversion reactions mediated by the serine recombinase family of enzymes and focuses on the extensively studied serine DNA invertases that are stringently controlled by the Fis-bound enhancer regulatory system. The first section summarizes biological features and general properties of inversion reactions by the Fis/enhancer-dependent serine invertases and the recently described serine DNA invertases in Bacteroides. Mechanistic studies of reactions catalyzed by the Hin and Gin invertases are then discussed in more depth, particularly with regards to recent advances in our understanding of the function of the Fis/enhancer regulatory system, the assembly of the active recombination complex (invertasome) containing the Fis/enhancer, and the process of DNA strand exchange by rotation of synapsed subunit pairs within the invertasome. The role of DNA topological forces that function in concert with the Fis/enhancer controlling element in specifying the overwhelming bias for DNA inversion over deletion and intermolecular recombination is emphasized. PMID:25844275

Analog modeling and kinematic restoration of inverted hangingwall synclinal basins developed above syn-kinematic salt: Application to the Lusitanian and Parentis basins

Science.gov (United States)

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

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.)

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.)

Multiple estimation channel decoupling and optimization method based on inverse system

Science.gov (United States)

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.

Prediction of ground reaction forces and moments during various activities of daily living

NARCIS (Netherlands)

Fluit, René; Andersen, M.S.; Kolk, S.; Verdonschot, Nicolaas Jacobus Joseph; Koopman, Hubertus F.J.M.

2014-01-01

Inverse dynamics based simulations on musculoskeletal models is a commonly used method for the analysis of human movement. Due to inaccuracies in the kinematic and force plate data, and a mismatch between the model and the subject, the equations of motion are violated when solving the inverse

Knock-out reactions

International Nuclear Information System (INIS)

de Forest, T. Jr.

1977-01-01

It is pointed out that the primary motivation for performing high energy single nucleon knock-out reactions is based on the concept of quasi-elastic scattering. The validity of and corrections to the partial wave impulse approximation and kinematical invariance of knock-out reactions and tests of the reaction mechanism are treated. The effect of distortions on the momentum distribution in the effective momentum approximation for given parameters are plotted. 12 references

Fault kinematics and localised inversion within the Troms-Finnmark Fault Complex, SW Barents Sea

Science.gov (United States)

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.

Getting in shape: Reconstructing three-dimensional long-track speed skating kinematics by comparing several body pose reconstruction techniques.

Science.gov (United States)

van der Kruk, E; Schwab, A L; van der Helm, F C T; Veeger, H E J

2018-03-01

In gait studies body pose reconstruction (BPR) techniques have been widely explored, but no previous protocols have been developed for speed skating, while the peculiarities of the skating posture and technique do not automatically allow for the transfer of the results of those explorations to kinematic skating data. The aim of this paper is to determine the best procedure for body pose reconstruction and inverse dynamics of speed skating, and to what extend this choice influences the estimation of joint power. The results show that an eight body segment model together with a global optimization method with revolute joint in the knee and in the lumbosacral joint, while keeping the other joints spherical, would be the most realistic model to use for the inverse kinematics in speed skating. To determine joint power, this method should be combined with a least-square error method for the inverse dynamics. Reporting on the BPR technique and the inverse dynamic method is crucial to enable comparison between studies. Our data showed an underestimation of up to 74% in mean joint power when no optimization procedure was applied for BPR and an underestimation of up to 31% in mean joint power when a bottom-up inverse dynamics method was chosen instead of a least square error approach. Although these results are aimed at speed skating, reporting on the BPR procedure and the inverse dynamics method, together with setting a golden standard should be common practice in all human movement research to allow comparison between studies. Copyright © 2018 Elsevier Ltd. All rights reserved.

Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics

Directory of Open Access Journals (Sweden)

Alejandro Said

2015-01-01

Full Text Available This paper presents an explicit, omnidirectional, analytical, and decoupled closed-form solution for the lower limb kinematics of the humanoid robot NAO. The paper starts by decoupling the position and orientation analysis from the overall Denavit-Hartenberg (DH transformation matrices. Here, the joint activation sequence for the DH matrices is based on the geometry of a triangle. Furthermore, the implementation of a forward and a reversed kinematic analysis for the support and swing phase equations is developed to avoid matrix inversion. The allocation of constant transformations allows the position and orientation end-coordinate systems to be aligned with each other. Also, the redefinition of the DH transformations and the use of constraints allow decoupling the shared DOF between the legs and the torso. Finally, a geometric approach to avoid the singularities during the walking process is indicated. Numerical data is presented along with an experimental implementation to prove the validity of the analytical results.

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)

Kinematic control of robot with degenerate wrist

Science.gov (United States)

Barker, L. K.; Moore, M. C.

1984-01-01

Kinematic resolved rate equations allow an operator with visual feedback to dynamically control a robot hand. When the robot wrist is degenerate, the computed joint angle rates exceed operational limits, and unwanted hand movements can result. The generalized matrix inverse solution can also produce unwanted responses. A method is introduced to control the robot hand in the region of the degenerate robot wrist. The method uses a coordinated movement of the first and third joints of the robot wrist to locate the second wrist joint axis for movement of the robot hand in the commanded direction. The method does not entail infinite joint angle rates.

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.

Measurement of the Ec.m.=184 keV Resonance Strength in the 26gAl(p,γ)27Si Reaction

International Nuclear Information System (INIS)

Ruiz, C.; Buchmann, L.; Caggiano, J. A.; Davids, B.; Davis, C.; Hutcheon, D.A.; Olin, A.; Ottewell, D.F.; Ruprecht, G.; Trinczek, M.; Vockenhuber, C.; Parikh, A.; Clark, J.A.; Deibel, C.; Lewis, R.; Parker, P.; Wrede, C.; Jose, J.; Chen, A.A.; Ouellet, C.V.

2006-01-01

The strength of the E c.m. =184 keV resonance in the 26g Al(p,γ) 27 Si reaction has been measured in inverse kinematics using the DRAGON recoil separator at TRIUMF's ISAC facility. We measure a value of ωγ=35±7 μeV and a resonance energy of E c.m. =184±1 keV, consistent with p-wave proton capture into the 7652(3) keV state in 27 Si, and discuss the implications of these values for 26g Al nucleosynthesis in typical oxygen-neon white-dwarf novae

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

Science.gov (United States)

Janssen, P.; Choudry, A.

1987-01-01

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

Special features of the inverse-beta-decay reaction proceeding on a proton in a reactor-antineutrino flux

Energy Technology Data Exchange (ETDEWEB)

Kopeikin, V. I., E-mail: kopeikin46@yandex.ru; Skorokhvatov, M. D., E-mail: skorokhvatov-md@nrcki.ru [National Research Center Kurchatov Institute (Russian Federation)

2017-03-15

The evolution of the reactor-antineutrino spectrum and the evolution of the spectrum of positrons from the inverse-beta-decay reaction in the course of reactor operation and after reactor shutdown are considered. The present-day status in determining the initial reactor-antineutrino spectrum on the basis of spectra of beta particles from mixtures of products originating from uranium and plutonium fission is described. A local rise of the experimental spectrum of reactor antineutrinos with respect to the expected spectrum is studied.

Study of the {sup 18}F(p,{alpha}){sup 15}O reaction by transfer reaction for application to {gamma}-ray emission from Novae; Etude de la reaction {sup 18}F(p,{alpha}){sup 15}O par reaction de transfert pour application a l'emission {gamma} des Novae

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.

Effect of a combined inversion and plantarflexion surface on ankle kinematics and EMG activities in landing

Directory of Open Access Journals (Sweden)

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.

Kinematic method for beam energy determination at electrostatic generators

International Nuclear Information System (INIS)

Thomas, H.J.; Gersch, H.U.; Hentschel, E.; Wohlfahrt, D.

1975-06-01

The applicability of the kinematics of nuclear reactions to the energy determination of a particle beam is discussed. Most favourable conditions are obtained for the kinematic cross over of particles elastically and inelastically scattered at targets with different masses. At tandem energies between 4 and 15 MeV this method permits an exact determination with a precision of about 1 keV. The scattered particles must be measured at about 170 0 with a precision of the scattering angle of 0.1 0 . For the energy determination of a proton beam the compounds LiF, LiCl, or deuterium enriched hydrocarbons are found to be proper target materials. Experimental results with a LiF-target are described. (author)

Trunk's natural inclination influences stance limb kinetics, but not body kinematics, during gait initiation in able men.

Science.gov (United States)

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 (Ppostures and present a high risk of falling during this forward stepping.

Tomographic inversion of prismatic reflections for the delineation of steeply dipping structures; Inversion tomographique des reflexions prismatiques en vue de la delineation des structures tres pentees

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)

Kinematic space and wormholes

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.

Spallation reaction study for fission products in nuclear waste: Cross section measurements for {sup 137}Cs and {sup 90}Sr on proton and deuteron

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.

Kinematic simulation and analysis of robot based on MATLAB

Science.gov (United States)

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.

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

When Ethyl Isocyanoacetate Meets Isatins: A 1,3-Dipolar/Inverse 1,3-Dipolar/Olefination Reaction for Access to 3-Ylideneoxindoles.

Science.gov (United States)

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.

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

Science.gov (United States)

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

2015-05-13

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

Relativistic Kinematics

OpenAIRE

Sahoo, Raghunath

2016-01-01

This lecture note covers Relativistic Kinematics, which is very useful for the beginners in the field of high-energy physics. A very practical approach has been taken, which answers "why and how" of the kinematics useful for students working in the related areas.

Engine cylinder pressure reconstruction using crank kinematics and recurrently-trained neural networks

Science.gov (United States)

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.

Reactivity in inverse micelles

International Nuclear Information System (INIS)

Brochette, Pascal

1987-01-01

This research thesis reports the study of the use of micro-emulsions of water in oil as reaction support. Only the 'inverse micelles' domain of the ternary mixing (water/AOT/isooctane) has been studied. The main addressed issues have been: the micro-emulsion disturbance in presence of reactants, the determination of reactant distribution and the resulting kinetic theory, the effect of the interface on electron transfer reactions, and finally protein solubilization [fr

Study of the spallation reactions 136Xe + p and 136Xe + 12C at 1 GeV per nucleon at the GSI facility (Darmstadt, Germany)

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)

Kinematical analysis of 2-, 3- and 4-body channels in the reaction (1.25 MeV/u) Kr/sup/84 + U/sup/nat observed with mica track detectors

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.)

Benchmarking theoretical formalisms for (p ,p n ) reactions: The 15C(p ,p n )14C case

Science.gov (United States)

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.

Rational kinematics

CERN Document Server

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 ...

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.

Recent progress in the development of a polarized proton target for reactions with radioactive ion beams

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

Uncertainties in the 2004 Sumatra–Andaman source through nonlinear stochastic inversion of tsunami waves

Science.gov (United States)

Venugopal, M.; Roy, D.; Rajendran, K.; Guillas, S.; Dias, F.

2017-01-01

Numerical inversions for earthquake source parameters from tsunami wave data usually incorporate subjective elements to stabilize the search. In addition, noisy and possibly insufficient data result in instability and non-uniqueness in most deterministic inversions, which are barely acknowledged. Here, we employ the satellite altimetry data for the 2004 Sumatra–Andaman tsunami event to invert the source parameters. We also include kinematic parameters that improve the description of tsunami generation and propagation, especially near the source. Using a finite fault model that represents the extent of rupture and the geometry of the trench, we perform a new type of nonlinear joint inversion of the slips, rupture velocities and rise times with minimal a priori constraints. Despite persistently good waveform fits, large uncertainties in the joint parameter distribution constitute a remarkable feature of the inversion. These uncertainties suggest that objective inversion strategies should incorporate more sophisticated physical models of seabed deformation in order to significantly improve the performance of early warning systems. PMID:28989311

Kinematic and kinetic analysis of overhand, sidearm and underhand lacrosse shot techniques.

Science.gov (United States)

Macaulay, Charles A J; Katz, Larry; Stergiou, Pro; Stefanyshyn, Darren; Tomaghelli, Luciano

2017-12-01

Lacrosse requires the coordinated performance of many complex skills. One of these skills is shooting on the opponents' net using one of three techniques: overhand, sidearm or underhand. The purpose of this study was to (i) determine which technique generated the highest ball velocity and greatest shot accuracy and (ii) identify kinematic and kinetic variables that contribute to a high velocity and high accuracy shot. Twelve elite male lacrosse players participated in this study. Kinematic data were sampled at 250 Hz, while two-dimensional force plates collected ground reaction force data (1000 Hz). Statistical analysis showed significantly greater ball velocity for the sidearm technique than overhand (P  0.05). Kinematic and kinetic variables were not significantly correlated to shot accuracy or velocity across all shot types; however, when analysed independently, the lead foot horizontal impulse showed a negative correlation with underhand ball velocity (P = 0.042). This study identifies the technique with the highest ball velocity, defines kinematic and kinetic predictors related to ball velocity and provides information to coaches and athletes concerned with improving lacrosse shot performance.

Development of esMOCA Biomechanic, Motion Capture Instrumentation for Biomechanics Analysis

Science.gov (United States)

Arendra, A.; Akhmad, S.

2018-01-01

This study aims to build motion capture instruments using inertial measurement unit sensors to assist in the analysis of biomechanics. Sensors used are accelerometer and gyroscope. Estimation of orientation sensors is done by digital motion processing in each sensor nodes. There are nine sensor nodes attached to the upper limbs. This sensor is connected to the pc via a wireless sensor network. The development of kinematics and inverse dynamamic models of the upper limb is done in simulink simmechanic. The kinematic model receives streaming data of sensor nodes mounted on the limbs. The output of the kinematic model is the pose of each limbs and visualized on display. The dynamic inverse model outputs the reaction force and reaction moment of each joint based on the limb motion input. Model validation in simulink with mathematical model of mechanical analysis showed results that did not differ significantly

Kinematics of self-initiated and reactive karate punches.

Science.gov (United States)

Martinez de Quel, Oscar; Bennett, Simon J

2014-03-01

This study investigated whether within-task expertise affects the reported asymmetry in execution time exhibited in reactive and self-initiated movements. Karate practitioners and no-karate practitioners were compared performing a reverse punch in reaction to an external stimulus or following the intention to produce a response (self-initiated). The task was completed following the presentation of a specific (i.e., life-size image of opponent) or general stimulus and in the presence of click trains or white noise. Kinematic analyses indicated reactive movement had shorter time to peak velocity and movement time, as well as greater accuracy than self-initiated movement. These differences were independent of participant skill level although peak velocity was higher in the karate practice group than in the no-karate practice group. Reaction time (RT) of skilled participants was facilitated by a specific stimulus. There was no effect on RT or kinematic variables of the different type of auditory cues. The results of this study indicate that asymmetry in execution time of reactive and self-initiated movement holds irrespective of within-task expertise and stimulus specificity. This could have implications for training of sports and/or relearning of tasks that require rapid and accurate movements to intercept/contact a target.

N,N'-dioxide/nickel(II)-catalyzed asymmetric inverse-electron-demand hetero-diels-alder reaction of β,γ-unsaturated α-ketoesters with enecarbamates.

Science.gov (United States)

Zhou, Yuhang; Zhu, Yin; Lin, Lili; Zhang, Yulong; Zheng, Jianfeng; Liu, Xiaohua; Feng, Xiaoming

2014-12-08

N,N'-Dioxide/nickel(II) complexes have been developed to catalyze the inverse-electron-demand hetero-Diels-Alder reaction of β,γ-unsaturated α-ketoesters with acyclic enecarbamates. After detailed screening of the reaction parameters, mild optimized reaction conditions were established, affording 3,4-dihydro-2H-pyranamines in up to 99 % yield, 99 % ee and more than 95:5 d.r. The catalytic system was also efficient for β-substituted acyclic enecarbamates, affording more challenging 2,3,4-trisubstituted 3,4-dihydro-2H-pyranamine with three contiguous stereogenic centers in excellent yields, diastereoselectivities, and enantioselectivities. The reaction could be scaled up to a gram scale with no deterioration of either enantioselectivity or yield. Based on these experiments and on previous reports, a possible transition state was proposed. © 2014 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

The Emotional Modulation of Facial Mimicry: A Kinematic Study

Directory of Open Access Journals (Sweden)

Antonella Tramacere

2018-01-01

Full Text Available It is well-established that the observation of emotional facial expression induces facial mimicry responses in the observers. However, how the interaction between emotional and motor components of facial expressions can modulate the motor behavior of the perceiver is still unknown. We have developed a kinematic experiment to evaluate the effect of different oro-facial expressions on perceiver's face movements. Participants were asked to perform two movements, i.e., lip stretching and lip protrusion, in response to the observation of four meaningful (i.e., smile, angry-mouth, kiss, and spit and two meaningless mouth gestures. All the stimuli were characterized by different motor patterns (mouth aperture or mouth closure. Response Times and kinematics parameters of the movements (amplitude, duration, and mean velocity were recorded and analyzed. Results evidenced a dissociated effect on reaction times and movement kinematics. We found shorter reaction time when a mouth movement was preceded by the observation of a meaningful and motorically congruent oro-facial gesture, in line with facial mimicry effect. On the contrary, during execution, the perception of smile was associated with the facilitation, in terms of shorter duration and higher velocity of the incongruent movement, i.e., lip protrusion. The same effect resulted in response to kiss and spit that significantly facilitated the execution of lip stretching. We called this phenomenon facial mimicry reversal effect, intended as the overturning of the effect normally observed during facial mimicry. In general, the findings show that both motor features and types of emotional oro-facial gestures (conveying positive or negative valence affect the kinematics of subsequent mouth movements at different levels: while congruent motor features facilitate a general motor response, motor execution could be speeded by gestures that are motorically incongruent with the observed one. Moreover, valence

The Emotional Modulation of Facial Mimicry: A Kinematic Study.

Science.gov (United States)

Tramacere, Antonella; Ferrari, Pier F; Gentilucci, Maurizio; Giuffrida, Valeria; De Marco, Doriana

2017-01-01

It is well-established that the observation of emotional facial expression induces facial mimicry responses in the observers. However, how the interaction between emotional and motor components of facial expressions can modulate the motor behavior of the perceiver is still unknown. We have developed a kinematic experiment to evaluate the effect of different oro-facial expressions on perceiver's face movements. Participants were asked to perform two movements, i.e., lip stretching and lip protrusion, in response to the observation of four meaningful (i.e., smile, angry-mouth, kiss, and spit) and two meaningless mouth gestures. All the stimuli were characterized by different motor patterns (mouth aperture or mouth closure). Response Times and kinematics parameters of the movements (amplitude, duration, and mean velocity) were recorded and analyzed. Results evidenced a dissociated effect on reaction times and movement kinematics. We found shorter reaction time when a mouth movement was preceded by the observation of a meaningful and motorically congruent oro-facial gesture, in line with facial mimicry effect. On the contrary, during execution, the perception of smile was associated with the facilitation, in terms of shorter duration and higher velocity of the incongruent movement, i.e., lip protrusion. The same effect resulted in response to kiss and spit that significantly facilitated the execution of lip stretching. We called this phenomenon facial mimicry reversal effect , intended as the overturning of the effect normally observed during facial mimicry. In general, the findings show that both motor features and types of emotional oro-facial gestures (conveying positive or negative valence) affect the kinematics of subsequent mouth movements at different levels: while congruent motor features facilitate a general motor response, motor execution could be speeded by gestures that are motorically incongruent with the observed one. Moreover, valence effect depends on

A fast and robust kinematic model for a 12 DoF hyper-redundant robot positioning: An optimization proposal

Science.gov (United States)

Lima, José; Pereira, Ana I.; Costa, Paulo; Pinto, Andry; Costa, Pedro

2017-07-01

This paper describes an optimization procedure for a robot with 12 degrees of freedom avoiding the inverse kinematics problem, which is a hard task for this type of robot manipulator. This robot can be used to pick and place tasks in complex designs. Combining an accurate and fast direct kinematics model with optimization strategies, it is possible to achieve the joints angles for a desired end-effector position and orientation. The optimization methods stretched simulated annealing algorithm and genetic algorithm were used. The solutions found were validated using data originated by a real and by a simulated robot formed by 12 servomotors with a gripper.

Kinematic Rupture Process of the 2015 Gorkha (Nepal) Earthquake Sequence from Joint Inversion of Teleseismic, hr-GPS, Strong-Ground Motion, InSAR interferograms and pixel offsets

Science.gov (United States)

Yue, H.; Simons, M.; Jiang, J.; Fielding, E. J.; Owen, S. E.; Moore, A. W.; Riel, B. V.; Polet, J.; Duputel, Z.; Samsonov, S. V.; Avouac, J. P.

2015-12-01

The April 2015 Gorkha, Nepal (Mw 7.8) earthquake ruptured the front of Himalaya thrust belt, causing more than 9,000 fatalities. 17 days after the main event, a large aftershock (Mw 7.2) ruptured to down-dip and east of the main rupture area. To investigate the kinematic rupture process of this earthquake sequence, we explored linear and non-linear inversion techniques using a variety of datasets including teleseismic, high rate and conventional GPS, InSAR interferograms and pixel-offsets. InSAR interferograms from ALOS-2, RADARSAT-2 and Sentinel-1a satellites are used in the joint inversion. The main event is characterized by unilateral rupture extending along strike approximately 70 km to the southeast and 40 km along dip direction. The rupture velocity is well resolved to be lie between 2.8 and 3.0 km/s, which is consistent with back-projection results. An emergent initial phase is observed in teleseismic body wave records, which is consistent with a narrow area of rupture initiation near the hypocenter. The rupture mode of the main event is pulse like. The aftershock ruptured down-dip to the northeast of the main event rupture area. The aftershock rupture area is compact and contained within 40 km of its hypocenter. In contrast to the main event, teleseismic body wave records of the aftershock suggest an abrupt initial phase, which is consistent with a crack like rupture mode. The locations of most of the aftershocks (small and large) surround the rupture area of the main shock with little, if any, spatial overlap.

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.

Improved finite-source inversion through joint measurements of rotational and translational ground motions: a numerical study

Science.gov (United States)

Reinwald, Michael; Bernauer, Moritz; Igel, Heiner; Donner, Stefanie

2016-10-01

With the prospects of seismic equipment being able to measure rotational ground motions in a wide frequency and amplitude range in the near future, we engage in the question of how this type of ground motion observation can be used to solve the seismic source inverse problem. In this paper, we focus on the question of whether finite-source inversion can benefit from additional observations of rotational motion. Keeping the overall number of traces constant, we compare observations from a surface seismic network with 44 three-component translational sensors (classic seismometers) with those obtained with 22 six-component sensors (with additional three-component rotational motions). Synthetic seismograms are calculated for known finite-source properties. The corresponding inverse problem is posed in a probabilistic way using the Shannon information content to measure how the observations constrain the seismic source properties. We minimize the influence of the source receiver geometry around the fault by statistically analyzing six-component inversions with a random distribution of receivers. Since our previous results are achieved with a regular spacing of the receivers, we try to answer the question of whether the results are dependent on the spatial distribution of the receivers. The results show that with the six-component subnetworks, kinematic source inversions for source properties (such as rupture velocity, rise time, and slip amplitudes) are not only equally successful (even that would be beneficial because of the substantially reduced logistics installing half the sensors) but also statistically inversions for some source properties are almost always improved. This can be attributed to the fact that the (in particular vertical) gradient information is contained in the additional motion components. We compare these effects for strike-slip and normal-faulting type sources and confirm that the increase in inversion quality for kinematic source parameters is

Separation of intron 22 inversion type 1 and 2 of hemophilia A by modified inverse-shifting polymerase chain reaction and capillary gel electrophoresis.

Science.gov (United States)

Pan, Tzu-Yu; Chiou, Shyh-Shin; Wang, Chun-Chi; Wu, Shou-Mei

2014-12-01

An inverse-shifting polymerase chain reaction (IS-PCR) combined with short-end capillary gel electrophoresis (CGE) was developed for genotyping of intron 22 inversion Type 1 (Inv22-1) and Type 2 (Inv22-2) of hemophilia A (HA). Severe HA cases are affected by intron 22 inversion around 45-50%. Inv22-1 has higher frequency than Inv22-2. The aim of this study is to distinguish them by genotyping. In order to improve Inv22 genotyping efficiency, five primers were designed and applied to differentiate the wild type, Inv22-1, Inv22-2 and carrier. Three amplicons of 405, 457 and 512 bp were recognized for wild type; 333, 457 and 584 bp for Inv22-1; 385, 405 and 584 bp for Inv22-2. The Inv22-1 carrier has 5 amplicons including 333, 405, 457, 512, 584 bp and Inv22-2 carrier is differentiated by 385, 405, 457, 512 and 584 bp. The amplicons between Inv22-1 and Inv22-2 carriers are only different in 333 bp for Inv22-1 carrier and 385 bp for Inv22-2 carrier. Capillary gel electrophoresis (CGE) was used for separation within 5 min. The separation voltage was set at 8 kV (cathode at detector), and the temperature was kept at 25°C. The sieving matrix was 89 mM Tris, 89 mM boric acid, 2mM EDTA containing 0.4% (w/v) HPMC and 1 μM of YO-PRO(®)-1 Iodide. Total of 50 HA patients (including 35 non-Inv22, 14 Inv22-1, and one Inv22-2 patients) and 7 HA carriers were diagnosed in the application. Seven random samples (5 patients and 2 carriers) were subjected to comparison and gave identical results of DNA sequencing and this modified IS-PCR. Copyright © 2014 Elsevier B.V. All rights reserved.

Analysis of the reaction γp → K{sup 0}Σ{sup +} by the identification of the charged K* decay channel at the BGO-OD experiment using kinematic fitting

Energy Technology Data Exchange (ETDEWEB)

Reitz, Bjoern-Eric [Physikalisches Institut Bonn (Germany); Collaboration: BGO-OD-Collaboration

2016-07-01

The BGO-OD experiment at the ELSA facility in Bonn is built to investigate nucleon excitations via meson photoproduction. A program of measurements of reactions of associated strangeness in the final state has begun, one of which is γp → K{sup 0}Σ{sup +}. One research objective is associated production of strange particles. An interesting reaction channel is γp → K{sup 0}Σ{sup +}. This talk shows the preliminary results of the analysis for the charged decay channel K{sup 0}Σ{sup +} → π{sup -}π{sup +}π{sup 0}p. Due to the small production cross section kinematic fitting has been used to discriminate the wanted channel against background.

Quantum mechanical calculations of vibrational population inversion in chemical reactions - Numerically exact L-squared-amplitude-density study of the H2Br reactive system

Science.gov (United States)

Zhang, Y. C.; Zhang, J. Z. H.; Kouri, D. J.; Haug, K.; Schwenke, D. W.

1988-01-01

Numerically exact, fully three-dimensional quantum mechanicl reactive scattering calculations are reported for the H2Br system. Both the exchange (H + H-prime Br to H-prime + HBr) and abstraction (H + HBR to H2 + Br) reaction channels are included in the calculations. The present results are the first completely converged three-dimensional quantum calculations for a system involving a highly exoergic reaction channel (the abstraction process). It is found that the production of vibrationally hot H2 in the abstraction reaction, and hence the extent of population inversion in the products, is a sensitive function of initial HBr rotational state and collision energy.

A kinematic and kinetic analysis of drop landings in military boots.

Science.gov (United States)

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.

INVERSE ELECTRON TRANSFER IN PEROXYOXALATE CHEMIEXCITATION USING EASILY REDUCIBLE ACTIVATORS

NARCIS (Netherlands)

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

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.

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.

An improved method of inverse kinematics calculation for a six-link manipulator

International Nuclear Information System (INIS)

Sasaki, Shinobu

1987-07-01

As one method of solving the inverse problem related to a six-link manipulator, an improvement was made of previously proposed calculation algorithm based on a solution of an algebraic equation of the 24-th order. In this paper, the same type of a polynomial was derived in the form of the equation of 16-th order, i.e., the order reduced by 8, as compared to previous algorithm. The accuracy of solutions was identified to be much refined. (author)

Finite Element Method-Based Kinematics and Closed-Loop Control of Soft, Continuum Manipulators.

Science.gov (United States)

Bieze, Thor Morales; Largilliere, Frederick; Kruszewski, Alexandre; Zhang, Zhongkai; Merzouki, Rochdi; Duriez, Christian

2018-06-01

This article presents a modeling methodology and experimental validation for soft manipulators to obtain forward kinematic model (FKM) and inverse kinematic model (IKM) under quasi-static conditions (in the literature, these manipulators are usually classified as continuum robots. However, their main characteristic of interest in this article is that they create motion by deformation, as opposed to the classical use of articulations). It offers a way to obtain the kinematic characteristics of this type of soft robots that is suitable for offline path planning and position control. The modeling methodology presented relies on continuum mechanics, which does not provide analytic solutions in the general case. Our approach proposes a real-time numerical integration strategy based on finite element method with a numerical optimization based on Lagrange multipliers to obtain FKM and IKM. To reduce the dimension of the problem, at each step, a projection of the model to the constraint space (gathering actuators, sensors, and end-effector) is performed to obtain the smallest number possible of mathematical equations to be solved. This methodology is applied to obtain the kinematics of two different manipulators with complex structural geometry. An experimental comparison is also performed in one of the robots, between two other geometric approaches and the approach that is showcased in this article. A closed-loop controller based on a state estimator is proposed. The controller is experimentally validated and its robustness is evaluated using Lypunov stability method.

Spallation reaction study for fission products in nuclear waste: Cross section measurements for 137Cs, 90Sr and 107Pd on proton and deuteron

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.

Influence of inverse dynamics methods on the calculation of inter-segmental moments in vertical jumping and weightlifting

Directory of Open Access Journals (Sweden)

Cleather Daniel J

2010-11-01

Full Text Available Abstract Background A vast number of biomechanical studies have employed inverse dynamics methods to calculate inter-segmental moments during movement. Although all inverse dynamics methods are rooted in classical mechanics and thus theoretically the same, there exist a number of distinct computational methods. Recent research has demonstrated a key influence of the dynamics computation of the inverse dynamics method on the calculated moments, despite the theoretical equivalence of the methods. The purpose of this study was therefore to explore the influence of the choice of inverse dynamics on the calculation of inter-segmental moments. Methods An inverse dynamics analysis was performed to analyse vertical jumping and weightlifting movements using two distinct methods. The first method was the traditional inverse dynamics approach, in this study characterized as the 3 step method, where inter-segmental moments were calculated in the local coordinate system of each segment, thus requiring multiple coordinate system transformations. The second method (the 1 step method was the recently proposed approach based on wrench notation that allows all calculations to be performed in the global coordinate system. In order to best compare the effect of the inverse dynamics computation a number of the key assumptions and methods were harmonized, in particular unit quaternions were used to parameterize rotation in both methods in order to standardize the kinematics. Results Mean peak inter-segmental moments calculated by the two methods were found to agree to 2 decimal places in all cases and were not significantly different (p > 0.05. Equally the normalized dispersions of the two methods were small. Conclusions In contrast to previously documented research the difference between the two methods was found to be negligible. This study demonstrates that the 1 and 3 step method are computationally equivalent and can thus be used interchangeably in

Effect of fatigue and gender on kinematics and ground reaction forces variables in recreational runners

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.

Effect of fatigue and gender on kinematics and ground reaction forces variables in recreational runners.

Science.gov (United States)

Bazuelo-Ruiz, Bruno; Durá-Gil, Juan V; Palomares, Nicolás; Medina, Enrique; Llana-Belloch, Salvador

2018-01-01

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.

Design and implementation of adaptive inverse control algorithm for a micro-hand control system

Directory of Open Access Journals (Sweden)

Wan-Cheng Wang

2014-01-01

Full Text Available The Letter proposes an online tuned adaptive inverse position control algorithm for a micro-hand. First, the configuration of the micro-hand is discussed. Next, a kinematic analysis of the micro-hand is investigated and then the relationship between the rotor position of micro-permanent magnet synchronous motor and the tip of the micro-finger is derived. After that, an online tuned adaptive inverse control algorithm, which includes an adaptive inverse model and an adaptive inverse control, is designed. The online tuned adaptive inverse control algorithm has better performance than the proportional–integral control algorithm does. In addition, to avoid damaging the object during the grasping process, an online force control algorithm is proposed here as well. An embedded micro-computer, cRIO-9024, is used to realise the whole position control algorithm and the force control algorithm by using software. As a result, the hardware circuit is very simple. Experimental results show that the proposed system can provide fast transient responses, good load disturbance responses, good tracking responses and satisfactory grasping responses.

Reliability of lower leg proximal end and forefoot kinematics during different paces of barefoot racewalking on a treadmill using a motion recorder (MVP-RF8-BC).

Science.gov (United States)

Wang, Hongzhao; Huo, Ming; An, Xiangde; Li, Yong; Onoda, Ko; Li, Desheng; Huang, Qiuchen; Maruyama, Hitoshi

2016-04-01

[Purpose] This study was performed to investigate the changes in lower leg proximal end and forefoot kinematics, and reliability of measurement during different paces of barefoot racewalking on treadmill. [Subjects] Eleven junior racewalking men participated in this study. [Methods] To identify changes in lower leg proximal end and forefoot kinematics, during different paces of barefoot racewalking on a treadmill, a wireless motion recorder (MVP-RF8-BC) was used. Interclass correlation coefficients (ICC 1, 2) were used to estimate reliability. [Results] There were significant differences in the lower leg proximal end and forefoot maximum medial/lateral rotations at a pace of 9 km/h compared with those at a pace of 5 km/h pace. The intra-examiner reliability estimates ranged from 0.82 and 0.89 to 0.87 and 0.93 for lower leg proximal end inversion/eversion rotation and medial/lateral rotation, and from 0.92 and 0.84 to 0.93 and 0.91 for forefoot inversion/eversion rotation and medial/lateral rotation. [Conclusion] We conclude that the lower leg proximal end and forefoot kinematics of barefoot racewalking on a treadmill are influenced by different paces and that assessment of lower leg proximal end and forefoot kinematics by means of the wireless motion recorder (MVP-RF8-BC) is adequately reliable. This information may be useful for determining exercise prescriptions.

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.)

Highly efficient method for 125I-radiolabeling of biomolecules using inverse-electron-demand Diels-Alder reaction.

Science.gov (United States)

Choi, Mi Hee; Shim, Ha Eun; Yun, Seong-Jae; Kim, Hye Rim; Mushtaq, Sajid; Lee, Chang Heon; Park, Sang Hyun; Choi, Dae Seong; Lee, Dong-Eun; Byun, Eui-Baek; Jang, Beom-Su; Jeon, Jongho

2016-04-19

In this report, we present a rapid and highly efficient method for radioactive iodine labeling of trans-cyclooctene group conjugated biomolecules using inverse-electron-demand Diels-Alder reaction. Radioiodination reaction of the tetrazine structure was carried out using the stannylated precursor 2 to give 125 I-labeled azide ([ 125 I]1) with high radiochemical yield (65±8%) and radiochemical purity (>99%). For radiolabeling application of [ 125 I]1, trans-cyclooctene derived cRGD peptide and human serum albumin were prepared. These substrated were reacted with [ 125 I]1 under mild condition to provide the radiolabeled products [ 125 I]6 and [ 125 I]8, respectively, with excellent radiochemical yields. The biodistribution study of [ 125 I]8 in normal ICR mice showed significantly lower thyroid uptake values than that of 125 I-labeled human serum albumin prepared by a traditional radiolabeling method. Therefore [ 125 I]8 will be a useful radiolabeled tracer in various molecular imaging and biological studies. Those results clearly demonstrate that [ 125 I]1 will be used as a valuable prosthetic group for radiolabeling of biomolecules. Copyright © 2016 Elsevier Ltd. All rights reserved.

Tectonic forward modelling of positive inversion structures

Energy Technology Data Exchange (ETDEWEB)

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

2013-08-01

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

Inverse vs. forward breast IMRT planning

International Nuclear Information System (INIS)

Mihai, Alina; Rakovitch, Eileen; Sixel, Katharina; Woo, Tony; Cardoso, Marlene; Bell, Chris; Ruschin, Mark; Pignol, Jean-Philippe

2005-01-01

Breast intensity-modulated radiation therapy (IMRT) improves dose distribution homogeneity within the whole breast. Previous publications report the use of inverse or forward dose optimization algorithms. Because the inverse technique is not widely available in commercial treatment planning systems, it is important to compare the 2 algorithms. The goal of this work is to compare them on a prospective cohort of 30 patients. Dose distributions were evaluated on differential dose-volume histograms using the volumes receiving more than 105% (V 105 ) and 110% (V 110 ) of the prescribed dose, and on the maximum dose (D max ) or hot spot and the sagittal dose gradient (SDG) being the gradient between the dose on inframammary crease and the dose prescribed. The data were analyzed using Wilcoxon signed rank test. The inverse planning significantly improves the V 105 (mean value 9.7% vs. 14.5%, p = 0.002), and the V 110 (mean value 1.4% vs. 3.2%, p = 0.006). However, the SDG is not statistically significantly different for either algorithm. Looking at the potential impact on skin acute reaction, although there is a significant reduction of V 110 using an inverse algorithm, it is unlikely this 1.6% volume reduction will present a significant clinical advantage over a forward algorithm. Both algorithms are equivalent in removing the hot spots on the inframammary fold, where acute skin reactions occur more frequently using a conventional wedge technique. Based on these results, we recommend that both forward and inverse algorithms should be considered for breast IMRT planning

Application of robot kinematics methods to the simulation and control of neutron beam line positioning systems

Energy Technology Data Exchange (ETDEWEB)

James, Jonathan A. [Open University, Materials Engineering, Walton Hall, Milton Keynes, Buckinghamshire MK7 6AA (United Kingdom)]. E-mail: j.a.j.james@open.ac.uk; Edwards, Lyndon [Open University, Materials Engineering, Walton Hall, Milton Keynes, Buckinghamshire MK7 6AA (United Kingdom)

2007-02-11

Neutron stress measurements require specimens of complex geometry to be speedily and accurately positioned and oriented with respect to the neutron beam. Recognition that a majority of the specimen positioning systems in use at strain scanning facilities are effectively serial robot manipulators, suggests that the methods of serial robot kinematic modelling may be applied to advantage. The adoption of robotics methods provides a simple and reliable framework for controlling positioning systems of arbitrary geometry and complexity. In addition the numerical solution of the inverse kinematic problem is facilitated, allowing specimens to be automatically positioned and orientated so that pre-determined strain components are measured. It is also shown that, given sufficient degrees of freedom, a secondary characteristic of the measurement position such as the measurement count time may be simultaneously optimised.

[Kinematics Modeling and Analysis of Central-driven Robot for Upper Limb Rehabilitation after Stroke].

Science.gov (United States)

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.

Dynamically adjustable foot-ground contact model to estimate ground reaction force during walking and running.

Science.gov (United States)

Jung, Yihwan; Jung, Moonki; Ryu, Jiseon; Yoon, Sukhoon; Park, Sang-Kyoon; Koo, Seungbum

2016-03-01

Human dynamic models have been used to estimate joint kinetics during various activities. Kinetics estimation is in demand in sports and clinical applications where data on external forces, such as the ground reaction force (GRF), are not available. The purpose of this study was to estimate the GRF during gait by utilizing distance- and velocity-dependent force models between the foot and ground in an inverse-dynamics-based optimization. Ten males were tested as they walked at four different speeds on a force plate-embedded treadmill system. The full-GRF model whose foot-ground reaction elements were dynamically adjusted according to vertical displacement and anterior-posterior speed between the foot and ground was implemented in a full-body skeletal model. The model estimated the vertical and shear forces of the GRF from body kinematics. The shear-GRF model with dynamically adjustable shear reaction elements according to the input vertical force was also implemented in the foot of a full-body skeletal model. Shear forces of the GRF were estimated from body kinematics, vertical GRF, and center of pressure. The estimated full GRF had the lowest root mean square (RMS) errors at the slow walking speed (1.0m/s) with 4.2, 1.3, and 5.7% BW for anterior-posterior, medial-lateral, and vertical forces, respectively. The estimated shear forces were not significantly different between the full-GRF and shear-GRF models, but the RMS errors of the estimated knee joint kinetics were significantly lower for the shear-GRF model. Providing COP and vertical GRF with sensors, such as an insole-type pressure mat, can help estimate shear forces of the GRF and increase accuracy for estimation of joint kinetics. Copyright © 2016 Elsevier B.V. All rights reserved.

Reaction of Aldehydes/Ketones with Electron-Deficient 1,3,5-Triazines Leading to Functionalized Pyrimidines as Diels-Alder/Retro-Diels-Alder Reaction Products: Reaction Development and Mechanistic Studies.

Science.gov (United States)

Yang, Kai; Dang, Qun; Cai, Pei-Jun; Gao, Yang; Yu, Zhi-Xiang; Bai, Xu

2017-03-03

Catalytic inverse electron demand Diels-Alder (IEDDA) reactions of heterocyclic aza-dienes are rarely reported since highly reactive and electron-rich dienophiles are often found not compatible with strong acids such as Lewis acids. Herein, we disclose that TFA-catalyzed reactions of electron-deficient 1,3,5-triazines and electron-deficient aldehydes/ketones can take place. These reactions led to highly functionalized pyrimidines as products in fair to good yields. The reaction mechanism was carefully studied by the combination of experimental and computational studies. The reactions involve a cascade of stepwise inverse electron demand hetero-Diels-Alder (ihDA) reactions, followed by retro-Diels-Alder (rDA) reactions and elimination of water. An acid was required for both ihDA and rDA reactions. This mechanism was further verified by comparing the relative reactivity of aldehydes/ketones and their corresponding vinyl ethers in the current reaction system.

A constrained extended Kalman filter for the optimal estimate of kinematics and kinetics of a sagittal symmetric exercise.

Science.gov (United States)

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.

Analysis of the ¹²C (e,e'pd) Reaction at High Energy Transfer

Energy Technology Data Exchange (ETDEWEB)

Thompson, Neil [Univ. of Glasgow, Scotland (United Kingdom)

2011-03-31

The Jefferson Lab Hall A experiment E01015 measured the differential cross sections of the ¹²C (e,e'pd) reaction with low yields for kinematics of w = 0.865 GeV , Q² = 2 (GeV/c)², xB = 1.2 at three kinematic settings of ¹²C (e,e'p) missing momentum of 300, 400 and 500 MeV/c. The main objective of the experiment was to measure the ¹²C (e, e0p) cross section and the cross section ratios of ¹²C (e,e'pp) and ¹²C (e,e'pn) to investigate Short Range Correlations. The ¹²C (e,e'pd) reaction was investigated to find out what its magnitude of cross section. The very low yields and differential cross sections of ¹²C (e,e'pd) reaction measured at the three different kinematic settings suggests that the contribution of many of the different reaction mechanisms, including three nucleon forces, may be suppressed at the kinematics of this experiment.

Modulations of Foot and Ankle Frontal Kinematics for Breaking and Propulsive Movement Characteristics during Side-Step Cutting with Varying Midsole Thicknesses

Directory of Open Access Journals (Sweden)

Yi-Jia Lin

2018-01-01

Full Text Available This study is aimed at determining the effects of midsole thickness on movement characteristic during side cutting movement. Fifteen athletes performed side-step cutting while wearing shoes with varying midsole thicknesses. Temporal-spatial and ground reaction force variables as well as foot and ankle frontal kinematics were used to describe breaking and propulsive movement characteristics and modulation strategies. Regardless of midsole thickness, temporal-spatial variables and breaking and propulsive force during side cutting were statistically unchanged. Significantly greater peaks of ankle inversion and plantarflexion with a thicker sole and greater midtarsal pronation with a thinner sole were observed. Current results demonstrated that hypotheses formed solely based on material testing were insufficient to understand the adaptations in human movement because of the redundancy of the neuromusculoskeletal system. Participants were able to maintain temporal-spatial performance during side cutting while wearing shoes with midsoles of varying thicknesses. Increased pronation for a thinner sole might help reduce the force of impact but might be associated with an increased risk of excessive stress on soft tissue. Increased peak of ankle inversion and plantarflexion for a thicker sole may be unfavorable for the stability of ankle joint. Information provided in human movement testing is crucial for understanding factors associated with movement characteristics and injury and should be considered in the future development of shoe design.

Modulations of Foot and Ankle Frontal Kinematics for Breaking and Propulsive Movement Characteristics during Side-Step Cutting with Varying Midsole Thicknesses

Science.gov (United States)

Lin, Yi-Jia; Lee, Shih-Chi; Chang, Chao-Chin; Liu, Tsung-Han

2018-01-01

This study is aimed at determining the effects of midsole thickness on movement characteristic during side cutting movement. Fifteen athletes performed side-step cutting while wearing shoes with varying midsole thicknesses. Temporal-spatial and ground reaction force variables as well as foot and ankle frontal kinematics were used to describe breaking and propulsive movement characteristics and modulation strategies. Regardless of midsole thickness, temporal-spatial variables and breaking and propulsive force during side cutting were statistically unchanged. Significantly greater peaks of ankle inversion and plantarflexion with a thicker sole and greater midtarsal pronation with a thinner sole were observed. Current results demonstrated that hypotheses formed solely based on material testing were insufficient to understand the adaptations in human movement because of the redundancy of the neuromusculoskeletal system. Participants were able to maintain temporal-spatial performance during side cutting while wearing shoes with midsoles of varying thicknesses. Increased pronation for a thinner sole might help reduce the force of impact but might be associated with an increased risk of excessive stress on soft tissue. Increased peak of ankle inversion and plantarflexion for a thicker sole may be unfavorable for the stability of ankle joint. Information provided in human movement testing is crucial for understanding factors associated with movement characteristics and injury and should be considered in the future development of shoe design. PMID:29854000

Synthesis and characterization of Fe colloid catalysts in inverse micelle solutions

Energy Technology Data Exchange (ETDEWEB)

Martino, A.; Stoker, M.; Hicks, M. [Sandia National Lab., Alburquerque, NM (United States)] [and others

1995-12-31

Surfactant molecules, possessing a hydrophilic head group and a hydrophobic tail group, aggregate in various solvents to form structured solutions. In two component mixtures of surfactant and organic solvents (e.g., toluene and alkanes), surfactants aggregate to form inverse micelles. Here, the hydrophilic head groups shield themselves by forming a polar core, and the hydrophobic tails groups are free to move about in the surrounding oleic phase. The formation of Fe clusters in inverse miscelles was studied.Iron salts are solubilized within the polar interior of inverse micelles, and the addition of the reducing agent LiBH{sub 4} initiates a chemical reduction to produce monodisperse, nanometer sized Fe based particles. The reaction sequence is sustained by material exchange between inverse micelles. The surfactant interface provides a spatial constraint on the reaction volume, and reactions carried out in these micro-heterogeneous solutions produce colloidal sized particles (10-100{Angstrom}) stabilized in solution against flocculation of surfactant. The clusters were stabilized with respect to size with transmission electron microscopy (TEM) and with respect to chemical composition with Mossbauer spectroscopy, electron diffraction, and x-ray photoelectron spectroscopy (XPS). In addition, these iron based clusters were tested for catalytic activity in a model hydrogenolysis reaction. The hydrogenolysis of naphthyl bibenzyl methane was used as a model for coal pyrolysis.

Identification of non-linear kinematic hardening with bending and unbending tests in anisotropic sheet-metals

International Nuclear Information System (INIS)

Brunet, M.; Morestin, F.; Godereaux, S.

2000-01-01

An inverse identification technique is proposed based on bending-unbending experiments on anisotropic sheet-metal strips. The initial anisotropy theory of plasticity is extended to include the concept of combined isotropic and non-linear kinematic hardening. This theory is adopted to characterise the anisotropic hardening due to loading-unloading which occurs in sheet-metal forming processes. To this end, a specific bending-unbending apparatus has been built to provide experimental moment-curvature curves. The constant bending moment applied over the length of the specimen to determine numerically the strain-stress behaviour but without Finite Element Analysis. Four constitutive parameters have to be identified by an inverse approach. Our identification results show that bending-unbending tests are suitable to model quite accurately the constitutive behaviour of sheet metals under complex loading paths. (author)

Distance-based kinematics of the five-oblique-axis thumb model with intersecting axes at the metacarpophalangeal joint.

Science.gov (United States)

Rojas, Nicolas; Dollar, Aaron M

2017-07-01

This paper proposes a novel and simple method to compute all possible solutions of the inverse kinematics problem of the five-oblique-axis thumb model with intersecting axes at the metacarpophalangeal joint. This thumb model is one of the suggested results by a magnetic-resonance-imaging-based study that, in contrast to those based on cadaver fingers or on the tracking of the surface of the fingers, takes into account muscle and ligament behaviors and avoids inaccuracies resulting from the movement of the skin with respect to the bones. The proposed distance-based inverse kinematics method eliminates the use of arbitrary reference frames as is usually required by standard approaches; this is relevant because the numerical conditioning of the resulting system of equations with such traditional approaches depends on the selected reference frames. Moreover, contrary to other parametrizations (e.g., Denavit-Hartenberg parameters), the suggested distance-based parameters for the thumb have a natural, human-understandable geometric meaning that makes them easier to be determined from any posture. These characteristics make the proposed approach of interest for those working in, for instance, measuring and modeling the movement of the human hand, developing rehabilitation devices such as orthoses and prostheses, or designing anthropomorphic robotic hands.

Inversion of travel times obtained during active seismic refraction experiments CELEBRATION 2000, ALP 2002 and SUDETES 2003

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

Probing the semi-magicity of $^{68}$Ni via the $^{3}$H($^{66}$Ni,$^{68}$Ni)p two-neutron transfer reaction in inverse kinematics

CERN Multimedia

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.

Investigations of nuclear projectile break-up reactions

International Nuclear Information System (INIS)

Rebel, H.

1986-10-01

The cross sections for radiative capture of α-particles, deuterons and protons by light nuclei at very low relative energies are of particular importance for the understanding of the nucleosynthesis of chemical elements and for determining the relative elemental abundances in stellar burning processes at various astrophysical sites. As example we quote the reactions α+d → 6 Li+γ, α+ 3 He → 7 Be+γ, or α+ 12 C → 16 O+γ. As an alternative to the direct experimental study of these processes we consider the inverse process, the photodisintegration, by means of the virtual photons provided by a nuclear Coulomb field: Z+a → Z+b+c. The radiative capture process b+c → a+γ is related to the inverse process, the photodisintegration γ+a → b+c by the detailed balance theorem. Except for the extreme case very close to the threshold the phase space favours the photodisintegration cross section as compared to the radiative capture. The Coulomb dissociation cross section proves to be enhanced due to the large virtual photon number, seen by the passing projectile, and the kinematics of the process leads to particular advantages for studies of the interaction of the two break-up fragments at small relative energies E bc . The conditions of dedicated experimental investigations are discussed and demonstrated by recent experimental and theoretical studies of the break-up of 156 MeV 6 Li projectiles. In addition, a brief review about general features of break-up processes of light ions in the field of atomic nuclei is given. (orig.) [de

Experimental technique for study on three-particle reactions in kinematically total experiments with usage of the two-processor complex on the M-400 computer basis

International Nuclear Information System (INIS)

Berezin, F.N.; Kisurin, V.A.; Nemets, O.F.; Ofengenden, R.G.; Pugach, V.M.; Pavlenko, Yu.N.; Patlan', Yu.V.; Savrasov, S.S.

1981-01-01

Experimental technique for investigation of three-particle nuclear reactions in kinematically total experiments is described. The technique provides the storage of one-dimensional and two- dimensional energy spectra from several detectors. A block diagram of the measuring system, using this technique, is presented. The measuring system consists of analog equipment for rapid-slow coincidences and of a two-processor complex on the base of the M-400 computer with a general bus. Application of a two-processor complex, each computer of which has a possibility of direct access to memory of another computer, permits to separate functions of data collection and data operational presentation and to perform necessary physical calculations. Software of the measuring complex which includes programs written using the ASSEMBLER language for the first computer and functional programs written using the BASIC language for the second computer, is considered. Software of the first computer includes the DISPETCHER dialog control program, driver package for control of external devices, of applied program package and system modules. The technique, described, is tested in experiment on investigation of d+ 10 B→α+α+α three- particle reaction at deutron energy of 13.6 MeV. The two-dimensional energy spectrum reaction obtained with the help of the technique described is presented [ru

Kinematic and Kinetic Profiles of Trunk and Lower Limbs during Baseball Pitching in Collegiate Pitchers

Directory of Open Access Journals (Sweden)

Masahiro Kageyama, Takashi Sugiyama, Yohei Takai, Hiroaki Kanehisa, Akira Maeda

2014-12-01

Full Text Available 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 < 0.05. Furthermore, Fy, Fz, and resultant forces on the stride leg at maximum shoulder external rotation and ball release were significantly greater in the HG than in the LG (p < 0.05. The hip abduction, hip internal rotation and knee extension torques of the pivot leg and the hip adduction torque of the stride leg when it contacted the ground were significantly greater in the HG than in the LG (p < 0.05. These results indicate that, compared with low-ball-velocity pitchers, high-ball-velocity pitchers can generate greater momentum of the lower limbs during baseball pitching.

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.

Mechanisms for the inversion of chirality: Global reaction route mapping of stereochemical pathways in a probable chiral extraterrestrial molecule, 2-aminopropionitrile

International Nuclear Information System (INIS)

Kaur, Ramanpreet; Vikas

2015-01-01

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

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

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

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

Copper(I)-Catalyzed Asymmetric Desymmetrization through Inverse-Electron-Demand aza-Diels-Alder Reaction: Efficient Access to Tetrahydropyridazines Bearing a Unique α-Chiral Silane Moiety.

Science.gov (United States)

Wei, Liang; Zhou, Yu; Song, Zhi-Min; Tao, Hai-Yan; Lin, Zhenyang; Wang, Chun-Jiang

2017-04-11

An unprecedented copper(I)-catalyzed asymmetric desymmetrization of 5-silylcyclopentadienes with in situ formed azoalkene was realized through an inverse-electron-demand aza-Diels-Alder reaction (IEDDA) pathway, in which 5-silylcyclopentadienes served as efficient enophiles. This new protocol provides a facile access to the biologically important heterocyclic tetrahydropyridazines containing a unique α-chiral silane motif and three adjoining stereogenic centers in generally good yield (up to 92 %) with exclusive regioselectivity, high diastereoselectivity (>20:1 diastereomeric ratio), and excellent enantioselectivity (up to 98 % enantiomeric excess). DFT calculations and control experiments further confirmed the proposed reaction mechanism. © 2017 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

Estimation of vertical ground reaction forces and sagittal knee kinematics during running using three inertial sensors

NARCIS (Netherlands)

Wouda, Frank J.; Giuberti, Matteo; Bellusci, Giovanni; Maartens, Erik; Reenalda, Jasper; van Beijnum, Bernhard J.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

Inverse hydrochemical models of aqueous extracts tests

Energy Technology Data Exchange (ETDEWEB)

Zheng, L.; Samper, J.; Montenegro, L.

2008-10-10

Aqueous extract test is a laboratory technique commonly used to measure the amount of soluble salts of a soil sample after adding a known mass of distilled water. Measured aqueous extract data have to be re-interpreted in order to infer porewater chemical composition of the sample because porewater chemistry changes significantly due to dilution and chemical reactions which take place during extraction. Here we present an inverse hydrochemical model to estimate porewater chemical composition from measured water content, aqueous extract, and mineralogical data. The model accounts for acid-base, redox, aqueous complexation, mineral dissolution/precipitation, gas dissolution/ex-solution, cation exchange and surface complexation reactions, of which are assumed to take place at local equilibrium. It has been solved with INVERSE-CORE{sup 2D} and been tested with bentonite samples taken from FEBEX (Full-scale Engineered Barrier EXperiment) in situ test. The inverse model reproduces most of the measured aqueous data except bicarbonate and provides an effective, flexible and comprehensive method to estimate porewater chemical composition of clays. Main uncertainties are related to kinetic calcite dissolution and variations in CO2(g) pressure.

Conceptual design and kinematic analysis of a novel parallel robot for high-speed pick-and-place operations

Science.gov (United States)

Meng, Qizhi; Xie, Fugui; Liu, Xin-Jun

2018-06-01

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.

Benchmark calculations on residue production within the EURISOL DS project; Part I: thin targets

CERN Document Server

David, J.C; Boudard, A; Doré, D; Leray, S; Rapp, B; Ridikas, D; Thiollière, N

Report on benchmark calculations on residue production in thin targets. Calculations were performed using MCNPX 2.5.0 coupled to a selection of reaction models. The results were compared to nuclide production cross-sections measured in GSI in inverse kinematics

Advances in robot kinematics

CERN Document Server

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.

Enzymatic Inverse Opal Hydrogel Particles for Biocatalyst.

Science.gov (United States)

Wang, Huan; Gu, Hongcheng; Chen, Zhuoyue; Shang, Luoran; Zhao, Ze; Gu, Zhongze; Zhao, Yuanjin

2017-04-19

Enzymatic carriers have a demonstrated value for chemical reactions and industrial applications. Here, we present a novel kind of inverse opal hydrogel particles as the enzymatic carriers. The particles were negatively replicated from spherical colloidal crystal templates by using magnetic nanoparticles tagged acrylamide hydrogel. Thus, they were endowed with the features of monodispersity, small volume, complete penetrating structure, and controllable motion, which are all beneficial for improving the efficiency of biocatalysis. In addition, due to the ordered porous nanostructure, the inverse opal hydrogel particles were imparted with unique photonic band gaps (PBGs) and vivid structural colors for encoding varieties of immobilized enzymes and for constructing a multienzymes biocatalysis system. These features of the inverse opal hydrogel particles indicate that they are ideal enzymatic carriers for biocatalysis.

Kinematic parameters of signed verbs.

Science.gov (United States)

Malaia, Evie; Wilbur, Ronnie B; Milkovic, Marina

2013-10-01

Sign language users recruit physical properties of visual motion to convey linguistic information. Research on American Sign Language (ASL) indicates that signers systematically use kinematic features (e.g., velocity, deceleration) of dominant hand motion for distinguishing specific semantic properties of verb classes in production ( Malaia & Wilbur, 2012a) and process these distinctions as part of the phonological structure of these verb classes in comprehension ( Malaia, Ranaweera, Wilbur, & Talavage, 2012). These studies are driven by the event visibility hypothesis by Wilbur (2003), who proposed that such use of kinematic features should be universal to sign language (SL) by the grammaticalization of physics and geometry for linguistic purposes. In a prior motion capture study, Malaia and Wilbur (2012a) lent support for the event visibility hypothesis in ASL, but there has not been quantitative data from other SLs to test the generalization to other languages. The authors investigated the kinematic parameters of predicates in Croatian Sign Language ( Hrvatskom Znakovnom Jeziku [HZJ]). Kinematic features of verb signs were affected both by event structure of the predicate (semantics) and phrase position within the sentence (prosody). The data demonstrate that kinematic features of motion in HZJ verb signs are recruited to convey morphological and prosodic information. This is the first crosslinguistic motion capture confirmation that specific kinematic properties of articulator motion are grammaticalized in other SLs to express linguistic features.

Kinematics Control and Analysis of Industrial Robot

Science.gov (United States)

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.

Analysis of kinematic, kinetic and electromyographic patterns during root canal preparation with rotary and manual instruments

Science.gov (United States)

PASTERNAK-JÚNIOR, Braulio; de SOUSA NETO, Manoel Damião; DIONÍSIO, Valdeci Carlos; PÉCORA, Jesus Djalma; SILVA, Ricardo Gariba

2012-01-01

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. PMID:22437679

Initial foot contact and related kinematics affect impact loading rate in running.

Science.gov (United States)

Breine, Bastiaan; Malcolm, Philippe; Van Caekenberghe, Ine; Fiers, Pieter; Frederick, Edward C; De Clercq, Dirk

2017-08-01

This study assessed kinematic differences between different foot strike patterns and their relationship with peak vertical instantaneous loading rate (VILR) of the ground reaction force (GRF). Fifty-two runners ran at 3.2 m · s -1 while we recorded GRF and lower limb kinematics and determined foot strike pattern: Typical or Atypical rearfoot strike (RFS), midfoot strike (MFS) of forefoot strike (FFS). Typical RFS had longer contact times and a lower leg stiffness than Atypical RFS and MFS. Typical RFS showed a dorsiflexed ankle (7.2 ± 3.5°) and positive foot angle (20.4 ± 4.8°) at initial contact while MFS showed a plantar flexed ankle (-10.4 ± 6.3°) and more horizontal foot (1.6 ± 3.1°). Atypical RFS showed a plantar flexed ankle (-3.1 ± 4.4°) and a small foot angle (7.0 ± 5.1°) at initial contact and had the highest VILR. For the RFS (Typical and Atypical RFS), foot angle at initial contact showed the highest correlation with VILR (r = -0.68). The observed higher VILR in Atypical RFS could be related to both ankle and foot kinematics and global running style that indicate a limited use of known kinematic impact absorbing "strategies" such as initial ankle dorsiflexion in MFS or initial ankle plantar flexion in Typical RFS.

Handling of impact forces in inverse dynamics

NARCIS (Netherlands)

Bisseling, Rob W.; Hof, At L.

2006-01-01

In the standard inverse dynamic method, joint moments are assessed from ground reaction force data and position data, where segmental accelerations are calculated by numerical differentiation of position data after low-pass filtering. This method falls short in analyzing the impact phase, e.g.

Pattern of improvement in upper limb pointing task kinematics after a 3-month training program with robotic assistance in stroke.

Science.gov (United States)

Pila, Ophélie; Duret, Christophe; Laborne, François-Xavier; Gracies, Jean-Michel; Bayle, Nicolas; Hutin, Emilie

2017-10-13

When exploring changes in upper limb kinematics and motor impairment associated with motor recovery in subacute post stroke during intensive therapies involving robot-assisted training, it is not known whether trained joints improve before non-trained joints and whether target reaching capacity improves before movement accuracy. Twenty-two subacute stroke patients (mean delay post-stroke at program onset 63 ± 29 days, M2) underwent 50 ± 17 (mean ± SD) 45-min sessions of robot-assisted (InMotion™) shoulder/elbow training over 3 months, in addition to conventional occupational therapy. Monthly evaluations (M2 to M5) included Fugl-Meyer Assessment (FM), with subscores per joint, and four robot-based kinematic measures: mean target distance covered, mean velocity, direction accuracy (inverse of root mean square error from straight line) and movement smoothness (inverse of mean number of zero-crossings in the velocity profile). We assessed delays to reach statistically significant improvement for each outcome measure. At M5, all clinical and kinematic parameters had markedly improved: Fugl-Meyer, +65% (median); distance covered, +87%; mean velocity, +101%; accuracy, +134%; and smoothness, +96%. Delays to reach statistical significance were M3 for the shoulder/elbow Fugl-Meyer subscore (+43%), M4 for the hand (+80%) and M5 for the wrist (+133%) subscores. For kinematic parameters, delays to significant improvements were M3 for distance (+68%), velocity (+65%) and smoothness (+50%), and M5 for accuracy (+134%). An intensive rehabilitation program combining robot-assisted shoulder/elbow training and conventional occupational therapy was associated with improvement in shoulder and elbow movements first, which suggests focal behavior-related brain plasticity. Findings also suggested that recovery of movement quantity related parameters (range of motion, velocity and smoothness) might precede that of movement quality (accuracy). EudraCT 2016-005121-36 . Date of

A DOUBLE-RING ALGORITHM FOR MODELING SOLAR ACTIVE REGIONS: UNIFYING KINEMATIC DYNAMO MODELS AND SURFACE FLUX-TRANSPORT SIMULATIONS

International Nuclear Information System (INIS)

Munoz-Jaramillo, Andres; Martens, Petrus C. H.; Nandy, Dibyendu; Yeates, Anthony R.

2010-01-01

The emergence of tilted bipolar active regions (ARs) and the dispersal of their flux, mediated via processes such as diffusion, differential rotation, and meridional circulation, is believed to be responsible for the reversal of the Sun's polar field. This process (commonly known as the Babcock-Leighton mechanism) is usually modeled as a near-surface, spatially distributed α-effect in kinematic mean-field dynamo models. However, this formulation leads to a relationship between polar field strength and meridional flow speed which is opposite to that suggested by physical insight and predicted by surface flux-transport simulations. With this in mind, we present an improved double-ring algorithm for modeling the Babcock-Leighton mechanism based on AR eruption, within the framework of an axisymmetric dynamo model. Using surface flux-transport simulations, we first show that an axisymmetric formulation-which is usually invoked in kinematic dynamo models-can reasonably approximate the surface flux dynamics. Finally, we demonstrate that our treatment of the Babcock-Leighton mechanism through double-ring eruption leads to an inverse relationship between polar field strength and meridional flow speed as expected, reconciling the discrepancy between surface flux-transport simulations and kinematic dynamo models.

Depth profiling Li in electrode materials of lithium ion battery by {sup 7}Li(p,γ){sup 8}Be and {sup 7}Li(p,α){sup 4}He nuclear reactions

Energy Technology Data Exchange (ETDEWEB)

Sunitha, Y., E-mail: sunibarc@gmail.com; Kumar, Sanjiv

2017-06-01

A proton induced γ-ray emission method based on {sup 7}Li(p,γ){sup 8}Be proton capture reaction and a nuclear reaction analysis method involving {sup 7}Li(p,α){sup 4}He reaction are described for depth profiling Li in the electrode materials, graphite and lithium cobalt oxide for example, of a Li-ion battery. Depth profiling by {sup 7}Li(p,γ){sup 8}Be reaction is accomplished by the resonance at 441 keV and involves the measurement of 14.6 and 17.6 MeV γ-rays, characteristic of the reaction, by a NaI(Tl) detector. The method has a detection sensitivity of ∼0.2 at% and enables profiling up to a depth ≥20 µm with a resolution of ≥150 nm. The profiling to a fairly large depth is facilitated by the absence of any other resonance up to 1800 keV proton energy. The reaction has substantial off-resonance cross-sections. A procedure is outlined for evaluating the off-resonance yields. Interferences from fluorine and aluminium are major limitation of this depth profiling methodology. The depth profile measurement by {sup 7}Li(p,α){sup 4}He reaction, on the other hand, utilises 2–3 MeV protons and entails the detection of α-particles at 90° or 150° angles. The reaction exhibits inverse kinematics at 150°. This method, too, suffers interference from fluorine due to the simultaneous occurrence of {sup 19}F(p,α){sup 16}O reaction. Kinematical considerations show that the interference is minimal at 90° and thus is the recommended angle of detection. The method is endowed with a detection sensitivity of ∼0.1 at%, a depth resolution of ∼100 nm and a probing depth of about 30 µm in the absence and 5–8 µm in the presence of fluorine in the material. Both methods yielded comparable depth profiles of Li in the cathode (lithium cobalt oxide) and the anode (graphite) of a Li-ion battery.

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)

Transverse masses and kinematic constraints: from the boundary to the crease

International Nuclear Information System (INIS)

Barr, Alan J.; Gripaios, Ben; Lester, Christopher G.

2009-01-01

We re-examine the kinematic variable m T2 and its relatives in the light of recent work by Cheng and Han. Their proof that m T2 admits an equivalent, but implicit, definition as the 'boundary of the region of parent and daughter masses that is kinematically consistent with the event hypothesis' is far-reaching in its consequences. We generalize their result both to simpler cases (m T , the transverse mass) and to more complex cases (m TGen ). We further note that it is possible to re-cast many existing and unpleasant proofs (e.g. those relating to the existence or properties of 'kink' and 'crease' structures in m T2 ) into almost trivial forms by using the alternative definition. Not only does this allow us to gain better understanding of those existing results, but it also allows us to write down new (and more or less explicit) definitions of (a) the variable that naturally generalizes m T2 to the case in which the parent or daughter particles are not identical, and (b) the inverses of m T and m T2 - which may be useful if daughter masses are known and bounds on parent masses are required. We note the implications that these results may have for future matrix-element likelihood techniques.

Bibliographic index to photonuclear reaction data

International Nuclear Information System (INIS)

Asami, Tetsuo; Nakagawa, Tsuneo.

1993-10-01

This report contains the bibliographic index data on photonuclear reactions and on their inverse ones, in the format similar to CINDA for neutron nuclear data. As photonuclear reactions the electron-induced reaction data are also included. As the inverse reactions considered are those induced by neutron, proton, deuteron, triton, helion and alpha particles. The index covers major journals on nuclear data published in 1995 to 1992, for all nuclides through hydrogen (H) to einsteinium (Es). The bibliographic index contains information on target nucleus, incident beam, type of reaction and quantity, energy range of incident beam, laboratory, type of work, reference citations, first author's name, and short comment. The index also contains the indication for information on cross-section data. All the index data are listed in the order of target element, target, mass and incident particle, and in the chronological order of reference data. Also a brief description is given on the data format, the abbreviations used and the journals surveyed. (author)

Experimental Investigation of the ^{19}Ne(p,γ)^{20}Na Reaction Rate and Implications for Breakout from the Hot CNO Cycle.

Science.gov (United States)

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.

An Inverse Optimal Control Approach to Explain Human Arm Reaching Control Based on Multiple Internal Models.

Science.gov (United States)

Oguz, Ozgur S; Zhou, Zhehua; Glasauer, Stefan; Wollherr, Dirk

2018-04-03

Human motor control is highly efficient in generating accurate and appropriate motor behavior for a multitude of tasks. This paper examines how kinematic and dynamic properties of the musculoskeletal system are controlled to achieve such efficiency. Even though recent studies have shown that the human motor control relies on multiple models, how the central nervous system (CNS) controls this combination is not fully addressed. In this study, we utilize an Inverse Optimal Control (IOC) framework in order to find the combination of those internal models and how this combination changes for different reaching tasks. We conducted an experiment where participants executed a comprehensive set of free-space reaching motions. The results show that there is a trade-off between kinematics and dynamics based controllers depending on the reaching task. In addition, this trade-off depends on the initial and final arm configurations, which in turn affect the musculoskeletal load to be controlled. Given this insight, we further provide a discomfort metric to demonstrate its influence on the contribution of different inverse internal models. This formulation together with our analysis not only support the multiple internal models (MIMs) hypothesis but also suggest a hierarchical framework for the control of human reaching motions by the CNS.

Non-iterative geometric approach for inverse kinematics of redundant lead-module in a radiosurgical snake-like robot.

Science.gov (United States)

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

Full waveform inversion using envelope-based global correlation norm

KAUST Repository

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.

Adjoint Inversion for Extended Earthquake Source Kinematics From Very Dense Strong Motion Data

Science.gov (United States)

Ampuero, J. P.; Somala, S.; Lapusta, N.

2010-12-01

Addressing key open questions about earthquake dynamics requires a radical improvement of the robustness and resolution of seismic observations of large earthquakes. Proposals for a new generation of earthquake observation systems include the deployment of “community seismic networks” of low-cost accelerometers in urban areas and the extraction of strong ground motions from high-rate optical images of the Earth's surface recorded by a large space telescope in geostationary orbit. Both systems could deliver strong motion data with a spatial density orders of magnitude higher than current seismic networks. In particular, a “space seismometer” could sample the seismic wave field at a spatio-temporal resolution of 100 m, 1 Hz over areas several 100 km wide with an amplitude resolution of few cm/s in ground velocity. The amount of data to process would be immensely larger than what current extended source inversion algorithms can handle, which hampers the quantitative assessment of the cost-benefit trade-offs that can guide the practical design of the proposed earthquake observation systems. We report here on the development of a scalable source imaging technique based on iterative adjoint inversion and its application to the proof-of-concept of a space seismometer. We generated synthetic ground motions for M7 earthquake rupture scenarios based on dynamic rupture simulations on a vertical strike-slip fault embedded in an elastic half-space. A range of scenarios include increasing levels of complexity and interesting features such as supershear rupture speed. The resulting ground shaking is then processed accordingly to what would be captured by an optical satellite. Based on the resulting data, we perform source inversion by an adjoint/time-reversal method. The gradient of a cost function quantifying the waveform misfit between data and synthetics is efficiently obtained by applying the time-reversed ground velocity residuals as surface force sources, back

Full waveform inversion using oriented time-domain imaging method for vertical transverse isotropic media

KAUST Repository

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.

Are undesirable contact kinematics minimized after kinematically aligned total knee arthroplasty? An intersurgeon analysis of consecutive patients.

Science.gov (United States)

Howell, Stephen M; Hodapp, Esther E; Vernace, Joseph V; Hull, Maury L; Meade, Thomas D

2013-10-01

Tibiofemoral contact kinematics or knee implant motions have a direct influence on patient function and implant longevity and should be evaluated for any new alignment technique such as kinematically aligned total knee arthroplasty (TKA). Edge loading of the tibial liner and external rotation (reverse of normal) and adduction of the tibial component on the femoral component are undesirable contact kinematics that should be minimized. Accordingly, this study determined whether the overall prevalence of undesirable contact kinematics during standing, mid kneeling near 90 degrees and full kneeling with kinematically aligned TKA are minimal and not different between groups of consecutive patients treated by different surgeons. Three surgeons were asked to perform cemented, kinematically aligned TKA with patient-specific guides in a consecutive series of patients with their preferred cruciate-retaining (CR) implant. In vivo tibiofemoral contact positions were obtained using a 3- to 2-dimensional image registration technique in 69 subjects (Vanguard CR-TKA N = 22, and Triathlon CR-TKA N = 47). Anterior or posterior edge loading of the tibial liner was not observed. The overall prevalence of external rotation of the tibial component on the femoral component of 6 % was low and not different between surgeons (n.s.). The overall prevalence of adduction of the tibial component on the femoral component of 4 % was low and not different between surgeons (n.s.). Kinematically aligned TKA minimized the undesirable contact kinematics of edge loading of the tibial liner, and external rotation and adduction of the tibial component on the femoral component during standing and kneeling, which suggests an optimistic prognosis for durable long-term function. III.

Joint Kinetics and Kinematics During Common Lower Limb Rehabilitation Exercises.

Science.gov (United States)

Comfort, Paul; Jones, Paul Anthony; Smith, Laura Constance; Herrington, Lee

2015-10-01

Unilateral body-weight exercises are commonly used to strengthen the lower limbs during rehabilitation after injury, but data comparing the loading of the limbs during these tasks are limited. To compare joint kinetics and kinematics during 3 commonly used rehabilitation exercises. Descriptive laboratory study. Laboratory. A total of 9 men (age = 22.1 ± 1.3 years, height = 1.76 ± 0.08 m, mass = 80.1 ± 12.2 kg) participated. Participants performed the single-legged squat, forward lunge, and reverse lunge with kinetic data captured via 2 force plates and 3-dimensional kinematic data collected using a motion-capture system. Peak ground reaction forces, maximum joint angles, and peak sagittal-joint moments. We observed greater eccentric and concentric peak vertical ground reaction forces during the single-legged squat than during both lunge variations (P ≤ .001). Both lunge variations demonstrated greater knee and hip angles than did the single-legged squat (P .05). Greater dorsiflexion occurred during the single-legged squat than during both lunge variations (P reverse lunge (P = .003) and the single-legged squat (P = .011). Knee-joint moments were greater in the single-legged squat than in the reverse lunge (P reverse lunge (P reverse lunge and then the forward lunge. In contrast, loading progressions for the knee and ankle should begin with the reverse lunge and progress to the forward lunge and then the single-legged squat.

Investigating The Kinematics of Canids and Felids

Science.gov (United States)

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.

Measurement of isotopic cross sections of the fission fragments produced in 500 AMeV {sup 208}Pb + p reaction; Etude de la production des fragments de fission issus de la reaction {sup 208}Pb + p a 500 AMeV

Energy Technology Data Exchange (ETDEWEB)

Fernandez-Dominguez, B

2003-03-01

The aim of this work is the study of the fission fragments produced in the spallation reaction {sup 208}Pb + p at 500 AMeV. The fission fragments from Z=23 up to Z=59 have been detected and identified by using the inverse kinematics technique with the high-resolution spectrometer FRS. The production cross sections and the recoil velocities of 430 nuclei have been measured. The measured data have been compared with previous data. The isotopic distributions show a high precision. However, the absolute value of the fission cross section is higher than expected. From the experimental data the characteristics of the average fissioning system have been reconstructed (Z{sub fis}, A{sub fis}, E*{sub fis}). In addition, the number of post-fission neutrons emitted from the fission fragments, v{sub post}, has been determined by using a new method. The experimental data have been compared to the two-steps models describing the spallation reaction. The impact of the model parameters on the observables has been analysed and the reasons Leading to the observed differences between the codes are also presented. This analyse shows a good agreement with the INCL4+ABLA code. (author)

Transfer and breakup reactions at intermediate energies

International Nuclear Information System (INIS)

Stokstad, R.G.

1986-04-01

The origin of the quasi-elastic peak in peripheral heavy-ion reactions is discussed in terms of inelastic scattering and transfer reactions to unbound states of the primary projectile-like fragment. The situation is analogous to the use of reverse kinematics in fusion reactions, a technique in which the object of study is moving with nearly the beam velocity. It appears that several important features of the quasi-elastic peak may be explained by this approach. Projectile-breakup reactions have attractive features for the study of nuclear structure. They may also be used to determine the partition of excitation energy in peripheral reactions. At intermediate energies, neutron-pickup reactions leading to four-body final states become important. Examples of experiments are presented that illustrate these points. 15 refs., 14 figs

Time-reversal asymmetry: polarization and analyzing power in nuclear reactions

International Nuclear Information System (INIS)

Rioux, C.; Roy, R.; Slobodrian, R.J.; Conzett, H.E.

1984-01-01

Measurements of the proton polarization in the reactions 7 Li( 3 He, p vector) 9 Be and 9 Be( 3 He, p vector) 11 B and of the analyzing powers in the inverse reactions, initiated by polarized protons at the same center-of-mass energies, show significant differences. This implies the failure of the polarization-analyzing-power theorem and, prima facie, of time-reversal invariance in these reactions. The reaction 2 H( 3 He, p vector) 4 He and its inverse have also been investigated and show smaller differences. A discussion of instrumental asymmetries is presented

Time asymmetry: Polarization and analyzing power in the nuclear reactions

International Nuclear Information System (INIS)

Rioux, C.; Roy, R.; Slobodrian, R.J.; Conzett, H.E.

1983-01-01

Measurements of the proton polarization in the reactions 7 Li( 3 He, p vector) 9 Be and 9 Be( 3 He, p vector) 11 B and of the analyzing powers of the inverse reactions, initiated by polarized protons at the same c.m. energies, show significant differences which imply the failure of the polarization-analyzing-power theorem and, prima facie, of time-reversal invariance in these reactions. The reaction 2 H( 3 He, p vector) 4 He and its inverse have also been investigated and show some smaller differences. A discussion of the instrumental asymmetries is presented. (orig.)

A Tabular Format for Computing Inverse Kinematic Equations for a 3DOF Robot Leg

Directory of Open Access Journals (Sweden)

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.

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.)

Symmetry, Wigner functions and particle reactions

International Nuclear Information System (INIS)

Chavlejshvili, M.P.

1994-01-01

We consider the great principle of physics - symmetry - and some ideas, connected with it, suggested by a great physicist Eugene Wigner. We will discuss the concept of symmetry and spin, study the problem of separation of kinematics and dynamics in particle reactions. Using Wigner rotation functions (reflecting symmetry properties) in helicity amplitude decomposition and crossing-symmetry between helicity amplitudes (which contains the same Wigner functions) we get convenient general formalism for description of reactions between particles with any masses and spins. We also consider some applications of the formalism. 17 refs., 1 tab

Correlation between transverse plan kinematics and foot progression angle in children with spastic diplegia.

Science.gov (United States)

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.

Quasi-free one nucleon knockout reactions on neutron-rich oxygen isotopes at the R3B-LAND setup

Energy Technology Data Exchange (ETDEWEB)

Atar, Leyla; Aumann, Thomas [TU Darmstadt, Darmstadt (Germany); GSI, Darmstadt (Germany); Bertulani, Carlos [Texas A and M University-Commerce, Commerce (United States); Paschalis, Stefanos [TU Darmstadt, Darmstadt (Germany); Nociforo, Chiara [GSI, Darmstadt (Germany); Collaboration: R3B-Collaboration

2016-07-01

Recent experiments have showed a reduction of spectroscopic strengths of about 60-70% for stable nuclei. When going to driplines 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 a secondary beam {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.

Measurement of isotopic cross sections of the fission fragments produced in 500 AMeV 208Pb + p reaction

International Nuclear Information System (INIS)

Fernandez-Dominguez, B.

2003-03-01

The aim of this work is the study of the fission fragments produced in the spallation reaction 208 Pb + p at 500 AMeV. The fission fragments from Z=23 up to Z=59 have been detected and identified by using the inverse kinematics technique with the high-resolution spectrometer FRS. The production cross sections and the recoil velocities of 430 nuclei have been measured. The measured data have been compared with previous data. The isotopic distributions show a high precision. However, the absolute value of the fission cross section is higher than expected. From the experimental data the characteristics of the average fissioning system have been reconstructed (Z fis , A fis , E* fis ). In addition, the number of post-fission neutrons emitted from the fission fragments, v post , has been determined by using a new method. The experimental data have been compared to the two-steps models describing the spallation reaction. The impact of the model parameters on the observables has been analysed and the reasons Leading to the observed differences between the codes are also presented. This analyse shows a good agreement with the INCL4+ABLA code. (author)

Why Cerenkov Radiation May Not Occur, Even When It Is Allowed by Lorentz-Violating Kinematics

Directory of Open Access Journals (Sweden)

Brett Altschul

2017-10-01

Full Text Available In a Lorentz-violating quantum field theory, the energy-momentum relations for the field quanta are typically modified. This affects the kinematics, and processes that are normally forbidden may become allowed. One reaction that clearly becomes kinematically possible when photons’ phase speeds are less than 1 is vacuum Cerenkov radiation. However, in spite of expectations, and in defiance of phase space estimates, a electromagnetic Chern–Simons theory with a timelike Lorentz violation coefficient does not feature any energy losses through Cerenkov emission. There is an unexpected cancelation, made possible by the existence of unstable long-wavelength modes of the field. The fact that the theory possesses a more limited form of gauge symmetry than conventional electrodynamics also plays a role.

Analysis of kinematic, kinetic and electromyographic patterns during root canal preparation with rotary and manual instruments

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.

Immediate effects of using ankle-foot orthoses in the kinematics of gait and in the balance reactions in Charcot-Marie-Tooth disease

OpenAIRE

Pereira, Rouse Barbosa; Felício, Lílian Ramiro; Ferreira, Arthur de Sá; Menezes, Sara Lúcia de; Freitas, Marcos Raimundo Gomes de; Orsini, Marco

2014-01-01

The Charcot-Marie-Tooth (CMT) disease is a peripheral hereditary neuropathy with progressive distal muscle atrophy and weakness, mainly in lower limbs, that evolves limiting the gait and balance. The objective of the study was to analyse the immediate effects of using Ankle-Foot Orthosis (AFO) in the gait's kinematics and balance in patients with CMT. Nine individuals were evaluated by Tinetti scales and Dynamic Gait Index (DGI) and gait's kinematics parameters through the motion capturing sy...

Speeding up the learning of robot kinematics through function decomposition.

Science.gov (United States)

Ruiz de Angulo, Vicente; Torras, Carme

2005-11-01

The main drawback of using neural networks or other example-based learning procedures to approximate the inverse kinematics (IK) of robot arms is the high number of training samples (i.e., robot movements) required to attain an acceptable precision. We propose here a trick, valid for most industrial robots, that greatly reduces the number of movements needed to learn or relearn the IK to a given accuracy. This trick consists in expressing the IK as a composition of learnable functions, each having half the dimensionality of the original mapping. Off-line and on-line training schemes to learn these component functions are also proposed. Experimental results obtained by using nearest neighbors and parameterized self-organizing map, with and without the decomposition, show that the time savings granted by the proposed scheme grow polynomially with the precision required.

Waveform inversion for orthorhombic anisotropy with P-waves: feasibility & resolution

KAUST Repository

Kazei, Vladimir

2018-01-27

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.

Entity models for trigger-reaction documents

NARCIS (Netherlands)

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

Time asymmetry: Polarization and analyzing power in the nuclear reactions

Energy Technology Data Exchange (ETDEWEB)

Rioux, C.; Roy, R.; Slobodrian, R.J. (Laval Univ., Quebec City (Canada). Lab. de Physique Nucleaire); Conzett, H.E. (California Univ., Berkeley (USA). Lawrence Berkeley Lab.)

1983-02-28

Measurements of the proton polarization in the reactions /sup 7/Li(/sup 3/He, p vector)/sup 9/Be and /sup 9/Be(/sup 3/He, p vector)/sup 11/B and of the analyzing powers of the inverse reactions, initiated by polarized protons at the same c.m. energies, show significant differences which imply the failure of the polarization-analyzing-power theorem and, prima facie, of time-reversal invariance in these reactions. The reaction /sup 2/H(/sup 3/He, p vector)/sup 4/ He and its inverse have also been investigated and show some smaller differences. A discussion of the instrumental asymmetries is presented.

Kinematic aspects of pion-nucleus elastic scattering

International Nuclear Information System (INIS)

Weiss, D.L.; Ernst, D.J.

1982-01-01

The inclusion of relativistic kinematics in the theory of elastic scattering of pions from nuclei is examined. The investigation is performed in the context of the first order impulse approximation which incorporates the following features: (1) Relative momentum are defined according to relativistic theories consistent with time reversal invariance. (2) The two-nucleon interaction is a new, multichannel, separable potential model consistent with the most recent data derived from a recent nonpotential model of Ernst and Johnson. (3) The recoil of the pion-nucleon interacting pair and its resultant nonlocality are included. (4) The Fermi integral is treated by an optimal factorization approximation. It is shown how a careful definition of an intrinsic target density leads to an unambiguous method for including the recoil of the target. The target recoil corrections are found to be large for elastic scattering from 4 He and not negligible for scattering from 12 C. Relativistic potential theory kinematics, kinematics which result from covariant reduction approaches, and kinematics which result from replacing masses by energies in nonrelativistic formulas are compared. The relativistic potential theory kinematics and covariant reduction kinematics are shown to produce different elastic scattering at all pion energies examined (T/sub π/<300 MeV). Simple extensions of nonrelativistic kinematics are found to be reasonable approximations to relativistic potential theory

Approximate Global Convergence and Quasi-Reversibility for a Coefficient Inverse Problem with Backscattering Data

Science.gov (United States)

2011-04-01

L1u. Assume that geodesic lines, generated by the eikonal equation corresponding to the function c (x) are regular, i.e. any two points in R3 can be...source x0 is located far from Ω, then similarly with (107) ∆l (x, x0) ≈ 0 in Ω. The function l (x, x0) satisfies the eikonal equation [38] |∇xl (x, x0...called “inverse kinematic problem” which aims to recover the function c (x) from the eikonal equation assuming that the function l (x, x0) is known for

Probing the structure of unstable nuclei through the recoiled proton tagged knockout reaction

International Nuclear Information System (INIS)

Ye, Y.; Cao, Z.; Jiang, D.

2010-01-01

Recoiled proton tagged knockout reaction experiments were carried-out for 8 He at 82,5 MeV/u in RIKEN and for 6 He at 65 MeV/u in Lanzhou. The very preliminary results for the distinguish of the reaction mechanism are presented and compared to the kinematics calculation. (authors)

The Impact of the Support System’s Kinematic Structure on Selected Kinematic and Dynamic Quantities of an Experimental Crane

Directory of Open Access Journals (Sweden)

Trąbka Arkadiusz

2014-12-01

Full Text Available This paper presents a comparative analysis of two kinematic structures of the support system (with supports with bilateral and unilateral constraints, which were used in an experimental model of a crane. The computational model was developed by using the ADAMS software. The impact of the kinematic structure of the support system on selected kinematic and dynamic values that were recorded during the slewing motion was analysed. It was found, among other things, that an increased number of degrees of freedom of the support system leads to multiple distortions of time characteristics of kinematic and dynamic quantities.

Results from the development of ionization detection systems for the DRAGON facility

CERN Document Server

Chen, A A

2003-01-01

We discuss the implementation of an ionization detection system for the focal plane of the DRAGON recoil mass separator. We report recent tests performed with stable beams to test the feasibility of such a system for use in measurements of radiative capture reactions in inverse kinematics with radioactive beams.

Results from the development of ionization detection systems for the DRAGON facility

International Nuclear Information System (INIS)

Chen, Alan A.

2003-01-01

We discuss the implementation of an ionization detection system for the focal plane of the DRAGON recoil mass separator. We report recent tests performed with stable beams to test the feasibility of such a system for use in measurements of radiative capture reactions in inverse kinematics with radioactive beams

Kinematics of a Hybrid Manipulator by Means of Screw Theory

International Nuclear Information System (INIS)

Gallardo-Alvarado, J

2005-01-01

In this work the kinematics of a hybrid manipulator, namely a fully parallel-serial manipulator, with a particular topology is approached by means of the theory of screws. Given the length of the six independent limbs, the forward position analysis of the mechanism under study, indeed the computation of the resulting pose, position and orientation, of the end-platform with respect to the fixed platform, is carried out in closed-form solution. Therefore conveniently this initial analysis avoids the use of a numerical technique such as the Newton-Raphson method. Writing in screw form the reduced acceleration state of the translational platform, with respect to the fixed platform, a simple expression for the computation of the acceleration of the translational platform is derived by taking advantage of the properties of reciprocal screws, via the Klein form, a bilinear symmetric form of the Lie algebra e(3). Following a similar procedure, a simple expression for the computation of the angular acceleration of the end-platform, with respect to the translational platform, is easily derived. Naturally, as an intermediate step, this contribution also provides the forward and inverse velocity analyses of the chosen parallel-serial manipulator. Finally, in order to prove the versatility of the expressions obtained via screw theory for solving the kinematics, up to the acceleration analysis, of the proposed spatial mechanism, a numerical example is solved with the help of commercial computer codes

Frequency-wavenumber domain phase inversion along reflection wavepaths

KAUST Repository

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.

Measurement of the inelastic branch of the stellar $^{14}$O($\\alpha$, p)$^{17}$F reaction occurring in the explosive burning in Novae and X-ray busters

CERN Document Server

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.

Measurement of the inelastic branch of the stellar 14O(α,p)17F reaction occurring in the explosive burning in Novae and X-ray bursters

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.

The α-chymotrypsin and its hydrophobic derivatives in inverse micelles

International Nuclear Information System (INIS)

Pitre, Franck

1993-01-01

The α-chymotrypsin is among the most used enzymes, notably and particularly in medicine for therapeutic treatments as well as in biochemistry to determine the amine acid sequence of proteins. This research thesis addresses the study of interactions between a micro-emulsion system and an enzymatic system, and more particularly the behaviour of α-chymotrypsin in AOT inverse micelles. After a brief description of the inverse micellar system and of previously obtained results on the solubilisation of α-chymotrypsin in inverse micelles, the author reports the study of the inverse micellar phase in presence of α-chymotrypsin at the vicinity of the maximum solubility. Various techniques are used for this purpose: UV-visible absorption spectrophotometry, conductometry, and X ray scattering. Then, the author describes the chemical modification of α-chymotrypsin, and reports the study of structural as well as reaction modifications introduced during the solubilisation of α-chymotrypsin modified in inverse micelles [fr

Differences in kinematic control of ankle joint motions in people with chronic ankle instability.

Science.gov (United States)

Kipp, Kristof; Palmieri-Smith, Riann M

2013-06-01

People with chronic ankle instability display different ankle joint motions compared to healthy people. The purpose of this study was to investigate the strategies used to control ankle joint motions between a group of people with chronic ankle instability and a group of healthy, matched controls. Kinematic data were collected from 11 people with chronic ankle instability and 11 matched control subjects as they performed a single-leg land-and-cut maneuver. Three-dimensional ankle joint angles were calculated from 100 ms before, to 200 ms after landing. Kinematic control of the three rotational ankle joint degrees of freedom was investigated by simultaneously examining the three-dimensional co-variation of plantarflexion/dorsiflexion, toe-in/toe-out rotation, and inversion/eversion motions with principal component analysis. Group differences in the variance proportions of the first two principal components indicated that the angular co-variation between ankle joint motions was more linear in the control group, but more planar in the chronic ankle instability group. Frontal and transverse plane motions, in particular, contributed to the group differences in the linearity and planarity of angular co-variation. People with chronic ankle instability use a different kinematic control strategy to coordinate ankle joint motions during a single-leg landing task. Compared to the healthy group, the chronic ankle instability group's control strategy appeared to be more complex and involved joint-specific contributions that would tend to predispose this group to recurring episodes of instability. Copyright © 2013 Elsevier Ltd. All rights reserved.

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.

Original research papers. Kinematic Characterisation of the Lunge and the Fleche in Epee Fencing: Two Case Studies

Directory of Open Access Journals (Sweden)

Bober Tadeusz

2016-12-01

Full Text Available Introduction. The aim of this study was to characterise the whole body dynamics and upper and lower joint kinematics during two common fencing steps: the lunge and the fleche. Material and methods. Two male competitive epee fencers were studied. Kinematics data were collected at 120 Hz (BTS Smart system and ground reaction forces were measured at 120 Hz (Kistler platform. The resultant centre of gravity and end segment velocities were calculated. Temporal events were referenced to the horizontal ground reaction force. Time domain linear joint velocities were extracted. Results. At the whole-body level, the resultant centre of gravity velocity was higher during the fleche (2.64 and 2.89 m/s than during the lunge (1.94 and 2.21 m/s. At the joint level, the wrist and elbow attained their peak velocities earlier than the proximal joint for both the lunge and the fleche for both athletes. Conclusions. The sequence of peak segmental velocities followed a distal to proximal sequence for both fencing steps.

Techniques for vector analyzing power measurements of the 2H(n vector,np)n breakup reaction at low energies

International Nuclear Information System (INIS)

Howell, C.R.; Tornow, W.; Pfuetzner, H.G.; Li Anli; Roberts, M.L.; Murphy, K.; Felsher, P.D.; Weisel, G.J.; Naqvi, A.; Walter, R.L.; Lambert, J.M.; Treado, P.A.

1990-01-01

Experimental methods to measure the vector analyzing powers over a broad range of kinematic configurations in the n-d breakup reaction have been developed at TUNL. These techniques employ the polarized beam facilities at TUNL and use the 2 H(d vector, n vector) 3 He reaction as a source of low-energy polarized neutrons. Our methods permit measurements to a high statistical accuracy over a large fraction of three-nucleon phase space. The techniques are described and experimental spectra along with kinematic calculations are presented. (orig.)

Kinematically complete study on electron impact ionisation of aligned hydrogen molecules

Energy Technology Data Exchange (ETDEWEB)

Senftleben, Arne

2009-10-28

Within the work presented here, single ionisation of spatially aligned hydrogen molecules by 200 eV electrons was studied in a kinematically complete experiment. For the first time, a comprehensive set of fully differential cross sections (FDCS) was obtained for this process on a molecular target. The direction of the internuclear axis was derived from the fragment emission of post-collision dissociation of the residual H{sub 2}{sup +} ion. Therefore, a protonic fragment was detected in coincidence with the two final-state electrons using a dedicated reaction microscope and sophisticated data analysis. For direct ionisation into the ionic ground state, existing theoretical cross sections for aligned molecules were tested. Additionally, we observed molecular frame angular distributions of Auger electrons emitted through dissociative autoionisation of H{sub 2}. Earlier findings of kinematically incomplete experiments were reproduced, but the FDCS reveal structures so far unknown. Furthermore, for random alignment, differential cross sections at two distinct values of the mean internuclear distance were obtained, providing new arguments in the current discussion on the nature of discrepancies observed between atomic and molecular collisions. (orig.)

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

Development of a low-level setup for gamma spectroscopy: Application for nuclear astrophysics using reverse kinematics

International Nuclear Information System (INIS)

Genard, G.; Nuttens, V.E.; Bouchat, V.; Terwagne, G.

2010-01-01

It is more and more necessary to improve the sensitivity of gamma-ray spectroscopy systems, especially in nuclear astrophysics. In the case of radiative proton capture reactions, one means is to avoid the reactions on the target impurities by using reverse kinematics. This technique is possible with the LARN accelerator and can provide very clean cross-section measurements. For that purpose, a hydrogen standard has been carried out by means of ion implantation in silicon. In addition, a low-level setup has been put in place on a new beam line of the accelerator. A high efficiency and high resolution germanium detector is used conjointly with a double shielding. A passive lead castle shielding system is used to reduce the natural radioactivity and an active shielding consisting of an anti-cosmic veto is provided by an anticoincidence between the plastic scintillator and the gamma-ray detector. The setup allows a reduction of 70% of the background interference and provides an approximately 200 fold sensitivity gain of between 600 and 3000 keV. Some other developments have also been carried out to optimize the setup. The entire setup and the reverse kinematics have been validated by measuring the cross-section of the 13 C(p,γ) 14 N and 15 N(p,γ) 16 O reactions that present some astrophysical interest.

Altered neuromuscular control and ankle joint kinematics during walking in subjects with functional instability of the ankle joint.

Science.gov (United States)

Delahunt, Eamonn; Monaghan, Kenneth; Caulfield, Brian

2006-12-01

The ankle joint requires very precise neuromuscular control during the transition from terminal swing to the early stance phase of the gait cycle. Altered ankle joint arthrokinematics and muscular activity have been cited as potential factors that may lead to an inversion sprain during the aforementioned time periods. However, to date, no study has investigated patterns of muscle activity and 3D joint kinematics simultaneously in a group of subjects with functional instability compared with a noninjured control group during these phases of the gait cycle. To compare the patterns of lower limb 3D joint kinematics and electromyographic activity during treadmill walking in a group of subjects with functional instability with those observed in a control group. Controlled laboratory study. Three-dimensional angular velocities and displacements of the hip, knee, and ankle joints, as well as surface electromyography of the rectus femoris, peroneus longus, tibialis anterior, and soleus muscles, were recorded simultaneously while subjects walked on a treadmill at a velocity of 4 km/h. Before heel strike, subjects with functional instability exhibited a decrease in vertical foot-floor clearance (12.62 vs 22.84 mm; P joint before, at, and immediately after heel strike (1.69 degrees , 2.10 degrees , and -0.09 degrees vs -1.43 degrees , -1.43 degrees , and -2.78 degrees , respectively [minus value = eversion]; P < .05) compared with controls. Subjects with functional instability were also observed to have an increase in peroneus longus integral electromyography during the post-heel strike time period (107.91%.millisecond vs 64.53%.millisecond; P < .01). The altered kinematics observed in this study could explain the reason subjects with functional instability experience repeated episodes of ankle inversion injury in situations with only slight or no external provocation. It is hypothesized that the observed increase in peroneus longus activity may be the result of a change in

GNSS Precise Kinematic Positioning for Multiple Kinematic Stations Based on A Priori Distance Constraints

Science.gov (United States)

He, Kaifei; Xu, Tianhe; Förste, Christoph; Petrovic, Svetozar; Barthelmes, Franz; Jiang, Nan; Flechtner, Frank

2016-01-01

When applying the Global Navigation Satellite System (GNSS) for precise kinematic positioning in airborne and shipborne gravimetry, multiple GNSS receiving equipment is often fixed mounted on the kinematic platform carrying the gravimetry instrumentation. Thus, the distances among these GNSS antennas are known and invariant. This information can be used to improve the accuracy and reliability of the state estimates. For this purpose, the known distances between the antennas are applied as a priori constraints within the state parameters adjustment. These constraints are introduced in such a way that their accuracy is taken into account. To test this approach, GNSS data of a Baltic Sea shipborne gravimetric campaign have been used. The results of our study show that an application of distance constraints improves the accuracy of the GNSS kinematic positioning, for example, by about 4 mm for the radial component. PMID:27043580

Six-point remainder function in multi-Regge-kinematics: an efficient approach in momentum space

Energy Technology Data Exchange (ETDEWEB)

Broedel, Johannes [Institut für Theoretische Physik, Eidgenössische Technische Hochschule Zürich,Wolfgang-Pauli-Strasse 27, 8093 Zürich (Switzerland); Institut für Mathematik und Institut für Physik, Humboldt-Universität zu Berlin,IRIS Adlershof, Zum Großen Windkanal 6, 12489 Berlin (Germany); Sprenger, Martin [Institut für Theoretische Physik, Eidgenössische Technische Hochschule Zürich,Wolfgang-Pauli-Strasse 27, 8093 Zürich (Switzerland)

2016-05-10

Starting from the known all-order expressions for the BFKL eigenvalue and impact factor, we establish a formalism allowing the direct calculation of the six-point remainder function in N=4 super-Yang-Mills theory in momentum space to — in principle — all orders in perturbation theory. Based upon identities which relate different integrals contributing to the inverse Fourier-Mellin transform recursively, the formalism allows to easily access the full remainder function in multi-Regge kinematics up to 7 loops and up to 10 loops in the fourth logarithmic order. Using the formalism, we prove the all-loop formula for the leading logarithmic approximation proposed by Pennington and investigate the behavior of several newly calculated functions.

Exploring chemical reaction mechanisms through harmonic Fourier beads path optimization.

Science.gov (United States)

Khavrutskii, Ilja V; Smith, Jason B; Wallqvist, Anders

2013-10-28

Here, we apply the harmonic Fourier beads (HFB) path optimization method to study chemical reactions involving covalent bond breaking and forming on quantum mechanical (QM) and hybrid QM∕molecular mechanical (QM∕MM) potential energy surfaces. To improve efficiency of the path optimization on such computationally demanding potentials, we combined HFB with conjugate gradient (CG) optimization. The combined CG-HFB method was used to study two biologically relevant reactions, namely, L- to D-alanine amino acid inversion and alcohol acylation by amides. The optimized paths revealed several unexpected reaction steps in the gas phase. For example, on the B3LYP∕6-31G(d,p) potential, we found that alanine inversion proceeded via previously unknown intermediates, 2-iminopropane-1,1-diol and 3-amino-3-methyloxiran-2-ol. The CG-HFB method accurately located transition states, aiding in the interpretation of complex reaction mechanisms. Thus, on the B3LYP∕6-31G(d,p) potential, the gas phase activation barriers for the inversion and acylation reactions were 50.5 and 39.9 kcal∕mol, respectively. These barriers determine the spontaneous loss of amino acid chirality and cleavage of peptide bonds in proteins. We conclude that the combined CG-HFB method further advances QM and QM∕MM studies of reaction mechanisms.

Forward and Inverse Predictive Model for the Trajectory Tracking Control of a Lower Limb Exoskeleton for Gait Rehabilitation: Simulation modelling analysis

Science.gov (United States)

Zakaria, M. A.; Majeed, A. P. P. A.; Taha, Z.; Alim, M. M.; Baarath, K.

2018-03-01

The movement of a lower limb exoskeleton requires a reasonably accurate control method to allow for an effective gait therapy session to transpire. Trajectory tracking is a nontrivial means of passive rehabilitation technique to correct the motion of the patients’ impaired limb. This paper proposes an inverse predictive model that is coupled together with the forward kinematics of the exoskeleton to estimate the behaviour of the system. A conventional PID control system is used to converge the required joint angles based on the desired input from the inverse predictive model. It was demonstrated through the present study, that the inverse predictive model is capable of meeting the trajectory demand with acceptable error tolerance. The findings further suggest the ability of the predictive model of the exoskeleton to predict a correct joint angle command to the system.

Properties of kinematic singularities

Energy Technology Data Exchange (ETDEWEB)

Coley, A A [Department of Mathematics and Statistics, Dalhousie University, Halifax, Nova Scotia B3H 3J5 (Canada); Hervik, S [Department of Mathematics and Natural Sciences, University of Stavanger, N-4036 Stavanger (Norway); Lim, W C [Albert-Einstein-Institut, Am Muehlenberg 1, D-14476 Potsdam (Germany); MacCallum, M A H, E-mail: aac@mathstat.dal.c, E-mail: sigbjorn.hervik@uis.n, E-mail: wclim@aei.mpg.d, E-mail: m.a.h.maccallum@qmul.ac.u [School of Mathematical Sciences, Queen Mary University of London, E1 4NS (United Kingdom)

2009-11-07

The locally rotationally symmetric tilted perfect fluid Bianchi type V cosmological model provides examples of future geodesically complete spacetimes that admit a 'kinematic singularity' at which the fluid congruence is inextendible but all frame components of the Weyl and Ricci tensors remain bounded. We show that for any positive integer n there are examples of Bianchi type V spacetimes admitting a kinematic singularity such that the covariant derivatives of the Weyl and Ricci tensors up to the nth order also stay bounded. We briefly discuss singularities in classical spacetimes.

Investigation of the halo structure of exotic nuclei by direct reactions in inverse kinematics

International Nuclear Information System (INIS)

Egelhof, Peter

2003-01-01

Neutron-rich light nuclei near or at the neutron drip line have attracted much attention in recent years since there is clear evidence that they reveal a qualitatively new type of nuclear structure, namely an extended distribution of valence neutrons surrounding a compact nuclear core. A brief overview is given on this halo phenomenon, and on the various methods, which gave first evidence for, and qualitative confirmation of our present picture on halo nuclei

Waveform inversion for orthorhombic anisotropy with P waves: feasibility and resolution

Science.gov (United States)

Kazei, Vladimir; Alkhalifah, Tariq

2018-05-01

Various parametrizations 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 parametrizations, 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 and orthorhombic) in hierarchical parametrization is the best choice. Hierarchical parametrization reduces the trade-off 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 parametrization 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 parametrizations can be used to ascertain the set of parameters that can be resolved.

Kinematic and dynamic analysis of a serial-link robot for inspection process in EAST vacuum vessel

Energy Technology Data Exchange (ETDEWEB)

Peng Xuebing, E-mail: pengxb@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, P.O. Box 1126, Shushanhu Road 350, Hefei, Anhui 230031 (China); Yuan Jianjun; Zhang Weijun [Research Institute of Robotics, Mechanical Engineering School, Shanghai Jiao Tong University, No.800, Dong Chuan Road, Min Hang District, Shanghai 200240 (China); Yang Yang; Song Yuntao [Institute of Plasma Physics, Chinese Academy of Sciences, P.O. Box 1126, Shushanhu Road 350, Hefei, Anhui 230031 (China)

2012-08-15

Highlights: Black-Right-Pointing-Pointer A serial-link robot FIVIR is proposed for inspection of EAST PFCs between plasma shots. Black-Right-Pointing-Pointer The FIVIR is a function modular design and has specially designed curvilinear mechanism for axes 4-6. Black-Right-Pointing-Pointer The D-H coordinate systems, forward and inverse kinematic model can be easily established and solved for the FIVIR. Black-Right-Pointing-Pointer The FIVIR can fulfill the required workspace and has a good dynamic performance in the inspection process. - Abstract: The present paper introduces a serial-link robot which is named flexible in-vessel inspection robot (FIVIR) and developed for Experimental Advanced Superconducting Tokamak (EAST). The task of the robot is to carry process tools, such as viewing camera and leakage detector, to inspect the components installed inside of EAST vacuum vessel. The FIVIR can help to understand the physical phenomena which could be happened in the vacuum vessel during plasma operation and could be one part of EAST remote handling system if needed. The FIVIR was designed with the consideration of having easy control and a good mechanics property which drives it resulted in function modular design. The workspace simulation and kinematic analysis are given in this paper. The dynamic behavior of the FIVIR is studied by multi-body system simulation using ADAMS software. The study result shows the FIVIR has ascendant kinematic and dynamic performance and can fulfill the design requirement for inspection process in EAST vacuum vessel.

Kinematic and dynamic analysis of a serial-link robot for inspection process in EAST vacuum vessel

International Nuclear Information System (INIS)

Peng Xuebing; Yuan Jianjun; Zhang Weijun; Yang Yang; Song Yuntao

2012-01-01

Highlights: ► A serial-link robot FIVIR is proposed for inspection of EAST PFCs between plasma shots. ► The FIVIR is a function modular design and has specially designed curvilinear mechanism for axes 4–6. ► The D-H coordinate systems, forward and inverse kinematic model can be easily established and solved for the FIVIR. ► The FIVIR can fulfill the required workspace and has a good dynamic performance in the inspection process. - Abstract: The present paper introduces a serial-link robot which is named flexible in-vessel inspection robot (FIVIR) and developed for Experimental Advanced Superconducting Tokamak (EAST). The task of the robot is to carry process tools, such as viewing camera and leakage detector, to inspect the components installed inside of EAST vacuum vessel. The FIVIR can help to understand the physical phenomena which could be happened in the vacuum vessel during plasma operation and could be one part of EAST remote handling system if needed. The FIVIR was designed with the consideration of having easy control and a good mechanics property which drives it resulted in function modular design. The workspace simulation and kinematic analysis are given in this paper. The dynamic behavior of the FIVIR is studied by multi-body system simulation using ADAMS software. The study result shows the FIVIR has ascendant kinematic and dynamic performance and can fulfill the design requirement for inspection process in EAST vacuum vessel.

Site-Specific Protein Labeling Utilizing Lipoic Acid Ligase (LplA) and Bioorthogonal Inverse Electron Demand Diels-Alder Reaction.

Science.gov (United States)

Baalmann, Mathis; Best, Marcel; Wombacher, Richard

2018-01-01

Here, we describe a two-step protocol for selective protein labeling based on enzyme-mediated peptide labeling utilizing lipoic acid ligase (LplA) and bioorthogonal chemistry. The method can be applied to purified proteins, protein in cell lysates, as well as living cells. In a first step a W37V mutant of the lipoic acid ligase (LplA W37V ) from Escherichia coli is utilized to ligate a synthetic chemical handle site-specifically to a lysine residue in a 13 amino acid peptide motif-a short sequence that can be genetically expressed as a fusion with any protein of interest. In a second step, a molecular probe can be attached to the chemical handle in a bioorthogonal Diels-Alder reaction with inverse electron demand (DA inv ). This method is a complementary approach to protein labeling using genetic code expansion and circumvents larger protein tags while maintaining label specificity, providing experimental flexibility and straightforwardness.

Minisatellite Attitude Guidance Using Reaction Wheels

Directory of Open Access Journals (Sweden)

Ion STROE

2015-06-01

Full Text Available In a previous paper [2], the active torques needed for the minisatellite attitude guidance from one fixed attitude posture to another fixed attitude posture were determined using an inverse dynamics method. But when considering reaction/momentum wheels, instead of this active torques computation, the purpose is to compute the angular velocities of the three reaction wheels which ensure the minisatellite to rotate from the initial to the final attitude. This paper presents this computation of reaction wheels angular velocities using a similar inverse dynamics method based on inverting Euler’s equations of motion for a rigid body with one fixed point, written in the framework of the x-y-z sequence of rotations parameterization. For the particular case A=B not equal C of an axisymmetric minisatellite, the two computations are compared: the active torques computation versus the computation of reaction wheels angular velocities ̇x , ̇y and ̇z. An interesting observation comes out from this numerical study: if the three reaction wheels are identical (with Iw the moment of inertia of one reaction wheel with respect to its central axis, then the evolutions in time of the products between Iw and the derivatives of the reaction wheels angular velocities, i.e. ̇ , ̇ and ̇ remain the same and do not depend on the moment of inertia Iw.

Crossed molecular beam studies of unimolecular reaction dynamics

International Nuclear Information System (INIS)

Buss, R.J.

1979-04-01

The study of seven radical-molecule reactions using the crossed molecular beam technique with supersonic nozzle beams is reported. Product angular and velocity distributions were obtained and compared with statistical calculations in order to identify dynamical features of the reactions. In the reaction of chlorine and fluorine atoms with vinyl bromide, the product energy distributions are found to deviate from predictions of the statistical model. A similar effect is observed in the reaction of chlorine atoms with 1, 2 and 3-bromopropene. The reaction of oxygen atoms with ICl and CF 3 I has been used to obtain an improved value of the IO bond energy, 55.0 +- 2.0 kcal mol -1 . In all reactions studied, the product energy and angular distributions are found to be coupled, and this is attributed to a kinematic effect of the conservation of angular momentum

First metatarsophalangeal joint motion in Homo sapiens: theoretical association of two-axis kinematics and specific morphometrics.

Science.gov (United States)

Durrant, Michael N; McElroy, Tucker; Durrant, Lara

2012-01-01

The metatarsal head and proximal phalanx exhibit considerable asymmetry in their shape and geometry, but there is little documentation in the literature regarding the prevalence of structural characteristics that occur in a given population. Although there is a considerable volume of in vivo and in vitro experiments demonstrating first metatarsal inversion around its longitudinal axis with dorsiflexion, little is known regarding the applicability of specific morphometrics to these motions. Nine distinctive osseous characteristics in the metatarsal head and phalanx were selected based on their location, geometry, and perceived functional relationship to previous studies describing metatarsal motion as inversion with dorsiflexion. The prevalences of the chosen characteristics were determined in a cohort of 21 randomly selected skeletal specimens, 19 of which were provided by the anatomical preparation office at the University of California, San Diego, and two of which were in the possession of one of us (M.D.). The frequency of occurrence of each selected morphological characteristic in this sample and the relevant summary statistics confirm a strong association between the selected features and a conceptual two-axis kinematic model of the metatarsophalangeal joint. The selected morphometrics are consistent with inversion of the metatarsal around its longitudinal axis as it dorsiflexes.

Two-proton knockout on neutron-rich nuclei

International Nuclear Information System (INIS)

Bazin, D.; Brown, B.A.; Campbell, C.M.; Church, J.A.; Dinca, D.C.; Enders, J.; Gade, A.; Glasmacher, T.; Hansen, P.G.; Mueller, W.F.; Olliver, H.; Perry, B.C.; Sherrill, B.M.; Terry, J.R.; Tostevin, J.A.

2004-01-01

Two-proton knockout reactions on neutron-rich nuclei [Phys. Rev. Lett. 91 (2003) 012501] have been studied in inverse kinematics at intermediate energy. Strong evidence that the two-proton removal from a neutron-rich system proceeds as a direct reaction is presented, together with a preliminary theoretical discussion of the partial cross sections based on eikonal reaction theory and the many-body shell model. They show that this reaction can be used to characterize the wave functions of the projectiles and holds great promise for the study of neutron-rich nuclei

A Novel Methodology for the Simulation of Athletic Tasks on Cadaveric Knee Joints with Respect to In Vivo Kinematics

Science.gov (United States)

Bates, Nathaniel A.; Nesbitt, Rebecca J.; Shearn, Jason T.; Myer, Gregory D.; Hewett, Timothy E.

2015-01-01

Six degree of freedom (6-DOF) robotic manipulators have simulated clinical tests and gait on cadaveric knees to examine knee biomechanics. However, these activities do not necessarily emulate the kinematics and kinetics that lead to anterior cruciate ligament (ACL) rupture. The purpose of this study was to determine the techniques needed to derive reproducible, in vitro simulations from in vivo skin-marker kinematics recorded during simulated athletic tasks. Input of raw, in vivo, skin-marker-derived motion capture kinematics consistently resulted in specimen failure. The protocol described in this study developed an in-depth methodology to adapt in vivo kinematic recordings into 6-DOF knee motion simulations for drop vertical jumps and sidestep cutting. Our simulation method repeatably produced kinetics consistent with vertical ground reaction patterns while preserving specimen integrity. Athletic task simulation represents an advancement that allows investigators to examine ACL-intact and graft biomechanics during motions that generate greater kinetics, and the athletic tasks are more representative of documented cases of ligament rupture. Establishment of baseline functional mechanics within the knee joint during athletic tasks will serve to advance the prevention, repair and rehabilitation of ACL injuries. PMID:25869454

Kinematic Chains in Ski Jumping In-run Posture.

Science.gov (United States)

Janurová, Eva; Janura, Miroslav; Cabell, Lee; Svoboda, Zdeněk; Vařeka, Ivan; Elfmark, Milan

2013-12-18

The concept of kinematic chains has been systematically applied to biological systems since the 1950s. The course of a ski jump can be characterized as a change between closed and open kinematic chains. The purpose of this study was to determine a relationship between adjacent segments within the ski jumper's body's kinematic chain during the in-run phase of the ski jump. The in-run positions of 267 elite male ski jumpers who participated in the FIS World Cup events in Innsbruck, Austria, between 1992 and 2001 were analyzed (656 jumps). Two-dimensional (2-D) kinematic data were collected from the bodies of the subjects. Relationships between adjacent segments of the kinematic chain in the ski jumper's body at the in-run position are greater nearer the chain's ground contact. The coefficient of determination between the ankle and knee joint angles is 0.67. Changes in the segments' positions in the kinematic chain of the ski jumper's body are stable during longitudinal assessment. Changes in shank and thigh positions, in the sense of increase or decrease, are the same.

Kinematically Optimal Robust Control of Redundant Manipulators

Science.gov (United States)

Galicki, M.

2017-12-01

This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

Kinematical properties of spectator fragments in heavy-ion collisions at relativistic energies

International Nuclear Information System (INIS)

Bacquias, A.

2008-07-01

Contrary to central collisions experiments, some experiments are designed for the investigation of nuclear-matter properties thanks to spectator matter. These experiments concentrate their selection on events of peripheral and mid-peripheral collisions. Spectator matter is not subject to compression but is highly excited. The observables related to spectator fragments can then be used as probes on nuclear matter at low density in the case of mid-peripheral collisions. Recently, experiments with the Fragment Separator (FRS) at GSI have proven to be suited for yielding valuable complementary information to spectator matter studies. We will first give an overview of the types of reaction relevant for this study and the different features that condition the reaction mechanisms leading to fragmentation. In the second chapter, we will describe the experimental set-up used at the FRS and explain the role of each detector and the method to exploit these data at best. In the third chapter we will concentrate our efforts on kinematics data from a 136 Xe + Pb experiment at the energy of 1 GeV per nucleon. Experimental results come in the fourth chapter and they are interpreted and discussed in chapters 5, 6 and 7. We will first comment the shapes of the velocity spectra and discuss the link between observation and physical processes. The surprising fact that one has means to assess the centrality despite the low acceptance of the experimental set-up will be underlined. This new way of presenting the data will permit a new approach to the nucleon-nucleon cross-section, by making comparison with theoretical models possible. Eventually, we will concentrate on the width of the velocity spectra. After going through previous models and predictions we will present a new description of the reaction mechanisms and their influence on the kinematics of observed fragments, reliable for a very broad range of fragments. (A.C.)

Wave kinematics and response of slender offshore structures. Vol 4: Wave kinematics

Energy Technology Data Exchange (ETDEWEB)

Riber, H.J.

1999-08-01

The kinematics of large surface waves has been measured by means of sonar's placed on the sea floor at the Tyra field. Measurements from the most severe storm are analysed and extreme wave velocity profiles are compared to Stoke wave velocity profiles. Statistical distributions of crest velocity and wave celerity are presented. The analysis shows how the deviation from the Stokes prediction varies with wave heights and steepness. Analyses of the directional wave field leads to the conclusion that the extreme waves are three-dimensional. It is shown that the peculiar kinematics of extreme waves is of great relevance to the design of jacket type structures. (au)

The maximal kinematical invariance group of fluid dynamics and explosion-implosion duality

International Nuclear Information System (INIS)

O'Raifeartaigh, L.; Sreedhar, V.V.

2001-01-01

It has recently been found that supernova explosions can be simulated in the laboratory by implosions induced in a plasma by intense lasers. A theoretical explanation is that the inversion transformation, (Σ:t→-1/t, x→x/t), leaves the Euler equations of fluid dynamics, with standard polytropic exponent, invariant. This implies that the kinematical invariance group of the Euler equations is larger than the Galilei group. In this paper we determine, in a systematic manner, the maximal invariance group G of general fluid dynamics and show that it is a semi-direct product G=SL(2, R) three G, where the SL(2, R) group contains the time-translations, dilations, and the inversion Σ, and G is the static (nine-parameter) Galilei group. A subtle aspect of the inclusion of viscosity fields is discussed and it is shown that the Navier-Stokes assumption of constant viscosity breaks the SL(2, R) group to a two-parameter group of time translations and dilations in a tensorial way. The 12-parameter group G is also known to be the maximal invariance group of the free Schroedinger equation. It originates in the free Hamilton-Jacobi equation which is central to both fluid dynamics and the Schroedinger equation

Expressions of manipulator kinematic equations via symbolic computation

International Nuclear Information System (INIS)

Sasaki, Shinobu

1993-09-01

While it is simple in principle to determine the position and orientation of the manipulator hand, its computational process has been regarded as extremely laborious since trigonometric functions must be calculated many times in operations of revolute or rotation. Due to development of a general class of kinematic algorithm based on iterative methods, however, we have come to a satisfactory settlement of this problem. In the present article, we consider to construct symbolic kinematic equations in an automatic fashion making use of the algorithm. To this end, recursive expressions are applied to a symbolic computation system REDUCE. As a concrete result, a complete kinematic model for a six-jointed arm having all kinematic attributes is provided. Together with work space analysis, the computer-aided generation of kinematic equations in symbolic form will serve to liberate us from their cumbersome derivations. (author)

2nd Conference on Interdisciplinary Applications in Kinematics

CERN Document Server

Flores, Francisco

2015-01-01

This book collects a number of important contributions presented during the Second Conference on Interdisciplinary Applications of Kinematics (IAK 2013) held in Lima, Peru. The conference brought together scientists from several research fields, such as computational kinematics, multibody systems, industrial machines, robotics, biomechanics, mechatronics, computational chemistry, and vibration analysis, and embraced all key aspects of kinematics, namely, theoretical methods, modeling, optimization, experimental validation, industrial applications, and design. Kinematics is an exciting area of computational mechanics and plays  a central role in a great variety of fields and industrial applications nowadays. Apart from research in pure kinematics, the field deals with problems of practical relevance that need to be solved in an interdisciplinary manner in order for new technologies to develop. The results presented in this book should be of interest for practicing and research engineers as well as Ph.D. stud...

Probing the semi-magicity of $^{68}$Ni via the $^{66}$Ni(t,p)$^{68}$Ni two-neutron transfer reaction in inverse kinematics

CERN Document Server

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 ...

Upper-limb kinematic reconstruction during stroke robot-aided therapy.

Science.gov (United States)

Papaleo, E; Zollo, L; Garcia-Aracil, N; Badesa, F J; Morales, R; Mazzoleni, S; Sterzi, S; Guglielmelli, E

2015-09-01

The paper proposes a novel method for an accurate and unobtrusive reconstruction of the upper-limb kinematics of stroke patients during robot-aided rehabilitation tasks with end-effector machines. The method is based on a robust analytic procedure for inverse kinematics that simply uses, in addition to hand pose data provided by the robot, upper arm acceleration measurements for computing a constraint on elbow position; it is exploited for task space augmentation. The proposed method can enable in-depth comprehension of planning strategy of stroke patients in the joint space and, consequently, allow developing therapies tailored for their residual motor capabilities. The experimental validation has a twofold purpose: (1) a comparative analysis with an optoelectronic motion capturing system is used to assess the method capability to reconstruct joint motion; (2) the application of the method to healthy and stroke subjects during circle-drawing tasks with InMotion2 robot is used to evaluate its efficacy in discriminating stroke from healthy behavior. The experimental results have shown that arm angles are reconstructed with a RMSE of 8.3 × 10(-3) rad. Moreover, the comparison between healthy and stroke subjects has revealed different features in the joint space in terms of mean values and standard deviations, which also allow assessing inter- and intra-subject variability. The findings of this study contribute to the investigation of motor performance in the joint space and Cartesian space of stroke patients undergoing robot-aided therapy, thus allowing: (1) evaluating the outcomes of the therapeutic approach, (2) re-planning the robotic treatment based on patient needs, and (3) understanding pathology-related motor strategies.

Joint kinematics and kinetics of overground accelerated running versus running on an accelerated treadmill.

Science.gov (United States)

Caekenberghe, Ine Van; Segers, Veerle; Aerts, Peter; Willems, Patrick; De Clercq, Dirk

2013-07-06

Literature shows that running on an accelerated motorized treadmill is mechanically different from accelerated running overground. Overground, the subject has to enlarge the net anterior-posterior force impulse proportional to acceleration in order to overcome linear whole body inertia, whereas on a treadmill, this force impulse remains zero, regardless of belt acceleration. Therefore, it can be expected that changes in kinematics and joint kinetics of the human body also are proportional to acceleration overground, whereas no changes according to belt acceleration are expected on a treadmill. This study documents kinematics and joint kinetics of accelerated running overground and running on an accelerated motorized treadmill belt for 10 young healthy subjects. When accelerating overground, ground reaction forces are characterized by less braking and more propulsion, generating a more forward-oriented ground reaction force vector and a more forwardly inclined body compared with steady-state running. This change in body orientation as such is partly responsible for the changed force direction. Besides this, more pronounced hip and knee flexion at initial contact, a larger hip extension velocity, smaller knee flexion velocity and smaller initial plantarflexion velocity are associated with less braking. A larger knee extension and plantarflexion velocity result in larger propulsion. Altogether, during stance, joint moments are not significantly influenced by acceleration overground. Therefore, we suggest that the overall behaviour of the musculoskeletal system (in terms of kinematics and joint moments) during acceleration at a certain speed remains essentially identical to steady-state running at the same speed, yet acting in a different orientation. However, because acceleration implies extra mechanical work to increase the running speed, muscular effort done (in terms of power output) must be larger. This is confirmed by larger joint power generation at the level of

Joint kinematics and kinetics of overground accelerated running versus running on an accelerated treadmill

Science.gov (United States)

Van Caekenberghe, Ine; Segers, Veerle; Aerts, Peter; Willems, Patrick; De Clercq, Dirk

2013-01-01

Literature shows that running on an accelerated motorized treadmill is mechanically different from accelerated running overground. Overground, the subject has to enlarge the net anterior–posterior force impulse proportional to acceleration in order to overcome linear whole body inertia, whereas on a treadmill, this force impulse remains zero, regardless of belt acceleration. Therefore, it can be expected that changes in kinematics and joint kinetics of the human body also are proportional to acceleration overground, whereas no changes according to belt acceleration are expected on a treadmill. This study documents kinematics and joint kinetics of accelerated running overground and running on an accelerated motorized treadmill belt for 10 young healthy subjects. When accelerating overground, ground reaction forces are characterized by less braking and more propulsion, generating a more forward-oriented ground reaction force vector and a more forwardly inclined body compared with steady-state running. This change in body orientation as such is partly responsible for the changed force direction. Besides this, more pronounced hip and knee flexion at initial contact, a larger hip extension velocity, smaller knee flexion velocity and smaller initial plantarflexion velocity are associated with less braking. A larger knee extension and plantarflexion velocity result in larger propulsion. Altogether, during stance, joint moments are not significantly influenced by acceleration overground. Therefore, we suggest that the overall behaviour of the musculoskeletal system (in terms of kinematics and joint moments) during acceleration at a certain speed remains essentially identical to steady-state running at the same speed, yet acting in a different orientation. However, because acceleration implies extra mechanical work to increase the running speed, muscular effort done (in terms of power output) must be larger. This is confirmed by larger joint power generation at the level

Techniques for vector analyzing power measurements of the sup 2 H(n vector,np)n breakup reaction at low energies

Energy Technology Data Exchange (ETDEWEB)

Howell, C.R.; Tornow, W.; Pfuetzner, H.G.; Li Anli; Roberts, M.L.; Murphy, K.; Felsher, P.D.; Weisel, G.J.; Naqvi, A.; Walter, R.L. (Duke Univ., Durham, NC (USA) Triangle Universities Nuclear Lab., Durham, NC (USA)); Lambert, J.M.; Treado, P.A. (Georgetown Univ., Washington, DC (USA). Dept. of Physics); Slaus, I. (Institut Rudjer Boskovic, Zagreb (Yugoslavia))

1990-05-10

Experimental methods to measure the vector analyzing powers over a broad range of kinematic configurations in the n-d breakup reaction have been developed at TUNL. These techniques employ the polarized beam facilities at TUNL and use the {sup 2}H(d vector, n vector){sup 3}He reaction as a source of low-energy polarized neutrons. Our methods permit measurements to a high statistical accuracy over a large fraction of three-nucleon phase space. The techniques are described and experimental spectra along with kinematic calculations are presented. (orig.).

Development of Calculation Algorithm for ECCS Kinematic Shock

Energy Technology Data Exchange (ETDEWEB)

Lee, Seung-Chan; Yoon, Duk-Joo; Ha, Sang-Jun [KHNP-CRI, Daejeon (Korea, Republic of)

2014-10-15

The void fraction of inverted U-pipes in front of SI(Safety Injection) pumps impact on the pipe system of ECCS(Emergency Core Cooling Systems). This phenomena is called as 'Kinematic Shock'. The purpose of this paper is to achieve the more exactly calculation when the kinematic shock is calculated by simplified equation. The behavior of the void packet of the ECCS pipes is illustrated by the simplified (other name is kinematic shock equation).. The kinematic shock is defined as the depth of total length of void clusters in the pipes of ECCS when the void cluster is continually reached along the part of pipes in vertical direction. In this paper, the simplified equation is evaluated by comparing calculation error each other.]. The more exact methods of calculating the depth of the kinematic shock in ECCS is achieved. The error of kinematic shock calculation is strongly depended on the calculation search gap and the order of Taylor's expansion. From this study, to select the suitable search gap and the suitable calculation order, differential root method, secant method, and Taylor's expansion form are compared one another.

21st Century Kinematics : The 2012 NSF Workshop

CERN Document Server

2013-01-01

21st Century Kinematics focuses on algebraic problems in the analysis and synthesis of mechanisms and robots, compliant mechanisms, cable-driven systems and protein kinematics. The specialist contributors provide the background for a series of presentations at the 2012 NSF Workshop. The text shows how the analysis and design of innovative mechanical systems yield increasingly complex systems of polynomials, characteristic of those systems. In doing so, takes advantage of increasingly sophisticated computational tools developed for numerical algebraic geometry and demonstrates the now routine derivation of polynomial systems dwarfing the landmark problems of even the recent past. The 21st Century Kinematics workshop echoes the NSF-supported 1963 Yale Mechanisms Teachers Conference that taught a generation of university educators the fundamental principles of kinematic theory. As such these proceedings will be provide admirable supporting theory for a graduate course in modern kinematics and should be of consid...

Monofrequency waveform acquisition and inversion: A new paradigm

KAUST Repository

Alkhalifah, Tariq Ali

2014-01-01

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.

Monofrequency waveform acquisition and inversion: A new paradigm

KAUST Repository

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.

Static and kinematic formulation of planar reciprocal assemblies

DEFF Research Database (Denmark)

Parigi, Dario; Sassone, Mario; Kirkegaard, Poul Henning

2014-01-01

Planar reciprocal frames are two dimensional structures formed by elements joined together according to the principle of structural reciprocity. In this paper a rigorous formulation of the static and kinematic problem is proposed and developed extending the theory of pin-jointed assemblies....... This formulation is used to evaluate the static and kinematic determinacy of reciprocal assemblies from the properties of their equilibrium and kinematic matrices...

Activation-Strain Analysis Reveals Unexpected Origin of Fast Reactivity in Heteroaromatic Azadiene Inverse-Electron-Demand Diels-Alder Cycloadditions

NARCIS (Netherlands)

Talbot, Austin; Devarajan, Deepa; Gustafson, Samantha J.; Fernandez, Israel; Bickelhaupt, F. Matthias; Ess, Daniel H.

2014-01-01

Heteroaromatic azadienes, especially 1,2,4,5-tetrazines, are extremely reactive partners with alkenes in inverse-electron-demand Diels–Alder reactions. Azadiene cycloaddition reactions are used to construct heterocycles in synthesis and are popular as bioorthogonal reactions. The origin of fast

Angular distributions of the quasifree deuteron-proton and deuteron-neutron scattering in the reaction dd → dpn

International Nuclear Information System (INIS)

Schneider, H.

1978-06-01

The mechanism of the quasifree scattering (QFS) in the reaction dd → dpn has been investigated systematically by means of kinematically complete coincidence experiments using 52 MeV deuterons. In order to measure the angular distributions of the quasifree dp scattering and the quasifree dn scattering, the kinematical conditions were chosen to favour quasifree scattering of deuterons on bound nucleons of the target deuteron. (orig.) [de

Study of spallation residues of gold at 0.8 GeV/N in reverse kinematics

International Nuclear Information System (INIS)

Tassan-Got, L.; Mustapha, B.; Rejmund, F.

2000-01-01

Spallation residue cross-sections of gold have been measured in reverse kinematics. For the first time isotopic distributions have been obtained for such a heavy nucleus at a level of accuracy of 10 %. When compared to model calculations the results appear to be very sensitive to the distribution of excitation energy in the fast step of the reaction. This allows an insight on the mechanism of the energy and momentum deposition. (authors)

Can shoulder joint reaction forces be estimated by neural networks?

NARCIS (Netherlands)

de Vries, W.H.K.; Veeger, H.E.J.; Baten, C.T.M.; van der Helm, F.C.T.

2016-01-01

To facilitate the development of future shoulder endoprostheses, a long term load profile of the shoulder joint is desired. A musculoskeletal model using 3D kinematics and external forces as input can estimate the mechanical load on the glenohumeral joint, in terms of joint reaction forces. For long

Inverse photoemission

International Nuclear Information System (INIS)

Namatame, Hirofumi; Taniguchi, Masaki

1994-01-01

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

Inelastic Branch of the Stellar Reaction $^{14}$O$(\\alpha,p)^{17}$F

CERN Multimedia

Hass, M; Van duppen, P L E

2002-01-01

We propose to use the upgraded REX-ISOLDE beam energy to study the astrophysically important $^{14}$O($\\alpha$, p)$^{17}$F reaction in time reverse kinematics. In particular, we will use the highly efficient miniball + CD detection system to measure the previously undetermined inelastic proton branch of the 1$^-$ state at 6.15 MeV in $^{18}$Ne. This state dominates the reaction rate under X-ray burster conditions.

Integrated kinematics-kinetics-plantar pressure data analysis: a useful tool for characterizing diabetic foot biomechanics.

Science.gov (United States)

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 (pfoot ulcerations, and help planning prevention programs. Copyright © 2011 Elsevier B.V. All rights reserved.

Kinematically Decoupled Cores in Dwarf (Elliptical) Galaxies

NARCIS (Netherlands)

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

Validation and structural analysis of the kinematics concept test

Directory of Open Access Journals (Sweden)

A. Lichtenberger

2017-04-01

Full Text Available The kinematics concept test (KCT is a multiple-choice test designed to evaluate students’ conceptual understanding of kinematics at the high school level. The test comprises 49 multiple-choice items about velocity and acceleration, which are based on seven kinematic concepts and which make use of three different representations. In the first part of this article we describe the development and the validation process of the KCT. We applied the KCT to 338 Swiss high school students who attended traditional teaching in kinematics. We analyzed the response data to provide the psychometric properties of the test. In the second part we present the results of a structural analysis of the test. An exploratory factor analysis of 664 student answers finally uncovered the seven kinematics concepts as factors. However, the analysis revealed a hierarchical structure of concepts. At the higher level, mathematical concepts group together, and then split up into physics concepts at the lower level. Furthermore, students who seem to understand a concept in one representation have difficulties transferring the concept to similar problems in another representation. Both results have implications for teaching kinematics. First, teaching mathematical concepts beforehand might be beneficial for learning kinematics. Second, instructions have to be designed to teach students the change between different representations.

Validation and structural analysis of the kinematics concept test

Science.gov (United States)

Lichtenberger, A.; Wagner, C.; Hofer, S. I.; Stern, E.; Vaterlaus, A.

2017-06-01

The kinematics concept test (KCT) is a multiple-choice test designed to evaluate students' conceptual understanding of kinematics at the high school level. The test comprises 49 multiple-choice items about velocity and acceleration, which are based on seven kinematic concepts and which make use of three different representations. In the first part of this article we describe the development and the validation process of the KCT. We applied the KCT to 338 Swiss high school students who attended traditional teaching in kinematics. We analyzed the response data to provide the psychometric properties of the test. In the second part we present the results of a structural analysis of the test. An exploratory factor analysis of 664 student answers finally uncovered the seven kinematics concepts as factors. However, the analysis revealed a hierarchical structure of concepts. At the higher level, mathematical concepts group together, and then split up into physics concepts at the lower level. Furthermore, students who seem to understand a concept in one representation have difficulties transferring the concept to similar problems in another representation. Both results have implications for teaching kinematics. First, teaching mathematical concepts beforehand might be beneficial for learning kinematics. Second, instructions have to be designed to teach students the change between different representations.

Validation and Structural Analysis of the Kinematics Concept Test

Science.gov (United States)

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…

Kinematic and kinetic characteristics of vertical jump: comparison between soccer and basketball players

Directory of Open Access Journals (Sweden)

Matheus Machado Gomes

2009-01-01

Full Text Available http://dx.doi.org/10.5007/1980-0037.2009v11n4p392   The aim of this study was to compare jump height and kinetic and kinematic com-ponents of countermovement vertical jumps between soccer and basketball players performed in two different arm swing conditions: with arm swing (WAS and without arm swing (NAS. Nine basketball players (21.2 ± 2.9 years; 101.64 ± 14.58 kg; 1.95 ± 0.06 m and nine soccer players (18.2 ± 0.7 years; 77.4 ± 7.58 kg; 1.81 ± 0.07 m performed 12 maximal countermo-vement vertical jumps, including 6 WAS jumps and 6 NAS jumps, on a force platform that recorded the ground reaction force (GRF. The vertical component of the GRF was used to estimate jump height and to calculate the kinematic (duration of eccentric phase, duration of concentric phase, and maximal downward displacement of center of mass and kinetic variables (mean power during the eccentric phase, mean power during the concentric, peak power, and peak force. The results showed no differences in jump height or in kinematic or kinetic variables between basketball and soccer players. In addition, the results showed that the participants of the two groups jumped higher in the WAS condition (0.41 m than in the NAS condition (0.36 m because of a higher peak power (WAS=276.8 W/kg0.67 and NAS=241.3 W/kg0.67 and a longer concentric phase duration (WAS=0.20 s/m0.5 and NAS=0.19 s/m0.5 during WAS jump. These results indicate that the basketball and soccer players studied here showed similar performance and the same kinematic and kinetic pattern in maximal vertical jumps and were comparably affected by the use of arm swing.

Differences between kinematic synergies and muscle synergies during two-digit grasping

Directory of Open Access Journals (Sweden)

Michele eTagliabue

2015-03-01

Full Text Available The large number of mechanical degrees of freedom of the hand is not fully exploited during actual movements such as grasping. Usually, angular movements in various joints tend to be coupled, and EMG activities in different hand muscles tend to be correlated. The occurrence of covariation in the former was termed kinematic synergies, in the latter muscle synergies. This study addresses two questions: (i Whether kinematic and muscle synergies can simultaneously accommodate for kinematic and kinetic constraints. (ii If so, whether there is an interrelation between kinematic and muscle synergies. We used a reach-grasp-and-pull paradigm and recorded the hand kinematics as well as 8 surface EMGs. Subjects had to either perform a precision grip or side grip and had to modify their grip force in order to displace an object against a low or high load. The analysis was subdivided into three epochs: reach, grasp-and-pull, and static hold. Principal component analysis (PCA, temporal or static was performed separately for all three epochs, in the kinematic and in the EMG domain. PCA revealed that (i Kinematic- and muscle-synergies can simultaneously accommodate kinematic (grip type and kinetic task constraints (load condition. (ii Upcoming grip and load conditions of the grasp are represented in kinematic- and muscle-synergies already during reach. Phase plane plots of the principal muscle-synergy against the principal kinematic synergy revealed (iii that the muscle-synergy is linked (correlated, and in phase advance to the kinematic synergy during reach and during grasp-and-pull. Furthermore (iv, pair-wise correlations of EMGs during hold suggest that muscle-synergies are (in part implemented by coactivation of muscles through common input. Together, these results suggest that kinematic synergies have (at least in part their origin not just in muscular activation, but in synergiestic muscle activation. In short: kinematic synergies may result from muscle

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

Gait Kinematic Analysis in Water Using Wearable Inertial Magnetic Sensors.

Science.gov (United States)

Fantozzi, Silvia; Giovanardi, Andrea; Borra, Davide; Gatta, Giorgio

2015-01-01

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 modifications in the

On the treatment of exchange effects in direct reactions

International Nuclear Information System (INIS)

Bencze, Gy.

1984-11-01

In the theoretical description of direct nuclear reactions the dynamic effects are combined with 'kinematical' effects due to the quantum mechanical exchange interaction caused by the Pauli principle governing the mechanics of identical particles. In the present paper it is shown that in the frame of general algebraic theory of identical particle scattering the effects of the permutational symmetry of nucleons can be separated on an exact way from the treatment of reaction dynamics. Dynamical approximations may be used only after the separation of permutational effects. (D.Gy.)

Kinematic source inversion of the 2017 Puebla-Morelos, Mexico earthquake (2017/09/19, Mw.7.1)

Science.gov (United States)

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

Evidence for short range corelations from high Q2 (e,e') reactions