WorldWideScience

Sample records for kinematic wave models

  1. Assessment of multi class kinematic wave models

    NARCIS (Netherlands)

    Van Wageningen-Kessels, F.L.M.; Van Lint, J.W.C.; Vuik, C.; Hoogendoorn, S.P.

    2012-01-01

    In the last decade many multi class kinematic wave (MCKW) traffic ow models have been proposed. MCKW models introduce heterogeneity among vehicles and drivers. For example, they take into account differences in (maximum) velocities and driving style. Nevertheless, the models are macroscopic and the

  2. Modeling aspects of wave kinematics in offshore structures dynamics

    International Nuclear Information System (INIS)

    Spanos, P.D.; Ghanem, R.; Bhattacharjee, S.

    1993-01-01

    Magnitude and phase related issues of modeling of ocean wave kinematics are addressed. Causal and non-causal filters are examined. It is shown that if for a particular ocean engineering problem only the magnitude representation of wave spectra spatial relation is critical, analog filters can be quite useful models in conjunction with the technique of statistical linearization, for calculating dynamic analyses. This is illustrated by considering the dynamic response of a simple model of a guyed tower

  3. 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)

  4. A kinematic wave model in Lagrangian coordinates incorporating capacity drop: Application to homogeneous road stretches and discontinuities

    Science.gov (United States)

    Yuan, Kai; Knoop, Victor L.; Hoogendoorn, Serge P.

    2017-01-01

    On freeways, congestion always leads to capacity drop. This means the queue discharge rate is lower than the pre-queue capacity. Our recent research findings indicate that the queue discharge rate increases with the speed in congestion, that is the capacity drop is strongly correlated with the congestion state. Incorporating this varying capacity drop into a kinematic wave model is essential for assessing consequences of control strategies. However, to the best of authors' knowledge, no such a model exists. This paper fills the research gap by presenting a Lagrangian kinematic wave model. "Lagrangian" denotes that the new model is solved in Lagrangian coordinates. The new model can give capacity drops accompanying both of stop-and-go waves (on homogeneous freeway section) and standing queues (at nodes) in a network. The new model can be applied in a network operation. In this Lagrangian kinematic wave model, the queue discharge rate (or the capacity drop) is a function of vehicular speed in traffic jams. Four case studies on links as well as at lane-drop and on-ramp nodes show that the Lagrangian kinematic wave model can give capacity drops well, consistent with empirical observations.

  5. COMPARISON STUDY OF EXPERIMENTS AND PREDICTIONS OF WAVE KINEMATICS FOR ROGUE WAVE

    Directory of Open Access Journals (Sweden)

    Hae Jin Choi

    2018-01-01

    Full Text Available To investigate the wave kinematics under the rogue wave crest, a series of experiments were performed in 2-D wave tank with the application of PIV technique to measure the velocities under the free surface. Three different prediction methods of linear extrapolation, Wheeler stretching, and modified stretching were applied to estimate water wave kinematics and compared with PIV experimental results under the highest wave crest of irregular wave trains satisfying with rogue wave criteria. Also, the cut-off frequency dependence for three prediction methods was investigated with varying spectral peak frequencies to estimate wave kinematics including velocities and accelerations in horizontal and vertical directions. It was suggested that the cut-off frequency for the reasonable prediction of the wave kinematics under the rogue wave crest could be chosen three times of spectral peak wave frequency for the linear extrapolation and higher frequency than four times of spectral peak wave frequency for Wheeler stretching and modified stretching method.

  6. Effect of Second-Order and Fully Nonlinear Wave Kinematics on a Tension-Leg-Platform Wind Turbine in Extreme Wave Conditions

    Energy Technology Data Exchange (ETDEWEB)

    Robertson, Amy N [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Jonkman, Jason [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Pegalajar-Jurado, Antonio [Technical University of Denmark; Borg, Michael [Technical University of Denmark; Bredmose, Henrik [Technical University of Denmark

    2017-06-03

    In this study, we assess the impact of different wave kinematics models on the dynamic response of a tension-leg-platform wind turbine. Aero-hydro-elastic simulations of the floating wind turbine are carried out employing linear, second-order, and fully nonlinear kinematics using the Morison equation for the hydrodynamic forcing. The wave kinematics are computed from either theoretical or measured signals of free-surface elevation. The numerical results from each model are compared to results from wave basin tests on a scaled prototype. The comparison shows that sub and superharmonic responses can be introduced by second-order and fully nonlinear wave kinematics. The response at the wave frequency range is better reproduced when kinematics are generated from the measured surface elevation. In the future, the numerical response may be further improved by replacing the global, constant damping coefficients in the model by a more detailed, customizable definition of the user-defined numerical damping.

  7. Impact of turbulence induced loads and wave kinematic models on fatigue reliability estimates of offshore wind turbine monopiles

    DEFF Research Database (Denmark)

    Colone, Lorenzo; Natarajan, Anand; Dimitrov, Nikolay Krasimirov

    2018-01-01

    of fatigue loads. Subsequently, the research focuses on studying the effects of uncertain marine environments on the fatigue load distribution, showing that the latter is insensitive to the random variability of the hydrodynamic coefficients. With respect to the wave kinematic model, a comparison between...... nonlinear and linear waves clearly suggests that hydrodynamic forces depend significantly on the kinematic model adopted and the operational conditions of the turbine. Furthermore, a term is derived to correct the error introduced by Wheeler stretching at finite water depths. The respective model...

  8. Effect of Second-Order and Fully Nonlinear Wave Kinematics on a Tension-Leg-Platform Wind Turbine in Extreme Wave Conditions: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Robertson, Amy N [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Jonkman, Jason [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Pegalajar-Jurado, Antonio [Technical University of Denmark; Borg, Michael [Technical University of Denmark; Bredmose, Henrik [Technical University of Denmark

    2017-08-02

    In this study, we assess the impact of different wave kinematics models on the dynamic response of a tension-leg-platform wind turbine. Aero-hydro-elastic simulations of the floating wind turbine are carried out employing linear, second-order, and fully nonlinear kinematics using the Morison equation for the hydrodynamic forcing. The wave kinematics are computed from either theoretical or measured signals of free-surface elevation. The numerical results from each model are compared to results from wave basin tests on a scaled prototype. The comparison shows that sub and superharmonic responses can be introduced by second-order and fully nonlinear wave kinematics. The response at the wave frequency range is better reproduced when kinematics are generated from the measured surface elevation. In the future, the numerical response may be further improved by replacing the global, constant damping coefficients in the model by a more detailed, customizable definition of the user-defined numerical damping.

  9. Kinematical Compatibility Conditions for Vorticity Across Shock Waves

    Science.gov (United States)

    Baty, Roy

    2015-11-01

    This work develops the general kinematical compatibility conditions for vorticity across arbitrary shock waves in compressible, inviscid fluids. The vorticity compatibility conditions are derived from the curl of the momentum equation using singular distributions defined on two-dimensional shock wave surfaces embedded in three-dimensional flow fields. The singular distributions are represented as generalized differential operators concentrated on moving shock wave surfaces. The derivation of the compatibility conditions for vorticity requires the application of second-order generalized derivatives and elementary tensor algebra. The well-known vorticity jump conditions across a shock wave are then shown to follow from the general kinematical compatibility conditions for vorticity by expressing the flow field velocity in vectorial components normal and tangential to a shock surface.

  10. Effect of second-order and fully nonlinear wave kinematics on a tension-leg-platform wind turbine in extreme wave conditions

    DEFF Research Database (Denmark)

    Pegalajar Jurado, Antonio Manuel; Borg, Michael; Robertson, Amy

    2017-01-01

    In this study, we assess the impact of different wave kinematics models on the dynamic response of a tension-leg-platform wind turbine. Aero-hydro-elastic simulations of the floating wind turbine are carried out employing linear, second-order, and fully nonlinear kinematics using the Morison equa...... damping coefficients in the model by a more detailed, customizable definition of the user-defined numerical damping....

  11. Influence of a relativistic kinematics on s-wave KN phase shifts in a quark model

    International Nuclear Information System (INIS)

    Lemaire, S.; Labarsouque, J.; Silvestre-Brac, B.

    2001-01-01

    The I = 1 and I = 0 kaon-nucleon s-wave phase shifts have been calculated in a quark potential model using the resonating group method (RGM) and a relativistic kinematics. The spinless Salpeter equation has been solved numerically using the Fourier grid Hamiltonian method. The results have been compared to the non-relativistic ones. For each isospin channel the phase shifts obtained are not so far from the non-relativistic results. (author)

  12. Wave kinematics and response of slender offshore structures. Vol 5: Wave forces and responses

    Energy Technology Data Exchange (ETDEWEB)

    Pedersen, L.M.; Riber, H.J.

    1999-08-01

    A load measuring system (LMS) and a wave measuring system (WMS) has been used on the North Sea platform Tyra. The LMS consists of an instrumented pipe placed vertically in the crest zone of high and steep waves. The WMS consists of an unique sonar system placed on the sea floor. Simultaneous measurements are carried out of the kinematics of waves and currents and the response of the instrumented pipe during a period of five month in the winter 1994/95. Numerical calculations with LIC22 are carried out of the response of the LMS applying the measured wave and current kinematics. The responses are compared to the measured responses of the LMS. The comparison is based on the statistical main properties of the calculated and measured response as the kinematic field is measured 150 metres away from the instrumented pipe. From the analyses the main parameters (reduced velocity V{sub R} and correlation length l{sub c}) for vortex induced vibrations (VIV) are calibrated and the main environmental conditions for VIV are determined. The hydrodynamic coefficients determining the wave and current forces on slender structures are studied (drag coefficient C{sub D} and added mass coefficient C{sub M}). Further, the effect on the drag coefficient due to air blending in the upper part of the wave is determined. (au)

  13. On phase, action and canonical conservation laws in kinematic-wave theory

    International Nuclear Information System (INIS)

    Maugin, G.A.

    2008-01-01

    Canonical equations of energy and momentum are constructed in the kinematic-wave theory of waves in a continuum. This is done in analogy with what is achieved in nonlinear continuum mechanics. The starting point is a generalized balance of wave action. The standard formulas are recovered when the system follows from the averaged-Lagrangian variational formulation of Whitham

  14. Turbulent Spot Pressure Fluctuation Wave Packet Model

    Energy Technology Data Exchange (ETDEWEB)

    Dechant, Lawrence J. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

    2017-05-01

    Wave packet analysis provides a connection between linear small disturbance theory and subsequent nonlinear turbulent spot flow behavior. The traditional association between linear stability analysis and nonlinear wave form is developed via the method of stationary phase whereby asymptotic (simplified) mean flow solutions are used to estimate dispersion behavior and stationary phase approximation are used to invert the associated Fourier transform. The resulting process typically requires nonlinear algebraic equations inversions that can be best performed numerically, which partially mitigates the value of the approximation as compared to a more complete, e.g. DNS or linear/nonlinear adjoint methods. To obtain a simpler, closed-form analytical result, the complete packet solution is modeled via approximate amplitude (linear convected kinematic wave initial value problem) and local sinusoidal (wave equation) expressions. Significantly, the initial value for the kinematic wave transport expression follows from a separable variable coefficient approximation to the linearized pressure fluctuation Poisson expression. The resulting amplitude solution, while approximate in nature, nonetheless, appears to mimic many of the global features, e.g. transitional flow intermittency and pressure fluctuation magnitude behavior. A low wave number wave packet models also recover meaningful auto-correlation and low frequency spectral behaviors.

  15. Applicability of Kinematic and Diffusive models for mud-flows: a steady state analysis

    Science.gov (United States)

    Di Cristo, Cristiana; Iervolino, Michele; Vacca, Andrea

    2018-04-01

    The paper investigates the applicability of Kinematic and Diffusive Wave models for mud-flows with a power-law shear-thinning rheology. In analogy with a well-known approach for turbulent clear-water flows, the study compares the steady flow depth profiles predicted by approximated models with those of the Full Dynamic Wave one. For all the models and assuming an infinitely wide channel, the analytical solution of the flow depth profiles, in terms of hypergeometric functions, is derived. The accuracy of the approximated models is assessed by computing the average, along the channel length, of the errors, for several values of the Froude and kinematic wave numbers. Assuming the threshold value of the error equal to 5%, the applicability conditions of the two approximations have been individuated for several values of the power-law exponent, showing a crucial role of the rheology. The comparison with the clear-water results indicates that applicability criteria for clear-water flows do not apply to shear-thinning fluids, potentially leading to an incorrect use of approximated models if the rheology is not properly accounted for.

  16. Effective Orthorhombic Anisotropic Models for Wave field Extrapolation

    KAUST Repository

    Ibanez Jacome, Wilson

    2013-05-01

    Wavefield extrapolation in orthorhombic anisotropic media incorporates complicated but realistic models, to reproduce wave propagation phenomena in the Earth\\'s subsurface. Compared with the representations used for simpler symmetries, such as transversely isotropic or isotropic, orthorhombic models require an extended and more elaborated formulation that also involves more expensive computational processes. The acoustic assumption yields more efficient description of the orthorhombic wave equation that also provides a simplified representation for the orthorhombic dispersion relation. However, such representation is hampered by the sixth-order nature of the acoustic wave equation, as it also encompasses the contribution of shear waves. To reduce the computational cost of wavefield extrapolation in such media, I generate effective isotropic inhomogeneous models that are capable of reproducing the first-arrival kinematic aspects of the orthorhombic wavefield. First, in order to compute traveltimes in vertical orthorhombic media, I develop a stable, efficient and accurate algorithm based on the fast marching method. The derived orthorhombic acoustic dispersion relation, unlike the isotropic or transversely isotropic one, is represented by a sixth order polynomial equation that includes the fastest solution corresponding to outgoing P-waves in acoustic media. The effective velocity models are then computed by evaluating the traveltime gradients of the orthorhombic traveltime solution, which is done by explicitly solving the isotropic eikonal equation for the corresponding inhomogeneous isotropic velocity field. The inverted effective velocity fields are source dependent and produce equivalent first-arrival kinematic descriptions of wave propagation in orthorhombic media. I extrapolate wavefields in these isotropic effective velocity models using the more efficient isotropic operator, and the results compare well, especially kinematically, with those obtained from the

  17. A Stream Function Theory Based Calculation of Wave Kinematics for Very Steep Waves Using a Novel Non-linear Stretching Technique

    DEFF Research Database (Denmark)

    Stroescu, Ionut Emanuel; Sørensen, Lasse; Frigaard, Peter Bak

    2016-01-01

    A non-linear stretching method was implemented for stream function theory to solve wave kinematics for physical conditions close to breaking waves in shallow waters, with wave heights limited by the water depth. The non-linear stretching method proves itself robust, efficient and fast, showing good...

  18. Modelling runoff on ceramic tile roofs using the kinematic wave equations

    Science.gov (United States)

    Silveira, Alexandre; Abrantes, João; de Lima, João; Lira, Lincoln

    2016-04-01

    Rainwater harvesting is a water saving alternative strategy that presents many advantages and can provide solutions to address major water resources problems, such as fresh water scarcity, urban stream degradation and flooding. In recent years, these problems have become global challenges, due to climatic change, population growth and increasing urbanisation. Generally, roofs are the first to come into contact with rainwater; thus, they are the best candidates for rainwater harvesting. In this context, the correct evaluation of roof runoff quantity and quality is essential to effectively design rainwater harvesting systems. Despite this, many studies usually focus on the qualitative aspects in detriment of the quantitative aspects. Laboratory studies using rainfall simulators have been widely used to investigate rainfall-runoff processes. These studies enabled a detailed exploration and systematic replication of a large range of hydrologic conditions, such as rainfall spatial and temporal characteristics, providing for a fast way to obtain precise and consistent data that can be used to calibrate and validate numerical models. This study aims to evaluate the performance of a kinematic wave based numerical model in simulating runoff on sloping roofs, by comparing the numerical results with the ones obtained from laboratory rainfall simulations on a real-scale ceramic tile roof (Lusa tiles). For all studied slopes, simulated discharge hydrographs had a good adjust to observed ones. Coefficient of determination and Nash-Sutcliffe efficiency values were close to 1.0. Particularly, peak discharges, times to peak and peak durations were very well simulated.

  19. Transmission characteristics of the kinematics of the laser-plasma shock wave in air in compton scattering

    International Nuclear Information System (INIS)

    Hao Dongshan; Xie Hongjun

    2006-01-01

    By comparing the kinematical equation of a shock wave in free air, the study of transmission characteristics of the laser plasma shock wave in Compton scattering is presented. The results show that the attenuation course of the kinematics of he laser plasma shock wave is related not only with the explosion fountainhead and the characteristics of the explosion course, total energy release, air elastic, but also with multi-photon nonlinear Compton scattering. Because of the scattering the initial radius of the shock wave increases, the attenuation course shortens, the energy metastasis efficiency rises. The results of the numerical analysis and the actual values of the shock waves in air by a way intense explosion are very tallying. (authors)

  20. Kinematic parameters of internal waves of the second mode in the South China Sea

    Directory of Open Access Journals (Sweden)

    O. Kurkina

    2017-10-01

    Full Text Available Spatial distributions of the main properties of the mode function and kinematic and non-linear parameters of internal waves of the second mode are derived for the South China Sea for typical summer conditions in July. The calculations are based on the Generalized Digital Environmental Model (GDEM climatology of hydrological variables, from which the local stratification is evaluated. The focus is on the phase speed of long internal waves and the coefficients at the dispersive, quadratic and cubic terms of the weakly non-linear Gardner model. Spatial distributions of these parameters, except for the coefficient at the cubic term, are qualitatively similar for waves of both modes. The dispersive term of Gardner's equation and phase speed for internal waves of the second mode are about a quarter and half, respectively, of those for waves of the first mode. Similarly to the waves of the first mode, the coefficients at the quadratic and cubic terms of Gardner's equation are practically independent of water depth. In contrast to the waves of the first mode, for waves of the second mode the quadratic term is mostly negative. The results can serve as a basis for expressing estimates of the expected parameters of internal waves for the South China Sea.

  1. A simple kinematic model for the Lagrangian description of relevant nonlinear processes in the stratospheric polar vortex

    Directory of Open Access Journals (Sweden)

    V. J. García-Garrido

    2017-06-01

    Full Text Available In this work, we study the Lagrangian footprint of the planetary waves present in the Southern Hemisphere stratosphere during the exceptional sudden Stratospheric warming event that took place during September 2002. Our focus is on constructing a simple kinematic model that retains the fundamental mechanisms responsible for complex fluid parcel evolution, during the polar vortex breakdown and its previous stages. The construction of the kinematic model is guided by the Fourier decomposition of the geopotential field. The study of Lagrangian transport phenomena in the ERA-Interim reanalysis data highlights hyperbolic trajectories, and these trajectories are Lagrangian objects that are the kinematic mechanism for the observed filamentation phenomena. Our analysis shows that the breaking and splitting of the polar vortex is justified in our model by the sudden growth of a planetary wave and the decay of the axisymmetric flow.

  2. 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.

  3. Wave kinematics and response of slender offshore structures. Vol 3: Description of measuring systems

    Energy Technology Data Exchange (ETDEWEB)

    Riber, H.J.

    1999-08-01

    The report presents the measuring systems used during the measurements in the North Sea at the Tyra field. The report consists of two parts: (1) Description of the wave measuring systems (WMS); (2) Description of the load mesuring system (LMS). The developed Wave Kinematics Measuring Systems (WMS) is an acoustic system based on the pulsed incoherent Doppler technique. Basically it consists of 4 sonar stations and a control and monitoring station. The sonar stations are positioned at the seabed north of the TCP-A platform in a star configuration with one station surrounded by the other three stations in a fixed distance of 37 m. From the central sonar stations an umbilical is routed to the TCP-A platform where the control and monitoring stations is positioned in the satellite communication room. The measurement periods have been concentrated to periods with storms. It was a special emphasis to measure the wave kinematics of extremely high waves. The LMS is described in terms of geometrical data, structural properties, instrumentation, and other characteristics. (LN)

  4. DENSITY WAVE KINEMATICS AND GIANT MOLECULAR ASSOCIATION FORMATION IN M51

    NARCIS (Netherlands)

    RAND, RJ

    1993-01-01

    New spectroscopic observations of the ionized gas (Halpha and [N II] lines) in M51 are combined with existing CO, H I, and Halpha data to look for kinematic evidence that the gas is responding to a spiral density wave. Possible mechanisms for the formation of the approximately 3 x 10(7) M. giant

  5. Kinematical and dynamical models for barred spiral galaxies

    International Nuclear Information System (INIS)

    Davoust, E.

    1983-01-01

    This is a review of published works on the kinematics and dynamics of stellar bars and barred spiral galaxies. The periodic orbits of stars are elongated along the bar and enhance it out to a certain distance from the center. The important role of the interstellar gas is pointed out by the models of gas clouds and flows: the trajectories are also along the bar, but shock waves arise in front of the bar and transient spiral structures appear at its ends. These models reproduce the observed velocity fields fairly well. The investigations of the stability of axisymmetric galactic disks show that they are very unstable with respect to bar shaped perturbations and might explain why two thirds of the known spiral galaxies are barred [fr

  6. Computing broadband accelerograms using kinematic rupture modeling

    International Nuclear Information System (INIS)

    Ruiz Paredes, J.A.

    2007-05-01

    In order to make the broadband kinematic rupture modeling more realistic with respect to dynamic modeling, physical constraints are added to the rupture parameters. To improve the slip velocity function (SVF) modeling, an evolution of the k -2 source model is proposed, which consists to decompose the slip as a sum of sub-events by band of k. This model yields to SVF close to the solution proposed by Kostrov for a crack, while preserving the spectral characteristics of the radiated wave field, i.e. a w 2 model with spectral amplitudes at high frequency scaled to the coefficient of directivity C d . To better control the directivity effects, a composite source description is combined with a scaling law defining the extent of the nucleation area for each sub-event. The resulting model allows to reduce the apparent coefficient of directivity to a fraction of C d , as well as to reproduce the standard deviation of the new empirical attenuation relationships proposed for Japan. To make source models more realistic, a variable rupture velocity in agreement with the physics of the rupture must be considered. The followed approach that is based on an analytical relation between the fracture energy, the slip and the rupture velocity, leads to higher values of the peak ground acceleration in the vicinity of the fault. Finally, to better account for the interaction of the wave field with the geological medium, a semi-empirical methodology is developed combining a composite source model with empirical Green functions, and is applied to the Yamaguchi, M w 5.9 earthquake. The modeled synthetics reproduce satisfactorily well the observed main characteristics of ground motions. (author)

  7. Kinematics and dynamics of green water on a fixed platform in a large wave basin in focusing wave and random wave conditions

    Science.gov (United States)

    Chuang, Wei-Liang; Chang, Kuang-An; Mercier, Richard

    2018-06-01

    Green water kinematics and dynamics due to wave impingements on a simplified geometry, fixed platform were experimentally investigated in a large, deep-water wave basin. Both plane focusing waves and random waves were employed in the generation of green water. The focusing wave condition was designed to create two consecutive plunging breaking waves with one impinging on the frontal vertical wall of the fixed platform, referred as wall impingement, and the other directly impinging on the deck surface, referred as deck impingement. The random wave condition was generated using the JONSWAP spectrum with a significant wave height approximately equal to the freeboard. A total of 179 green water events were collected in the random wave condition. By examining the green water events in random waves, three different flow types are categorized: collapse of overtopping wave, fall of bulk water, and breaking wave crest. The aerated flow velocity was measured using bubble image velocimetry, while the void fraction was measured using fiber optic reflectometry. For the plane focusing wave condition, measurements of impact pressure were synchronized with the flow velocity and void fraction measurements. The relationship between the peak pressures and the pressure rise times is examined. For the high-intensity impact in the deck impingement events, the peak pressures are observed to be proportional to the aeration levels. The maximum horizontal velocities in the green water events in random waves are well represented by the lognormal distribution. Ritter's solution is shown to quantitatively describe the green water velocity distributions under both the focusing wave condition and the random wave condition. A prediction equation for green water velocity distribution under random waves is proposed.

  8. Effect of suspension kinematic on 14 DOF vehicle model

    Science.gov (United States)

    Wongpattananukul, T.; Chantharasenawong, C.

    2017-12-01

    Computer simulations play a major role in shaping modern science and engineering. They reduce time and resource consumption in new studies and designs. Vehicle simulations have been studied extensively to achieve a vehicle model used in minimum lap time solution. Simulation result accuracy depends on the abilities of these models to represent real phenomenon. Vehicles models with 7 degrees of freedom (DOF), 10 DOF and 14 DOF are normally used in optimal control to solve for minimum lap time. However, suspension kinematics are always neglected on these models. Suspension kinematics are defined as wheel movements with respect to the vehicle body. Tire forces are expressed as a function of wheel slip and wheel position. Therefore, the suspension kinematic relation is appended to the 14 DOF vehicle model to investigate its effects on the accuracy of simulate trajectory. Classical 14 DOF vehicle model is chosen as baseline model. Experiment data is collected from formula student style car test runs as baseline data for simulation and comparison between baseline model and model with suspension kinematic. Results show that in a single long turn there is an accumulated trajectory error in baseline model compared to model with suspension kinematic. While in short alternate turns, the trajectory error is much smaller. These results show that suspension kinematic had an effect on the trajectory simulation of vehicle. Which optimal control that use baseline model will result in inaccuracy control scheme.

  9. Modeling neutrino-induced charged pion production on water at T2K kinematics

    Science.gov (United States)

    Nikolakopoulos, A.; González-Jiménez, R.; Niewczas, K.; Sobczyk, J.; Jachowicz, N.

    2018-05-01

    Pion production is a significant component of the signal in accelerator-based neutrino experiments. Over the last years, the MiniBooNE, T2K, and MINERvA collaborations have reported a substantial amount of data on (anti)neutrino-induced pion production on the nucleus. However, a comprehensive and consistent description of the whole data set is still missing. We aim at improving the current understanding of neutrino-induced pion production on the nucleus. To this end, the comparison of experimental data with theoretical predictions, preferably based on microscopic models, is essential to disentangle the different reaction mechanisms involved in the process. To describe single-pion production, we use a hybrid model that combines low- and a high-energy approaches. The low-energy model contains resonances and background terms. At high invariant masses, a high-energy model based on a Regge approach is employed. The model is implemented in the nucleus using the relativistic plane wave impulse approximation (RPWIA). We present a comparison of the hybrid-RPWIA and low-energy model with the recent neutrino-induced charged-current 1 π+ -production cross section on water reported by T2K. In order to judge the impact of final-state interactions (FSI), we confront our results with those of the nuwro Monte Carlo generator. The hybrid-RPWIA model and nuwro results compare favorably to the data, albeit that FSI are not included in the former. The need of a high-energy model at T2K kinematics is made clear. These results complement our previous work [Phys. Rev. D 97, 013004 (2018), 10.1103/PhysRevD.97.013004], in which we compared the models to the MINERvA and MiniBooNE 1 π+ data. The hybrid-RPWIA model tends to overpredict both the T2K and MINERvA data in kinematic regions where the largest suppression due to FSI is expected and agrees remarkably well with the data in other kinematic regions. On the contrary, the MiniBooNE data are underpredicted over the whole kinematic range.

  10. The Kinematic Learning Model using Video and Interfaces Analysis

    Science.gov (United States)

    Firdaus, T.; Setiawan, W.; Hamidah, I.

    2017-09-01

    An educator currently in demand to apply the learning to not be separated from the development of technology. Educators often experience difficulties when explaining kinematics material, this is because kinematics is one of the lessons that often relate the concept to real life. Kinematics is one of the courses of physics that explains the cause of motion of an object, Therefore it takes the thinking skills and analytical skills in understanding these symptoms. Technology is one that can bridge between conceptual relationship with real life. A framework of technology-based learning models has been developed using video and interfaces analysis on kinematics concept. By using this learning model, learners will be better able to understand the concept that is taught by the teacher. This learning model is able to improve the ability of creative thinking, analytical skills, and problem-solving skills on the concept of kinematics.

  11. Chiral quark model with relativistic kinematics

    International Nuclear Information System (INIS)

    Garcilazo, H.; Valcarce, A.

    2003-01-01

    The nonstrange baryon spectrum is studied within a three-body model that incorporates relativistic kinematics. We found that the combined effect of relativistic kinematics together with the pion exchange between quarks is able to reverse the order of the first positive- and negative-parity nucleon excited states as observed experimentally. Including the chiral partner of the pion (the σ meson) leads to an overall good description of the spectrum

  12. Chiral quark model with relativistic kinematics

    OpenAIRE

    Garcilazo, H.; Valcarce, A.

    2003-01-01

    The non-strange baryon spectrum is studied within a three-body model that incorporates relativistic kinematics. We found that the combined effect of relativistic kinematics together with the pion exchange between quarks is able to reverse the order of the first positive- and negative-parity nucleon excited states as observed experimentally. Including the chiral partner of the pion (the $\\sigma$ meson) leads to an overall good description of the spectrum.

  13. Kinematic Hardening: Characterization, Modeling and Impact on Springback Prediction

    International Nuclear Information System (INIS)

    Alves, J. L.; Bouvier, S.; Jomaa, M.; Billardon, R.; Oliveira, M. C.; Menezes, L. F.

    2007-01-01

    The constitutive modeling of the materials' mechanical behavior, usually carried out using a phenomenological constitutive model, i.e., a yield criterion associated to the isotropic and kinematic hardening laws, is of paramount importance in the FEM simulation of the sheet metal forming processes, as well as in the springback prediction. Among others, the kinematic behavior of the yield surface plays an essential role, since it is indispensable to describe the Bauschinger effect, i.e., the materials' answer to the multiple tension-compression cycles to which material points are submitted during the forming process. Several laws are usually used to model and describe the kinematic hardening, namely: a) the Prager's law, which describes a linear evolution of the kinematic hardening with the plastic strain rate tensor b) the Frederick-Armstrong non-linear kinematic hardening, basically a non-linear law with saturation; and c) a more advanced physically-based law, similar to the previous one but sensitive to the strain path changes. In the present paper a mixed kinematic hardening law (linear + non-linear behavior) is proposed and its implementation into a static fully-implicit FE code is described. The material parameters identification for sheet metals using different strategies, and the classical Bauschinger loading tests (i.e. in-plane forward and reverse monotonic loading), are addressed, and their impact on springback prediction evaluated. Some numerical results concerning the springback prediction of the Numisheet'05 Benchmark no. 3 are briefly presented to emphasize the importance of a correct modeling and identification of the kinematic hardening behavior

  14. Kinematic Modeling of Distant Galaxies

    Directory of Open Access Journals (Sweden)

    Kipper Rain

    2012-12-01

    Full Text Available Evolution of galaxies is one of the most actual topics in astrophysics. Among the most important factors determining the evolution are two galactic components which are difficult or even impossible to detect optically: the gaseous disks and the dark matter halo. We use deep Hubble Space Telescope images to construct a two-component (bulge + disk model for stellar matter distribution of galaxies. Properties of the galactic components are derived using a three-dimensional galaxy modeling software, which also estimates disk thickness and inclination angle. We add a gas disk and a dark matter halo and use hydrodynamical equations to calculate gas rotation and dispersion profiles in the resultant gravitational potential. We compare the kinematic profiles with the Team Keck Redshift Survey observations. In this pilot study, two galaxies are analyzed deriving parameters for their stellar components; both galaxies are found to be disk-dominated. Using the kinematical model, the gas mass and stellar mass ratio in the disk are estimated.

  15. Waves in geophysical fluids tsunamis, rogue waves, internal waves and internal tides

    CERN Document Server

    Schneider, Wilhelm; Trulsen, Karsten

    2006-01-01

    Waves in Geophysical Fluids describes: the forecasting and risk evaluation of tsunamis by tectonic motion, land slides, explosions, run-up, and maps the tsunami sources in the world's oceans; stochastic Monte-Carlo simulations and focusing mechanisms for rogue waves, nonlinear wave models, breather formulas, and the kinematics of the Draupner wave; the full story about the discovery of the very large oceanic internal waves, how the waves are visible from above through the signatures on the sea surface, and how to compute them; observations of energetic internal tides and hot spots from several field campaigns in all parts of the world's oceans, with interpretation of spectra. An essential work for students, scientists and engineers working with the fundamental and applied aspects of ocean waves.

  16. A Kinematic Conservation Law in Free Surface Flow

    OpenAIRE

    Gavrilyuk , Sergey; Kalisch , Henrik; Khorsand , Zahra

    2015-01-01

    The Green-Naghdi system is used to model highly nonlinear weakly dispersive waves propagating at the surface of a shallow layer of a perfect fluid. The system has three associated conservation laws which describe the conservation of mass, momentum, and energy due to the surface wave motion. In addition, the system features a fourth conservation law which is the main focus of this note. It will be shown how this fourth conservation law can be interpreted in terms of a concrete kinematic quanti...

  17. A real-time computational model for estimating kinematics of ankle ligaments.

    Science.gov (United States)

    Zhang, Mingming; Davies, T Claire; Zhang, Yanxin; Xie, Sheng Quan

    2016-01-01

    An accurate assessment of ankle ligament kinematics is crucial in understanding the injury mechanisms and can help to improve the treatment of an injured ankle, especially when used in conjunction with robot-assisted therapy. A number of computational models have been developed and validated for assessing the kinematics of ankle ligaments. However, few of them can do real-time assessment to allow for an input into robotic rehabilitation programs. An ankle computational model was proposed and validated to quantify the kinematics of ankle ligaments as the foot moves in real-time. This model consists of three bone segments with three rotational degrees of freedom (DOFs) and 12 ankle ligaments. This model uses inputs for three position variables that can be measured from sensors in many ankle robotic devices that detect postures within the foot-ankle environment and outputs the kinematics of ankle ligaments. Validation of this model in terms of ligament length and strain was conducted by comparing it with published data on cadaver anatomy and magnetic resonance imaging. The model based on ligament lengths and strains is in concurrence with those from the published studies but is sensitive to ligament attachment positions. This ankle computational model has the potential to be used in robot-assisted therapy for real-time assessment of ligament kinematics. The results provide information regarding the quantification of kinematics associated with ankle ligaments related to the disability level and can be used for optimizing the robotic training trajectory.

  18. 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.

  19. The Glasgow-Maastricht foot model, evaluation of a 26 segment kinematic model of the foot

    OpenAIRE

    Oosterwaal, Michiel; Carbes, Sylvain; Telfer, Scott; Woodburn, James; T?rholm, S?ren; Al-Munajjed, Amir A.; van Rhijn, Lodewijk; Meijer, Kenneth

    2016-01-01

    Background Accurately measuring of intrinsic foot kinematics using skin mounted markers is difficult, limited in part by the physical dimensions of the foot. Existing kinematic foot models solve this problem by combining multiple bones into idealized rigid segments. This study presents a novel foot model that allows the motion of the 26 bones to be individually estimated via a combination of partial joint constraints and coupling the motion of separate joints using kinematic rhythms. Methods ...

  20. KINEMATICS AND DYNAMICS MODELS OF CYLINDRICAL ROLLER BEARING OF RAILWAY TRANSPORT

    Directory of Open Access Journals (Sweden)

    A. V. Gaydamaka

    2014-05-01

    Full Text Available Purpose. Lack of kinematics models and imperfection of the known dynamics models of the roller bearings of railway rolling stock axle-boxes do not allow designing the optimal structure of bearing cages, providing the required service life and reliability of bearing units of wheel sets for cars and locomotives. The studies of kinematics and dynamics of roller bearings of axle boxes for cars and locomotives and modeling of their parts interaction to create the analytical method of bearing cages calculation are necessary. Methodology. This purpose has been achieved due to the modeling of kinematics of the ideal (without gaps and real (taking account the gaps, manufacturing and installation errors bearings, substantiation of the transfer mechanism of motion from the rollers to bearing cage, modeling the dynamics of rolling, research of interaction forces of the rollers with bearing cage. Findings. It is established that the kinematics of ideal bearing is determined by the contact deformations of the rollers and rings, when the kinematics of real bearing depends mainly on the side gaps in the windows of the bearing cage. On the basis of studies of the real bearing kinematics the dynamics models of the rollers and bearing cage interaction were constructed. The conducted studies of kinematics and dynamics of rolling bearings have changed our view of them as of the planetary mechanism, explained the reason of bearing cage loading, and confirmed the possibility of destruction during operation. Originality. It was first proposed a mechanism for motion transfer from the rollers to the bearing cage of roller bearings, consisting in that the side gap in the bearing cage window is reduced gradually multiple of the number of rollers of radial loading area according to the bearing cage motion. The models of roller bearing dynamics, which allow calculating the interaction forces of parts for all modes of operation, were improved. Practical value. Use of the

  1. The Glasgow-Maastricht foot model, evaluation of a 26 segment kinematic model of the foot.

    Science.gov (United States)

    Oosterwaal, Michiel; Carbes, Sylvain; Telfer, Scott; Woodburn, James; Tørholm, Søren; Al-Munajjed, Amir A; van Rhijn, Lodewijk; Meijer, Kenneth

    2016-01-01

    Accurately measuring of intrinsic foot kinematics using skin mounted markers is difficult, limited in part by the physical dimensions of the foot. Existing kinematic foot models solve this problem by combining multiple bones into idealized rigid segments. This study presents a novel foot model that allows the motion of the 26 bones to be individually estimated via a combination of partial joint constraints and coupling the motion of separate joints using kinematic rhythms. Segmented CT data from one healthy subject was used to create a template Glasgow-Maastricht foot model (GM-model). Following this, the template was scaled to produce subject-specific models for five additional healthy participants using a surface scan of the foot and ankle. Forty-three skin mounted markers, mainly positioned around the foot and ankle, were used to capture the stance phase of the right foot of the six healthy participants during walking. The GM-model was then applied to calculate the intrinsic foot kinematics. Distinct motion patterns where found for all joints. The variability in outcome depended on the location of the joint, with reasonable results for sagittal plane motions and poor results for transverse plane motions. The results of the GM-model were comparable with existing literature, including bone pin studies, with respect to the range of motion, motion pattern and timing of the motion in the studied joints. This novel model is the most complete kinematic model to date. Further evaluation of the model is warranted.

  2. Kinematics modeling and simulation of an autonomous omni-directional mobile robot

    Directory of Open Access Journals (Sweden)

    Daniel Garcia Sillas

    2015-05-01

    Full Text Available Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test behavior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio® and Matlab® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot.

  3. On the calculation of the water particle kinematics arising in a directionally spread wavefield

    CERN Document Server

    Bateman, W J D; Taylor, P H

    2003-01-01

    This paper concerns the calculation of the water particle kinematics generated by the propagation of surface gravity waves. The motivation for this work lies in recent advances in the description of the water surface elevation associated with extreme waves that are highly nonlinear and involve a spread of wave energy in both frequency and direction. To provide these exact numerical descriptions the nonlinear free-surface boundary conditions are time-marched, with the most efficient solutions simply based upon the water surface elevation, eta, and the velocity potential, phi, on that surface. In many broad-banded problems, computational efficiency is not merely desirable but absolutely essential to resolve the complex interactions between wave components with widely varying length-scales and different directions of propagation. Although such models have recently been developed, the calculation of the underlying water particle kinematics, based on the surface properties alone, remains a significant obstacle to ...

  4. Myotonia congenita-associated mutations in chloride channel-1 affect zebrafish body wave swimming kinematics.

    Science.gov (United States)

    Cheng, Wei; Tian, Jing; Burgunder, Jean-Marc; Hunziker, Walter; Eng, How-Lung

    2014-01-01

    Myotonia congenita is a human muscle disorder caused by mutations in CLCN1, which encodes human chloride channel 1 (CLCN1). Zebrafish is becoming an increasingly useful model for human diseases, including muscle disorders. In this study, we generated transgenic zebrafish expressing, under the control of a muscle specific promoter, human CLCN1 carrying mutations that have been identified in human patients suffering from myotonia congenita. We developed video analytic tools that are able to provide precise quantitative measurements of movement abnormalities in order to analyse the effect of these CLCN1 mutations on adult transgenic zebrafish swimming. Two new parameters for body-wave kinematics of swimming reveal changes in body curvature and tail offset in transgenic zebrafish expressing the disease-associated CLCN1 mutants, presumably due to their effect on muscle function. The capability of the developed video analytic tool to distinguish wild-type from transgenic zebrafish could provide a useful asset to screen for compounds that reverse the disease phenotype, and may be applicable to other movement disorders besides myotonia congenita.

  5. Myotonia congenita-associated mutations in chloride channel-1 affect zebrafish body wave swimming kinematics.

    Directory of Open Access Journals (Sweden)

    Wei Cheng

    Full Text Available Myotonia congenita is a human muscle disorder caused by mutations in CLCN1, which encodes human chloride channel 1 (CLCN1. Zebrafish is becoming an increasingly useful model for human diseases, including muscle disorders. In this study, we generated transgenic zebrafish expressing, under the control of a muscle specific promoter, human CLCN1 carrying mutations that have been identified in human patients suffering from myotonia congenita. We developed video analytic tools that are able to provide precise quantitative measurements of movement abnormalities in order to analyse the effect of these CLCN1 mutations on adult transgenic zebrafish swimming. Two new parameters for body-wave kinematics of swimming reveal changes in body curvature and tail offset in transgenic zebrafish expressing the disease-associated CLCN1 mutants, presumably due to their effect on muscle function. The capability of the developed video analytic tool to distinguish wild-type from transgenic zebrafish could provide a useful asset to screen for compounds that reverse the disease phenotype, and may be applicable to other movement disorders besides myotonia congenita.

  6. Gait kinematics of subjects with ankle instability using a multisegmented foot model.

    Science.gov (United States)

    De Ridder, Roel; Willems, Tine; Vanrenterghem, Jos; Robinson, Mark; Pataky, Todd; Roosen, Philip

    2013-11-01

    Many patients who sustain an acute lateral ankle sprain develop chronic ankle instability (CAI). Altered ankle kinematics have been reported to play a role in the underlying mechanisms of CAI. In previous studies, however, the foot was modeled as one rigid segment, ignoring the complexity of the ankle and foot anatomy and kinematics. The purpose of this study was to evaluate stance phase kinematics of subjects with CAI, copers, and controls during walking and running using both a rigid and a multisegmented foot model. Foot and ankle kinematics of 77 subjects (29 subjects with self-reported CAI, 24 copers, and 24 controls) were measured during barefoot walking and running using a rigid foot model and a six-segment Ghent Foot Model. Data were collected on a 20-m-long instrumented runway embedded with a force plate and a six-camera optoelectronic system. Groups were compared using statistical parametric mapping. Both the CAI and the coper group showed similar differences during midstance and late stance compared with the control group (P foot segment showed a more everted position during walking compared with the control group. Based on the Ghent Foot Model, the rear foot also showed a more everted position during running. The medial forefoot showed a more inverted position for both running and walking compared with the control group. Our study revealed significant midstance and late stance differences in rigid foot, rear foot, and medial forefoot kinematics The multisegmented foot model demonstrated intricate behavior of the foot that is not detectable with rigid foot modeling. Further research using these models is necessary to expand knowledge of foot kinematics in subjects with CAI.

  7. 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.

  8. 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

  9. 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...

  10. Local galactic kinematics: an isothermal model

    International Nuclear Information System (INIS)

    Nunez, J.

    1983-01-01

    The kinematical parameters of galactic rotation in the solar neighborhood and the corrections to the precession have been calculated. For this purpose, an isothermal model for the solar neighborhood has been used together with the high order momenta of the local stellar velocity distribution and the Ogorodnikov-Milne model. Both have been calculated using some samples of the ''512 Distant FK4/FK4 Sup. Stars'' of Fricke (1977) and of Gliese's Gatalogue. (author)

  11. Joint kinematics estimation using a multi-body kinematics optimisation and an extended Kalman filter, and embedding a soft tissue artefact model.

    Science.gov (United States)

    Bonnet, Vincent; Richard, Vincent; Camomilla, Valentina; Venture, Gentiane; Cappozzo, Aurelio; Dumas, Raphaël

    2017-09-06

    To reduce the impact of the soft tissue artefact (STA) on the estimate of skeletal movement using stereophotogrammetric and skin-marker data, multi-body kinematics optimisation (MKO) and extended Kalman filters (EKF) have been proposed. This paper assessed the feasibility and efficiency of these methods when they embed a mathematical model of the STA and simultaneously estimate the ankle, knee and hip joint kinematics and the model parameters. A STA model was used that provides an estimate of the STA affecting the marker-cluster located on a body segment as a function of the kinematics of the adjacent joints. The MKO and the EKF were implemented with and without the STA model. To assess these methods, intra-cortical pin and skin markers located on the thigh, shank, and foot of three subjects and tracked during the stance phase of running were used. Embedding the STA model in MKO and EKF reduced the average RMS of marker tracking from 12.6 to 1.6mm and from 4.3 to 1.9mm, respectively, showing that a STA model trial-specific calibration is feasible. Nevertheless, with the STA model embedded in MKO, the RMS difference between the estimated and the reference joint kinematics determined from the pin markers slightly increased (from 2.0 to 2.1deg) On the contrary, when the STA model was embedded in the EKF, this RMS difference was slightly reduced (from 2.0 to 1.7deg) thus showing a better potentiality of this method to attenuate STA effects and improve the accuracy of joint kinematics estimate. Copyright © 2017 Elsevier Ltd. All rights reserved.

  12. Snakes mimic earthworms: propulsion using rectilinear travelling waves

    Science.gov (United States)

    Marvi, Hamidreza; Bridges, Jacob; Hu, David L.

    2013-01-01

    In rectilinear locomotion, snakes propel themselves using unidirectional travelling waves of muscular contraction, in a style similar to earthworms. In this combined experimental and theoretical study, we film rectilinear locomotion of three species of snakes, including red-tailed boa constrictors, Dumeril's boas and Gaboon vipers. The kinematics of a snake's extension–contraction travelling wave are characterized by wave frequency, amplitude and speed. We find wave frequency increases with increasing body size, an opposite trend than that for legged animals. We predict body speed with 73–97% accuracy using a mathematical model of a one-dimensional n-linked crawler that uses friction as the dominant propulsive force. We apply our model to show snakes have optimal wave frequencies: higher values increase Froude number causing the snake to slip; smaller values decrease thrust and so body speed. Other choices of kinematic variables, such as wave amplitude, are suboptimal and appear to be limited by anatomical constraints. Our model also shows that local body lifting increases a snake's speed by 31 per cent, demonstrating that rectilinear locomotion benefits from vertical motion similar to walking. PMID:23635494

  13. pynoddy 1.0: an experimental platform for automated 3-D kinematic and potential field modelling

    Science.gov (United States)

    Florian Wellmann, J.; Thiele, Sam T.; Lindsay, Mark D.; Jessell, Mark W.

    2016-03-01

    We present a novel methodology for performing experiments with subsurface structural models using a set of flexible and extensible Python modules. We utilize the ability of kinematic modelling techniques to describe major deformational, tectonic, and magmatic events at low computational cost to develop experiments testing the interactions between multiple kinematic events, effect of uncertainty regarding event timing, and kinematic properties. These tests are simple to implement and perform, as they are automated within the Python scripting language, allowing the encapsulation of entire kinematic experiments within high-level class definitions and fully reproducible results. In addition, we provide a link to geophysical potential-field simulations to evaluate the effect of parameter uncertainties on maps of gravity and magnetics. We provide relevant fundamental information on kinematic modelling and our implementation, and showcase the application of our novel methods to investigate the interaction of multiple tectonic events on a pre-defined stratigraphy, the effect of changing kinematic parameters on simulated geophysical potential fields, and the distribution of uncertain areas in a full 3-D kinematic model, based on estimated uncertainties in kinematic input parameters. Additional possibilities for linking kinematic modelling to subsequent process simulations are discussed, as well as additional aspects of future research. Our modules are freely available on github, including documentation and tutorial examples, and we encourage the contribution to this project.

  14. Understanding "Human" Waves: Exploiting the Physics in a Viral Video

    Science.gov (United States)

    Ferrer-Roca, Chantal

    2018-01-01

    Waves are a relevant part of physics that students find difficult to grasp, even in those cases in which wave propagation kinematics can be visualized. This may hinder a proper understanding of sound, light or quantum physics phenomena that are explained using a wave model. So-called "human" waves, choreographed by people, have proved to…

  15. An efficient wave extrapolation method for anisotropic media with tilt

    KAUST Repository

    Waheed, Umair bin

    2015-03-23

    Wavefield extrapolation operators for elliptically anisotropic media offer significant cost reduction compared with that for the transversely isotropic case, particularly when the axis of symmetry exhibits tilt (from the vertical). However, elliptical anisotropy does not provide accurate wavefield representation or imaging for transversely isotropic media. Therefore, we propose effective elliptically anisotropic models that correctly capture the kinematic behaviour of wavefields for transversely isotropic media. Specifically, we compute source-dependent effective velocities for the elliptic medium using kinematic high-frequency representation of the transversely isotropic wavefield. The effective model allows us to use cheaper elliptic wave extrapolation operators. Despite the fact that the effective models are obtained by matching kinematics using high-frequency asymptotic, the resulting wavefield contains most of the critical wavefield components, including frequency dependency and caustics, if present, with reasonable accuracy. The methodology developed here offers a much better cost versus accuracy trade-off for wavefield computations in transversely isotropic media, particularly for media of low to moderate complexity. In addition, the wavefield solution is free from shear-wave artefacts as opposed to the conventional finite-difference-based transversely isotropic wave extrapolation scheme. We demonstrate these assertions through numerical tests on synthetic tilted transversely isotropic models.

  16. An efficient wave extrapolation method for anisotropic media with tilt

    KAUST Repository

    Waheed, Umair bin; Alkhalifah, Tariq Ali

    2015-01-01

    Wavefield extrapolation operators for elliptically anisotropic media offer significant cost reduction compared with that for the transversely isotropic case, particularly when the axis of symmetry exhibits tilt (from the vertical). However, elliptical anisotropy does not provide accurate wavefield representation or imaging for transversely isotropic media. Therefore, we propose effective elliptically anisotropic models that correctly capture the kinematic behaviour of wavefields for transversely isotropic media. Specifically, we compute source-dependent effective velocities for the elliptic medium using kinematic high-frequency representation of the transversely isotropic wavefield. The effective model allows us to use cheaper elliptic wave extrapolation operators. Despite the fact that the effective models are obtained by matching kinematics using high-frequency asymptotic, the resulting wavefield contains most of the critical wavefield components, including frequency dependency and caustics, if present, with reasonable accuracy. The methodology developed here offers a much better cost versus accuracy trade-off for wavefield computations in transversely isotropic media, particularly for media of low to moderate complexity. In addition, the wavefield solution is free from shear-wave artefacts as opposed to the conventional finite-difference-based transversely isotropic wave extrapolation scheme. We demonstrate these assertions through numerical tests on synthetic tilted transversely isotropic models.

  17. On the kinematic criterion for the inception of breaking in surface gravity waves: Fully nonlinear numerical simulations and experimental verification

    Science.gov (United States)

    Khait, A.; Shemer, L.

    2018-05-01

    The evolution of unidirectional wave trains containing a wave that gradually becomes steep is evaluated experimentally and numerically using the Boundary Element Method (BEM). The boundary conditions for the nonlinear numerical simulations corresponded to the actual movements of the wavemaker paddle as recorded in the physical experiments, allowing direct comparison between the measured in experiments' characteristics of the wave train and the numerical predictions. The high level of qualitative and quantitative agreement between the measurements and simulations validated the kinematic criterion for the inception of breaking and the location of the spilling breaker, on the basis of the BEM computations and associated experiments. The breaking inception is associated with the fluid particle at the crest of the steep wave that has been accelerated to match and surpass the crest velocity. The previously observed significant slow-down of the crest while approaching breaking is verified numerically; both narrow-/broad-banded wave trains are considered. Finally, the relative importance of linear and nonlinear contributions is analyzed.

  18. Expression for time travel based on diffusive wave theory: applicability and considerations

    Science.gov (United States)

    Aguilera, J. C.; Escauriaza, C. R.; Passalacqua, P.; Gironas, J. A.

    2017-12-01

    Prediction of hydrological response is of utmost importance when dealing with urban planning, risk assessment, or water resources management issues. With the advent of climate change, special care must be taken with respect to variations in rainfall and runoff due to rising temperature averages. Nowadays, while typical workstations have adequate power to run distributed routing hydrological models, it is still not enough for modeling on-the-fly, a crucial ability in a natural disaster context, where rapid decisions must be made. Semi-distributed time travel models, which compute a watershed's hydrograph without explicitly solving the full shallow water equations, appear as an attractive approach to rainfall-runoff modeling since, like fully distributed models, also superimpose a grid on the watershed, and compute runoff based on cell parameter values. These models are heavily dependent on the travel time expression for an individual cell. Many models make use of expressions based on kinematic wave theory, which is not applicable in cases where watershed storage is important, such as mild slopes. This work presents a new expression for concentration times in overland flow, based on diffusive wave theory, which considers not only the effects of storage but also the effects on upstream contribution. Setting upstream contribution equal to zero gives an expression consistent with previous work on diffusive wave theory; on the other hand, neglecting storage effects (i.e.: diffusion,) is shown to be equivalent to kinematic wave theory, currently used in many spatially distributed time travel models. The newly found expression is shown to be dependent on plane discretization, particularly when dealing with very non-kinematic cases. This is shown to be the result of upstream contribution, which gets larger downstream, versus plane length. This result also provides some light on the limits on applicability of the expression: when a certain kinematic threshold is reached, the

  19. Doorway-resonance model for pion-nucleon D- and F-wave scattering

    International Nuclear Information System (INIS)

    Ernst, D.J.; Parnell, G.E.; Assad, C.; Texas A and M Univ., College Station, TX

    1990-01-01

    A model for the resonant pion-nucleon D- and F-waves is developed which assumes that the pion-plus-nucleon couples to a resonance and that the resonance can serve as a doorway to the inelastic channels. With the use of simple form factors, the model is capable of reproducing the pion-nucleon phase shifts up to an energy of T π =1.4 GeV if the coupling of the elastic channel to the inelastic channels is taken from data as input into the model. A value for the mass of the resonance that would result in the absence of the coupling to decay channels is extracted from the data utilizing the model. This is the mass that is most easily modeled by bag models. For the non-resonant D- and F-wave channels a separable potential model is used. This model, like the resonance model, is developed utilizing the invariant amplitude which is free of kinematic singularities and uses invariant norms and phase spaces. The model is also applied to the S-wave channels. A relation between the resonance model and the Chew-Low model is discovered and used to derive an extended Chew-Low model which is applied to the P 13 , P 31 and P 33 channels. Implications of the model for understanding the range of the pion-nucleon interaction and the dynamic structure of the interaction are presented. (orig.)

  20. Modeling and Simulation of Wave Gait of a Hexapod Walking Robot: A CAD/CAE Approach

    Directory of Open Access Journals (Sweden)

    Abhijit Mahapatra

    2013-03-01

    Full Text Available In the present paper, an attempt has been made to carry out dynamic analysis of a hexapod robot using the concept of multibody dynamics. A CAD (Computer Aided Design model of a realistic hexapod robot has been made for dynamic simulation of its locomotion using ADAMS (Automatic Dynamic Analysis of Mechanical Systems multibody dynamics solver. The kinematic model of each leg of three degrees of freedom has been designed using CATIA (Computer Aided Three Dimensional Interactive Application and SimDesigner package in order to develop an overall kinematic model of the robot, when it follows a straight path. Joint Torque variation as well as the variation of the aggregate center of mass of the robot was analyzed for the wave tetrapod gait. The simulation results provide the basis for developing the control algorithm as well as an intelligent decision making for the robot while in motion.

  1. Kinematic evolution of fold and thrust belts. Insights from experimental modeling

    International Nuclear Information System (INIS)

    Ueta, Keiichi

    2011-01-01

    Physical experiments were performed to gain a better understanding on the kinematic evolution of fold and thrust belts. The present study focuses on deformation of sedimentary cover caused by thrust and reverse movements along the basement fault. Our physical models comprise dry quartz sand representing brittle sedimentary rock and viscous silicone polymer representing overpressured mudstone. Computerized X-ray tomography was applied to the experiments to analyze the kinematic evolution of fold and thrust belts. In the sand models, the width of deformation zone above thrust was wider than that above reverse fault, because back thrust developed on the hanging wall of reverse fault. Within the physical models composed of dry sand and silicone polymer, minor folds and thrusts with minor displacement developed on the footwall of the major monoclinal flexure. These results compare well with the geometry and kinematic evolution of the fold and thrust belts in Japan. (author)

  2. 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

  3. 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...

  4. The EDGE-CALIFA survey: validating stellar dynamical mass models with CO kinematics

    Science.gov (United States)

    Leung, Gigi Y. C.; Leaman, Ryan; van de Ven, Glenn; Lyubenova, Mariya; Zhu, Ling; Bolatto, Alberto D.; Falcón-Barroso, Jesus; Blitz, Leo; Dannerbauer, Helmut; Fisher, David B.; Levy, Rebecca C.; Sanchez, Sebastian F.; Utomo, Dyas; Vogel, Stuart; Wong, Tony; Ziegler, Bodo

    2018-06-01

    Deriving circular velocities of galaxies from stellar kinematics can provide an estimate of their total dynamical mass, provided a contribution from the velocity dispersion of the stars is taken into account. Molecular gas (e.g. CO), on the other hand, is a dynamically cold tracer and hence acts as an independent circular velocity estimate without needing such a correction. In this paper, we test the underlying assumptions of three commonly used dynamical models, deriving circular velocities from stellar kinematics of 54 galaxies (S0-Sd) that have observations of both stellar kinematics from the Calar Alto Legacy Integral Field Area (CALIFA) survey, and CO kinematics from the Extragalactic Database for Galaxy Evolution (EDGE) survey. We test the asymmetric drift correction (ADC) method, as well as Jeans, and Schwarzschild models. The three methods each reproduce the CO circular velocity at 1Re to within 10 per cent. All three methods show larger scatter (up to 20 per cent) in the inner regions (R < 0.4Re) that may be due to an increasingly spherical mass distribution (which is not captured by the thin disc assumption in ADC), or non-constant stellar M/L ratios (for both the JAM and Schwarzschild models). This homogeneous analysis of stellar and gaseous kinematics validates that all three models can recover Mdyn at 1Re to better than 20 per cent, but users should be mindful of scatter in the inner regions where some assumptions may break down.

  5. Access to the kinematic information for the velocity model determination by 3-D reflexion tomography; Acces a l'information cinematique pour la determination du modele de vitesse par tomographie de reflexion 3D

    Energy Technology Data Exchange (ETDEWEB)

    Broto, K.

    1999-04-01

    The access to a reliable image of the subsurface requires a kinematically correct velocity depth model.Reflection tomography allows to meet this requirement if a complete and coherent pre-stack kinematic database can be provided. However, in case of complex sub-surfaces, wave propagation may lead to hardly interpretable seismic events in the time data. The SMART method is a sequential method that relies on reflection tomography for updating the velocity model and on the pre-stack depth migrated domain for extracting kinematic information that is not readily accessible in the time domain. For determining 3-D subsurface velocity models in case of complex structures, we propose the seriated SMART 2-D method as an alternative to the currently inconceivable SMART 3-D method. In order to extract kinematic information from a 3-D pre-stack data set, we combine detours through the 2-D pre-stack depth domain for a number of selected lines of the studied 3-D survey and 3-D reflection tomography for updating the velocity model. The travel-times from the SMART method being independent of the velocity model used for passing through the pre-stack depth migrated domain, the access to 3-D travel-times is ensured, even if they have been obtained via a 2-D domain. Besides, we propose to build a kinematical guide for ensuring the coherency of the seriated 2-D pre-stack depth interpretations and the access to a complete 3-D pre-stack kinematic database when dealing with structures associated with 3-D wave propagation. We opt for a blocky representation of the velocity model in order to be able to cope with complex structures. This representation leads us to define specific methodological rules for carrying out the different steps of the seriated SMART 2-D method. We also define strategies, built from the analysis of first inversion results, for an efficient application of reflection tomography. Besides, we discuss the problem of uncertainties to be assigned to travel-times obtained

  6. 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.

  7. 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

  8. Comparison of M33 and NGC7793: stochastic models of spiral galaxies modulated by density waves

    International Nuclear Information System (INIS)

    Smith, G.; Elmegreen, B.G.; Elmegreen, D.M.

    1984-01-01

    Two late-type spiral galaxies with similar kinematic and photometric properties but different spiral arm structures, M33 and NGC7793, are compared to model galaxies with stochastic self-propagating star formation. The spontaneous probability, Psub(sp), representing the rate of primary star formation, is modulated by a smooth, density wave-like spiral pattern in the models of M33. When propagating star formation is included, these models show no age gradients in the underlying spiral arms. Models which have no imposed spiral modulation to Psub(sp) resemble the observed structure of NGC7793. (author)

  9. Slip heterogeneity, body-wave spectra, and directivity of earthquake ruptures

    OpenAIRE

    Bernard, P.; Herrero, A.

    1994-01-01

    We present a broadband kinematic model based on a self-similar k-square distribution of the coseismic slip, with an instantaneous rise-time and a constant rupture velocity. The phase of the slip spectrum at high wave number is random. This model generates an ?-squared body-wave radiation, and a particular directivity factor C2d scaling the amplitude of the body-wave spectra, where Cd is the standard directivity factor. Considering the source models with a propagating pulse and a finite rise-t...

  10. Hierarchical Kinematic Modelling and Optimal Design of a Novel Hexapod Robot with Integrated Limb Mechanism

    Directory of Open Access Journals (Sweden)

    Guiyang Xin

    2015-09-01

    Full Text Available This paper presents a novel hexapod robot, hereafter named PH-Robot, with three degrees of freedom (3-DOF parallel leg mechanisms based on the concept of an integrated limb mechanism (ILM for the integration of legged locomotion and arm manipulation. The kinematic model plays an important role in the parametric optimal design and motion planning of robots. However, models of parallel mechanisms are often difficult to obtain because of the implicit relationship between the motions of actuated joints and the motion of a moving platform. In order to derive the kinematic equations of the proposed hexapod robot, an extended hierarchical kinematic modelling method is proposed. According to the kinematic model, the geometrical parameters of the leg are optimized utilizing a comprehensive objective function that considers both dexterity and payload. PH-Robot has distinct advantages in accuracy and load ability over a robot with serial leg mechanisms through the former's comparison of performance indices. The reachable workspace of the leg verifies its ability to walk and manipulate. The results of the trajectory tracking experiment demonstrate the correctness of the kinematic model of the hexapod robot.

  11. Distribution of stable isotopes in arid storms . II. A double-component model of kinematic wave flow and transport

    Science.gov (United States)

    Yakirevich, Alexander; Dody, Avraham; Adar, Eilon M.; Borisov, Viacheslav; Geyh, Mebus

    A new mathematical method based on a double-component model of kinematic wave flow and approach assesses the dynamic isotopic distribution in arid rain storms and runoff. This model describes the transport and δ18O evolution of rainfall to overland flow and runoff in an arid rocky watershed with uniformly distributed shallow depression storage. The problem was solved numerically. The model was calibrated using a set of temporal discharge and δ18O distribution data for rainfall and runoff collected on a small rocky watershed at the Sede Boker Experimental Site, Israel. Simulation of a reliable result with respect to observation was obtained after parameter adjustment by trial and error. Sensitivity analysis and model application were performed. The model is sensitive to changes in parameters characterizing the depression storage zones. The model reflects the effect of the isotopic memory in the water within the depression storage between sequential rain spells. The use of the double-component model of kinematic wave flow and transport provides an appropriate qualitative and quantitative fitting between computed and observed δ18O distribution in runoff. RésuméUne nouvelle méthode mathématique basée sur un modèle à double composante d'écoulement et de transport par une onde cinématique a été développée pour évaluer la distribution dynamique en isotopes dans les précipitations et dans l'écoulement en région aride. Ce modèle décrit le transport et les variations des δ18O de la pluie vers le ruissellement et l'écoulement de surface dans un bassin aride rocheux où le stockage se fait dans des dépressions peu profondes uniformément réparties. Le problème a été résolu numériquement. Le modèle a été calibré au moyen d'une chronique de débits et d'une distribution des δ18O dans la pluie et dans l'écoulement de surface sur un petit bassin versant rocheux du site expérimental de Sede Boker (Israël). La simulation d'un résultat cr

  12. Constrained non-linear waves for offshore wind turbine design

    International Nuclear Information System (INIS)

    Rainey, P J; Camp, T R

    2007-01-01

    Advancements have been made in the modelling of extreme wave loading in the offshore environment. We give an overview of wave models used at present, and their relative merits. We describe a method for embedding existing non-linear solutions for large, regular wave kinematics into linear, irregular seas. Although similar methods have been used before, the new technique is shown to offer advances in computational practicality, repeatability, and accuracy. NewWave theory has been used to constrain the linear simulation, allowing best possible fit with the large non-linear wave. GH Bladed was used to compare the effect of these models on a generic 5 MW turbine mounted on a tripod support structure

  13. Kinematic models of extensional structures

    International Nuclear Information System (INIS)

    Groshong, R.H. Jr.

    1990-01-01

    This paper discusses kinematic models that can relate faults of different types and different positions within a single dynamic system and thereby offer the potential to explain the disparate seismic activity characteristic of extensional terrains. The major styles are full grabens, half grabens, domino blocks, and glide-block systems. Half grabens, the most likely models for Basin and Range structure, are formed above a master fault of decreasing dip with depth and a hangingwall that deforms as it passes over the curved fault. Second-order normal faults, typically domino style, accommodate the required hangingwall deformation. According to the author low-angle detachment faults are consistent with the evidence of seismicity only on high-angle faults if the hangingwall of the detachment is broken by multiple half-graben systems

  14. Introduction to Force-Dependent Kinematics: Theory and Application to Mandible Modeling.

    Science.gov (United States)

    Skipper Andersen, Michael; de Zee, Mark; Damsgaard, Michael; Nolte, Daniel; Rasmussen, John

    2017-09-01

    Knowledge of the muscle, ligament, and joint forces is important when planning orthopedic surgeries. Since these quantities cannot be measured in vivo under normal circumstances, the best alternative is to estimate them using musculoskeletal models. These models typically assume idealized joints, which are sufficient for general investigations but insufficient if the joint in focus is far from an idealized joint. The purpose of this study was to provide the mathematical details of a novel musculoskeletal modeling approach, called force-dependent kinematics (FDK), capable of simultaneously computing muscle, ligament, and joint forces as well as internal joint displacements governed by contact surfaces and ligament structures. The method was implemented into the anybody modeling system and used to develop a subject-specific mandible model, which was compared to a point-on-plane (POP) model and validated against joint kinematics measured with a custom-built brace during unloaded emulated chewing, open and close, and protrusion movements. Generally, both joint models estimated the joint kinematics well with the POP model performing slightly better (root-mean-square-deviation (RMSD) of less than 0.75 mm for the POP model and 1.7 mm for the FDK model). However, substantial differences were observed when comparing the estimated joint forces (RMSD up to 24.7 N), demonstrating the dependency on the joint model. Although the presented mandible model still contains room for improvements, this study shows the capabilities of the FDK methodology for creating joint models that take the geometry and joint elasticity into account.

  15. Kinematic tests of exotic flat cosmological models

    International Nuclear Information System (INIS)

    Charlton, J.C.; Turner, M.S.; NASA/Fermilab Astrophysics Center, Batavia, IL)

    1987-01-01

    Theoretical prejudice and inflationary models of the very early universe strongly favor the flat, Einstein-de Sitter model of the universe. At present the observational data conflict with this prejudice. This conflict can be resolved by considering flat models of the universe which posses a smooth component of energy density. The kinematics of such models, where the smooth component is relativistic particles, a cosmological term, a network of light strings, or fast-moving, light strings is studied in detail. The observational tests which can be used to discriminate between these models are also discussed. These tests include the magnitude-redshift, lookback time-redshift, angular size-redshift, and comoving volume-redshift diagrams and the growth of density fluctuations. 58 references

  16. Kinematic tests of exotic flat cosmological models

    International Nuclear Information System (INIS)

    Charlton, J.C.; Turner, M.S.

    1986-05-01

    Theoretical prejudice and inflationary models of the very early Universe strongly favor the flat, Einstein-deSitter model of the Universe. At present the observational data conflict with this prejudice. This conflict can be resolved by considering flat models of the Universe which possess a smooth component by energy density. We study in detail the kinematics of such models, where the smooth component is relativistic particles, a cosmological term, a network of light strings, or fast-moving, light strings. We also discuss the observational tests which can be used to discriminate between these models. These tests include the magnitude-redshift, lookback time-redshift, angular size-redshift, and comoving volume-redshift diagrams and the growth of density fluctuations

  17. Kinematic tests of exotic flat cosmological models

    Energy Technology Data Exchange (ETDEWEB)

    Charlton, J.C.; Turner, M.S.

    1986-05-01

    Theoretical prejudice and inflationary models of the very early Universe strongly favor the flat, Einstein-deSitter model of the Universe. At present the observational data conflict with this prejudice. This conflict can be resolved by considering flat models of the Universe which possess a smooth component by energy density. We study in detail the kinematics of such models, where the smooth component is relativistic particles, a cosmological term, a network of light strings, or fast-moving, light strings. We also discuss the observational tests which can be used to discriminate between these models. These tests include the magnitude-redshift, lookback time-redshift, angular size-redshift, and comoving volume-redshift diagrams and the growth of density fluctuations.

  18. Self-consistent Bulge/Disk/Halo Galaxy Dynamical Modeling Using Integral Field Kinematics

    Science.gov (United States)

    Taranu, D. S.; Obreschkow, D.; Dubinski, J. J.; Fogarty, L. M. R.; van de Sande, J.; Catinella, B.; Cortese, L.; Moffett, A.; Robotham, A. S. G.; Allen, J. T.; Bland-Hawthorn, J.; Bryant, J. J.; Colless, M.; Croom, S. M.; D'Eugenio, F.; Davies, R. L.; Drinkwater, M. J.; Driver, S. P.; Goodwin, M.; Konstantopoulos, I. S.; Lawrence, J. S.; López-Sánchez, Á. R.; Lorente, N. P. F.; Medling, A. M.; Mould, J. R.; Owers, M. S.; Power, C.; Richards, S. N.; Tonini, C.

    2017-11-01

    We introduce a method for modeling disk galaxies designed to take full advantage of data from integral field spectroscopy (IFS). The method fits equilibrium models to simultaneously reproduce the surface brightness, rotation, and velocity dispersion profiles of a galaxy. The models are fully self-consistent 6D distribution functions for a galaxy with a Sérsic profile stellar bulge, exponential disk, and parametric dark-matter halo, generated by an updated version of GalactICS. By creating realistic flux-weighted maps of the kinematic moments (flux, mean velocity, and dispersion), we simultaneously fit photometric and spectroscopic data using both maximum-likelihood and Bayesian (MCMC) techniques. We apply the method to a GAMA spiral galaxy (G79635) with kinematics from the SAMI Galaxy Survey and deep g- and r-band photometry from the VST-KiDS survey, comparing parameter constraints with those from traditional 2D bulge-disk decomposition. Our method returns broadly consistent results for shared parameters while constraining the mass-to-light ratios of stellar components and reproducing the H I-inferred circular velocity well beyond the limits of the SAMI data. Although the method is tailored for fitting integral field kinematic data, it can use other dynamical constraints like central fiber dispersions and H I circular velocities, and is well-suited for modeling galaxies with a combination of deep imaging and H I and/or optical spectra (resolved or otherwise). Our implementation (MagRite) is computationally efficient and can generate well-resolved models and kinematic maps in under a minute on modern processors.

  19. 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.

  20. Kinematics Modelling of Tendon-Driven Continuum Manipulator with Crossed Notches

    Science.gov (United States)

    Yang, Z. X.; Yang, W. L.; Du, Z. J.

    2018-03-01

    Single port surgical robot (SPSR) is a giant leap in the development of minimally invasive surgical robot. An innovative manipulator with high control accuracy and good kinematic dexterity can reduce wound, expedite recovery, and improve the success rate. This paper presents a tendon-driven continuum manipulator with crossed notches. This manipulator has two degrees of freedom (DOF), which possesses good flexibility and high capacity. Then based on cantilever beam theory, a mechanics model is proposed, which connects external force and deformation of a single flexible ring (SFR). By calculating the deformation of each SFR, the manipulator is considered as a series robot whose joint numbers is equal to SFR numbers, and the kinematics model is established through Denavit-Hartenberg (D-H) procedure. In this paper, the total manipulator is described as a curve tube whose curvature is increased from tip to base. Experiments were conducted and the comparison between theoretical and actual results proved the rationality of the models.

  1. Mathematical model for studying cyclist kinematics in vehicle-bicycle frontal collisions

    Science.gov (United States)

    Condrea, OA; Chiru, A.; Chiriac, RL; Vlase, S.

    2017-10-01

    For the development of effective vehicle related safety solutions to improve cyclist protection, kinematic predictions are essential. The objective of the paper was the elaboration of a simple mathematical model for predicting cyclist kinematics, with the advantage of yielding simple results for relatively complicated impact situations. Thus, the use of elaborated math software is not required and the calculation time is shortened. The paper presents a modelling framework to determine cyclist kinematic behaviour for the situations in which a M1 category vehicle frontally hits the rear part of a bicycle. After the primary impact between the vehicle front bumper and the bicycle, the cyclist hits the vehicle’s bonnet, the windscreen or both the vehicle’s bonnet and the windscreen in short succession. The head-windshield impact is often the most severe impact, causing serious and potentially lethal injuries. The cyclist is represented by a rigid segment and the equations of motion for the cyclist after the primary impact are obtained by applying Newton’s second law of motion. The impact time for the contact between the vehicle and the cyclist is yielded afterwards by formulating and intersecting the trajectories for two points positioned on the cyclist’s head/body and the vehicle’s windscreen/bonnet while assuming that the cyclist’s equations of motion after the primary impact remain the same. Postimpact kinematics for the secondary impact are yielded by applying linear and angular momentum conservation laws.

  2. Program realization of mathematical model of kinematic calculation of flat lever mechanisms

    Directory of Open Access Journals (Sweden)

    M. A. Vasechkin

    2016-01-01

    Full Text Available Calculation of kinematic mechanisms is very time-consuming work. Due to the content of a large number of similar operations can be automated using computers. Forthis purpose, it is necessary to implement a software implementation ofthe mathematical model of calculation of kinematic mechanisms of the second class. In the article on Turbo Pascal presents the text module to library procedures all kinematic studies of planar lever mechanisms of the second class. The determination of the kinematic characteristics of the mechanism and the construction of its provisions, plans, plans, speeds and accelerations carried out on the example of the six-link mechanism. The beginning of the motionless coordinate system coincides with the axis of rotation of the crank AB. It is assumed that the known length of all links, the positions of all additional points of links and the coordinates of all kinematic pairs rack mechanism, i.e. this stage of work to determine the kinematics of the mechanism must be preceded by a stage of synthesis of mechanism (determining missing dimensions of links. Denote the coordinates of point C and considering that the analogues of velocities and accelerations of this point is 0 (stationary point, appeal to the procedure that computes the kinematics group the Assyrians (GA third. Specify kinematic parameters of point D, taking the beginning of the guide slide E at point C, the angle, the analogue of the angular velocity and the analogue of the angular acceleration of the guide is zero, knowing the length of the connecting rod DE and the length of link 5, refer to the procedure for the GA of the second kind. The use of library routines module of the kinematic calculation, makes it relatively simple to organize a simulation of the mechanism motion, to calculate the projection analogues of velocities and accelerations of all links of the mechanism, to build plans of the velocities and accelerations at each position of the mechanism.

  3. A Comparison of Moment Rates for the Eastern Mediterranean Region from Competitive Kinematic Models

    Science.gov (United States)

    Klein, E. C.; Ozeren, M. S.; Shen-Tu, B.; Galgana, G. A.

    2017-12-01

    Relatively continuous, complex, and long-lived episodes of tectonic deformation gradually shaped the lithosphere of the eastern Mediterranean region into its present state. This large geodynamically interconnected and seismically active region absorbs, accumulates and transmits strains arising from stresses associated with: (1) steady northward convergence of the Arabian and African plates; (2) differences in lithospheric gravitational potential energy; and (3) basal tractions exerted by subduction along the Hellenic and Cyprus Arcs. Over the last twenty years, numerous kinematic models have been built using a variety of assumptions to take advantage of the extensive and dense GPS observations made across the entire region resulting in a far better characterization of the neotectonic deformation field than ever previously achieved. In this study, three separate horizontal strain rate field solutions obtained from three, region-wide, GPS only based kinematic models (i.e., a regional block model, a regional continuum model, and global continuum model) are utilized to estimate the distribution and uncertainty of geodetic moment rates within the eastern Mediterranean region. The geodetic moment rates from each model are also compared with seismic moment release rates gleaned from historic earthquake data. Moreover, kinematic styles of deformation derived from each of the modeled horizontal strain rate fields are examined for their degree of correlation with earthquake rupture styles defined by proximal centroid moment tensor solutions. This study suggests that significant differences in geodetically obtained moment rates from competitive kinematic models may introduce unforeseen bias into regularly updated, geodetically constrained, regional seismic hazard assessments.

  4. Novel Adaptive Forward Neural MIMO NARX Model for the Identification of Industrial 3-DOF Robot Arm Kinematics

    Directory of Open Access Journals (Sweden)

    Ho Pham Huy Anh

    2012-10-01

    Full Text Available In this paper, a novel forward adaptive neural MIMO NARX model is used for modelling and identifying the forward kinematics of an industrial 3-DOF robot arm system. The nonlinear features of the forward kinematics of the industrial robot arm drive are thoroughly modelled based on the forward adaptive neural NARX model-based identification process using experimental input-output training data. This paper proposes a novel use of a back propagation (BP algorithm to generate the forward neural MIMO NARX (FNMN model for the forward kinematics of the industrial 3-DOF robot arm. The results show that the proposed adaptive neural NARX model trained by a Back Propagation learning algorithm yields outstanding performance and perfect accuracy.

  5. 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.

  6. 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

  7. Kinematic modeling of a 7-degree of freedom spatial hybrid manipulator for medical surgery.

    Science.gov (United States)

    Singh, Amanpreet; Singla, Ekta; Soni, Sanjeev; Singla, Ashish

    2018-01-01

    The prime objective of this work is to deal with the kinematics of spatial hybrid manipulators. In this direction, in 1955, Denavit and Hartenberg proposed a consistent and concise method, known as D-H parameters method, to deal with kinematics of open serial chains. From literature review, it is found that D-H parameter method is widely used to model manipulators consisting of lower pairs. However, the method leads to ambiguities when applied to closed-loop, tree-like and hybrid manipulators. Furthermore, in the dearth of any direct method to model closed-loop, tree-like and hybrid manipulators, revisions of this method have been proposed from time-to-time by different researchers. One such kind of revision using the concept of dummy frames has successfully been proposed and implemented by the authors on spatial hybrid manipulators. In that work, authors have addressed the orientational inconsistency of the D-H parameter method, restricted to body-attached frames only. In the current work, the condition of body-attached frames is relaxed and spatial frame attachment is considered to derive the kinematic model of a 7-degree of freedom spatial hybrid robotic arm, along with the development of closed-loop constraints. The validation of the new kinematic model has been performed with the help of a prototype of this 7-degree of freedom arm, which is being developed at Council of Scientific & Industrial Research-Central Scientific Instruments Organisation Chandigarh to aid the surgeon during a medical surgical task. Furthermore, the developed kinematic model is used to develop the first column of the Jacobian matrix, which helps in providing the estimate of the tip velocity of the 7-degree of freedom manipulator when the first joint velocity is known.

  8. Rupture, waves and earthquakes.

    Science.gov (United States)

    Uenishi, Koji

    2017-01-01

    Normally, an earthquake is considered as a phenomenon of wave energy radiation by rupture (fracture) of solid Earth. However, the physics of dynamic process around seismic sources, which may play a crucial role in the occurrence of earthquakes and generation of strong waves, has not been fully understood yet. Instead, much of former investigation in seismology evaluated earthquake characteristics in terms of kinematics that does not directly treat such dynamic aspects and usually excludes the influence of high-frequency wave components over 1 Hz. There are countless valuable research outcomes obtained through this kinematics-based approach, but "extraordinary" phenomena that are difficult to be explained by this conventional description have been found, for instance, on the occasion of the 1995 Hyogo-ken Nanbu, Japan, earthquake, and more detailed study on rupture and wave dynamics, namely, possible mechanical characteristics of (1) rupture development around seismic sources, (2) earthquake-induced structural failures and (3) wave interaction that connects rupture (1) and failures (2), would be indispensable.

  9. Investigating the Wave Nature of the Outer Envelope of Halo Coronal Mass Ejections

    Energy Technology Data Exchange (ETDEWEB)

    Kwon, Ryun-Young [College of Science, George Mason University, 4400 University Drive, Fairfax, VA 22030 (United States); Vourlidas, Angelos, E-mail: rkwon@gmu.edu [The Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723 (United States)

    2017-02-20

    We investigate the nature of the outer envelope of halo coronal mass ejections (H-CMEs) using multi-viewpoint observations from the Solar Terrestrial Relations Observatory-A , -B , and SOlar and Heliospheric Observatory coronagraphs. The 3D structure and kinematics of the halo envelopes and the driving CMEs are derived separately using a forward modeling method. We analyze three H-CMEs with peak speeds from 1355 to 2157 km s{sup −1}; sufficiently fast to drive shocks in the corona. We find that the angular widths of the halos range from 192° to 252°, while those of the flux ropes range between only 58° and 91°, indicating that the halos are waves propagating away from the CMEs. The halo widths are in agreement with widths of Extreme Ultraviolet (EUV) waves in the low corona further demonstrating the common origin of these structures. To further investigate the wave nature of the halos, we model their 3D kinematic properties with a linear fast magnetosonic wave model. The model is able to reproduce the position of the halo flanks with realistic coronal medium assumptions but fails closer to the CME nose. The CME halo envelope seems to arise from a driven wave (or shock) close to the CME nose, but it is gradually becoming a freely propagating fast magnetosonic wave at the flanks. This interpretation provides a simple unifying picture for CME halos, EUV waves, and the large longitudinal spread of solar energetic particles.

  10. GrowYourIC: an open access Python code to facilitate comparison between kinematic models of inner core evolution and seismic observations

    Science.gov (United States)

    Lasbleis, M.; Day, E. A.; Waszek, L.

    2017-12-01

    The complex nature of inner core structure has been well-established from seismic studies, with heterogeneities at various length scales, both radially and laterally. Despite this, no geodynamic model has successfully explained all of the observed seismic features. To facilitate comparisons between seismic observations and geodynamic models of inner core growth we have developed a new, open access Python tool - GrowYourIC - that allows users to compare models of inner core structure. The code allows users to simulate different evolution models of the inner core, with user-defined rates of inner core growth, translation and rotation. Once the user has "grown" an inner core with their preferred parameters they can then explore the effect of "their" inner core's evolution on the relative age and growth rate in different regions of the inner core. The code will convert these parameters into seismic properties using either built-in mineral physics models, or user-supplied ones that calculate these seismic properties with users' own preferred mineralogical models. The 3D model of isotropic inner core properties can then be used to calculate the predicted seismic travel time anomalies for a random, or user-specified, set of seismic ray paths through the inner core. A real dataset of inner core body-wave differential travel times is included for the purpose of comparing user-generated models of inner core growth to actual observed travel time anomalies in the top 100km of the inner core. Here, we explore some of the possibilities of our code. We investigate the effect of the limited illumination of the inner core by seismic waves on the robustness of kinematic model interpretation. We test the impact on seismic differential travel time observations of several kinematic models of inner core growth: fast lateral translation; slow differential growth; and inner core super-rotation. We find that a model of inner core evolution incorporating both differential growth and slow

  11. One- and multi-segment foot models lead to opposite results on ankle joint kinematics during gait: Implications for clinical assessment.

    Science.gov (United States)

    Pothrat, Claude; Authier, Guillaume; Viehweger, Elke; Berton, Eric; Rao, Guillaume

    2015-06-01

    Biomechanical models representing the foot as a single rigid segment are commonly used in clinical or sport evaluations. However, neglecting internal foot movements could lead to significant inaccuracies on ankle joint kinematics. The present study proposed an assessment of 3D ankle kinematic outputs using two distinct biomechanical models and their application in the clinical flat foot case. Results of the Plug in Gait (one segment foot model) and the Oxford Foot Model (multisegment foot model) were compared for normal children (9 participants) and flat feet children (9 participants). Repeated measures of Analysis of Variance have been performed to assess the Foot model and Group effects on ankle joint kinematics. Significant differences were observed between the two models for each group all along the gait cycle. In particular for the flat feet group, opposite results between the Oxford Foot Model and the Plug in Gait were revealed at heelstrike, with the Plug in Gait showing a 4.7° ankle dorsal flexion and 2.7° varus where the Oxford Foot Model showed a 4.8° ankle plantar flexion and 1.6° valgus. Ankle joint kinematics of the flat feet group was more affected by foot modeling than normal group. Foot modeling appeared to have a strong influence on resulting ankle kinematics. Moreover, our findings showed that this influence could vary depending on the population. Studies involving ankle joint kinematic assessment should take foot modeling with caution. Copyright © 2015 Elsevier Ltd. All rights reserved.

  12. A wave model test bed study for wave energy resource characterization

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Zhaoqing; Neary, Vincent S.; Wang, Taiping; Gunawan, Budi; Dallman, Annie R.; Wu, Wei-Cheng

    2017-12-01

    This paper presents a test bed study conducted to evaluate best practices in wave modeling to characterize energy resources. The model test bed off the central Oregon Coast was selected because of the high wave energy and available measured data at the site. Two third-generation spectral wave models, SWAN and WWIII, were evaluated. A four-level nested-grid approach—from global to test bed scale—was employed. Model skills were assessed using a set of model performance metrics based on comparing six simulated wave resource parameters to observations from a wave buoy inside the test bed. Both WWIII and SWAN performed well at the test bed site and exhibited similar modeling skills. The ST4 package with WWIII, which represents better physics for wave growth and dissipation, out-performed ST2 physics and improved wave power density and significant wave height predictions. However, ST4 physics tended to overpredict the wave energy period. The newly developed ST6 physics did not improve the overall model skill for predicting the six wave resource parameters. Sensitivity analysis using different wave frequencies and direction resolutions indicated the model results were not sensitive to spectral resolutions at the test bed site, likely due to the absence of complex bathymetric and geometric features.

  13. Estimating Wind and Wave Induced Forces On a Floating Wind Turbine

    DEFF Research Database (Denmark)

    Henriksen, Lars Christian; Natarajan, Anand; Kim, Taeseong

    2013-01-01

    -principles derived state space model of the floating wind turbine. The ability to estimate aero- and hydrodynamic states could prove crucial for the performance of model-based control methods applied on floating wind turbines. Furthermore, two types of water kinematics have been compared two determine whether......In this work, the basic model for a spar buoy floating wind turbine [1], used by an extended Kalman filter, is presented and results concerning wind speed and wave force estimations are shown. The wind speed and aerodynamic forces are estimated using an extended Kalman filter based on a first...... or not linear and nonlinear water kinematics lead to significantly different loads....

  14. Kinematic and dynamic modeling and approximate analysis of a roller chain drive

    DEFF Research Database (Denmark)

    Fuglede, Niels; Thomsen, Jon Juel

    2016-01-01

    for analytical studies of the coupled motion of the chain spans and driven sprocket. Parametric excitation of the spans come from sprocket angular displacements, and the driven sprocket acts as a boundary which can be compliant in the axial direction. External transverse excitation of the spans comes from...... polygonal action, and is treated through kinematic forcing at the moving string boundaries. Perturbation analysis of the model is carried out using the method of multiple scales. Results show a multitude of internal and external resonance conditions, and some examples are presented of both decoupled...... and coupled motion. Together, the kinematic and dynamic model are aimed toward providing a framework for conducting and understanding both numerical, and experimental investigations of roller chain drive dynamics....

  15. Coronal mass ejection kinematics deduced from white light (Solar Mass Ejection Imager) and radio (Wind/WAVES) observations

    Science.gov (United States)

    Reiner, M. J.; Jackson, B. V.; Webb, D. F.; Mizuno, D. R.; Kaiser, M. L.; Bougeret, J.-L.

    2005-09-01

    White-light and radio observations are combined to deduce the coronal and interplanetary kinematics of a fast coronal mass ejection (CME) that was ejected from the Sun at about 1700 UT on 2 November 2003. The CME, which was associated with an X8.3 solar flare from W56°, was observed by the Mauna Loa and Solar and Heliospheric Observatory (SOHO) Large-Angle Spectrometric Coronograph (LASCO) coronagraphs to 14 R⊙. The measured plane-of-sky speed of the LASCO CME was 2600 km s-1. To deduce the kinematics of this CME, we use the plane-of-sky white light observations from both the Solar Mass Ejection Imager (SMEI) all-sky camera on board the Coriolis spacecraft and the SOHO/LASCO coronagraph, as well as the frequency drift rate of the low-frequency radio data and the results of the radio direction-finding analysis from the WAVES experiment on the Wind spacecraft. In agreement with the in situ observations for this event, we find that both the white light and radio observations indicate that the CME must have decelerated significantly beginning near the Sun and continuing well into the interplanetary medium. More specifically, by requiring self-consistency of all the available remote and in situ data, together with a simple, but not unreasonable, assumption about the general characteristic of the CME deceleration, we were able to deduce the radial speed and distance time profiles for this CME as it propagated from the Sun to 1 AU. The technique presented here, which is applicable to mutual SMEI/WAVES CME events, is expected to provide a more complete description and better quantitative understanding of how CMEs propagate through interplanetary space, as well as how the radio emissions, generated by propagating CME/shocks, relate to the shock and CME. This understanding can potentially lead to more accurate predictions for the onset times of space weather events, such as those that were observed during this unique period of intense solar activity.

  16. A hydrodynamic model of nearshore waves and wave-induced currents

    Directory of Open Access Journals (Sweden)

    Ahmed Khaled Seif

    2011-09-01

    Full Text Available In This study develops a quasi-three dimensional numerical model of wave driven coastal currents with accounting the effects of the wave-current interaction and the surface rollers. In the wave model, the current effects on wave breaking and energy dissipation are taken into account as well as the wave diffraction effect. The surface roller associated with wave breaking was modeled based on a modification of the equations by Dally and Brown (1995 and Larson and Kraus (2002. Furthermore, the quasi-three dimensional model, which based on Navier-Stokes equations, was modified in association with the surface roller effect, and solved using frictional step method. The model was validated by data sets obtained during experiments on the Large Scale Sediment Transport Facility (LSTF basin and the Hazaki Oceanographical Research Station (HORS. Then, a model test against detached breakwater was carried out to investigate the performance of the model around coastal structures. Finally, the model was applied to Akasaki port to verify the hydrodynamics around coastal structures. Good agreements between computations and measurements were obtained with regard to the cross-shore variation in waves and currents in nearshore and surf zone.

  17. Adjusting kinematics and kinetics in a feedback-controlled toe walking model

    Directory of Open Access Journals (Sweden)

    Olenšek Andrej

    2012-08-01

    Full Text Available Abstract Background In clinical gait assessment, the correct interpretation of gait kinematics and kinetics has a decisive impact on the success of the therapeutic programme. Due to the vast amount of information from which primary anomalies should be identified and separated from secondary compensatory changes, as well as the biomechanical complexity and redundancy of the human locomotion system, this task is considerably challenging and requires the attention of an experienced interdisciplinary team of experts. The ongoing research in the field of biomechanics suggests that mathematical modeling may facilitate this task. This paper explores the possibility of generating a family of toe walking gait patterns by systematically changing selected parameters of a feedback-controlled model. Methods From the selected clinical case of toe walking we identified typical toe walking characteristics and encoded them as a set of gait-oriented control objectives to be achieved in a feedback-controlled walking model. They were defined as fourth order polynomials and imposed via feedback control at the within-step control level. At the between-step control level, stance leg lengthening velocity at the end of the single support phase was adaptively adjusted after each step so as to facilitate gait velocity control. Each time the gait velocity settled at the desired value, selected intra-step gait characteristics were modified by adjusting the polynomials so as to mimic the effect of a typical therapeutical intervention - inhibitory casting. Results By systematically adjusting the set of control parameters we were able to generate a family of gait kinematic and kinetic patterns that exhibit similar principal toe walking characteristics, as they were recorded by means of an instrumented gait analysis system in the selected clinical case of toe walking. We further acknowledge that they to some extent follow similar improvement tendencies as those which one can

  18. Modelling the gas kinematics of an atypical Ly α emitting compact dwarf galaxy

    Science.gov (United States)

    Forero-Romero, Jaime E.; Gronke, Max; Remolina-Gutiérrez, Maria Camila; Garavito-Camargo, Nicolás; Dijkstra, Mark

    2018-02-01

    Star-forming compact dwarf galaxies (CDGs) resemble the expected pristine conditions of the first galaxies in the Universe and are the best systems to test models on primordial galaxy formation and evolution. Here, we report on one of such CDGs, Tololo 1214-277, which presents a broad, single peaked, highly symmetric Ly α emission line that had evaded theoretical interpretation so far. In this paper, we reproduce for the first time these line features with two different physically motivated kinematic models: an interstellar medium composed by outflowing clumps with random motions and an homogeneous gaseous sphere undergoing solid body rotation. The multiphase model requires a clump velocity dispersion of 54.3 ± 0.6 km s-1 with outflows of 54.3 ± 5.1 km s-1 , while the bulk rotation velocity is constrained to be 348^{+75}_{-48} km s-1. We argue that the results from the multiphase model provide a correct interpretation of the data. In that case, the clump velocity dispersion implies a dynamical mass of 2 × 109 M⊙, 10 times its baryonic mass. If future kinematic maps of Tololo 1214-277 confirm the velocities suggested by the multiphase model, it would provide additional support to expect such kinematic state in primordial galaxies, opening the opportunity to use the models and methods presented in this paper to constrain the physics of star formation and feedback in the early generation of Ly α -emitting galaxies.

  19. Failure Waves in Shock-Compressed Glasses

    International Nuclear Information System (INIS)

    Kanel, G. I.

    2006-01-01

    The failure wave is a network of cracks that are nucleated on the surface and propagate into the elastically stressed body. It is a mode of catastrophic fracture in an elastically stressed media whose relevance is not limited to impact events. In the paper, main properties of the failure waves are summarized and discussed. It has been shown that the failure wave is really a wave process which is characterized by small increase of the longitudinal stress and corresponding increments of the particle velocity and the density. The propagation velocity of the failure wave is less than the sound speed; it is not directly related to the compressibility but is determined by the crack growth speed. The failure wave is steady if the stress state ahead of it is supported unchanging. In some sense the process is similar to a subsonic combustion wave. Computer simulations based on the phenomenological combustion-like model reproduces well all kinematical aspects of the phenomenon

  20. 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.

  1. Comparative assessment of knee joint models used in multi-body kinematics optimisation for soft tissue artefact compensation.

    Science.gov (United States)

    Richard, Vincent; Cappozzo, Aurelio; Dumas, Raphaël

    2017-09-06

    Estimating joint kinematics from skin-marker trajectories recorded using stereophotogrammetry is complicated by soft tissue artefact (STA), an inexorable source of error. One solution is to use a bone pose estimator based on multi-body kinematics optimisation (MKO) embedding joint constraints to compensate for STA. However, there is some debate over the effectiveness of this method. The present study aimed to quantitatively assess the degree of agreement between reference (i.e., artefact-free) knee joint kinematics and the same kinematics estimated using MKO embedding six different knee joint models. The following motor tasks were assessed: level walking, hopping, cutting, running, sit-to-stand, and step-up. Reference knee kinematics was taken from pin-marker or biplane fluoroscopic data acquired concurrently with skin-marker data, made available by the respective authors. For each motor task, Bland-Altman analysis revealed that the performance of MKO varied according to the joint model used, with a wide discrepancy in results across degrees of freedom (DoFs), models and motor tasks (with a bias between -10.2° and 13.2° and between -10.2mm and 7.2mm, and with a confidence interval up to ±14.8° and ±11.1mm, for rotation and displacement, respectively). It can be concluded that, while MKO might occasionally improve kinematics estimation, as implemented to date it does not represent a reliable solution to the STA issue. Copyright © 2017 Elsevier Ltd. All rights reserved.

  2. 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

  3. Multibody Kinematics Optimization for the Estimation of Upper and Lower Limb Human Joint Kinematics: A Systematized Methodological Review.

    Science.gov (United States)

    Begon, Mickaël; Andersen, Michael Skipper; Dumas, Raphaël

    2018-03-01

    Multibody kinematics optimization (MKO) aims to reduce soft tissue artefact (STA) and is a key step in musculoskeletal modeling. The objective of this review was to identify the numerical methods, their validation and performance for the estimation of the human joint kinematics using MKO. Seventy-four papers were extracted from a systematized search in five databases and cross-referencing. Model-derived kinematics were obtained using either constrained optimization or Kalman filtering to minimize the difference between measured (i.e., by skin markers, electromagnetic or inertial sensors) and model-derived positions and/or orientations. While hinge, universal, and spherical joints prevail, advanced models (e.g., parallel and four-bar mechanisms, elastic joint) have been introduced, mainly for the knee and shoulder joints. Models and methods were evaluated using: (i) simulated data based, however, on oversimplified STA and joint models; (ii) reconstruction residual errors, ranging from 4 mm to 40 mm; (iii) sensitivity analyses which highlighted the effect (up to 36 deg and 12 mm) of model geometrical parameters, joint models, and computational methods; (iv) comparison with other approaches (i.e., single body kinematics optimization and nonoptimized kinematics); (v) repeatability studies that showed low intra- and inter-observer variability; and (vi) validation against ground-truth bone kinematics (with errors between 1 deg and 22 deg for tibiofemoral rotations and between 3 deg and 10 deg for glenohumeral rotations). Moreover, MKO was applied to various movements (e.g., walking, running, arm elevation). Additional validations, especially for the upper limb, should be undertaken and we recommend a more systematic approach for the evaluation of MKO. In addition, further model development, scaling, and personalization methods are required to better estimate the secondary degrees-of-freedom (DoF).

  4. Geometrical and kinematical characterization of parallax-free world models

    International Nuclear Information System (INIS)

    Hasse, W.; Perlick, V.

    1988-01-01

    An arbitrary general relativistic world model, i.e., a pseudo-Riemannian manifold along with a timelike vector field V, is considered. Such a kinematical world model is called ''parallax-free'' iff the angle under which any two observers (i.e., integral curves of V) are seen by any third observer remains constant in the course of time. It is shown that a model is parallax-free iff V is proportional to some conformal Killing field. In this case V, especially, has to be shear-free. Furthermore a relationship between parallaxes and red shift is presented and a reference is made to considerations concerning the visibility of cosmic rotation

  5. Research on Robot Pose Control Technology Based on Kinematics Analysis Model

    Science.gov (United States)

    Liu, Dalong; Xu, Lijuan

    2018-01-01

    In order to improve the attitude stability of the robot, proposes an attitude control method of robot based on kinematics analysis model, solve the robot walking posture transformation, grasping and controlling the motion planning problem of robot kinematics. In Cartesian space analytical model, using three axis accelerometer, magnetometer and the three axis gyroscope for the combination of attitude measurement, the gyroscope data from Calman filter, using the four element method for robot attitude angle, according to the centroid of the moving parts of the robot corresponding to obtain stability inertia parameters, using random sampling RRT motion planning method, accurate operation to any position control of space robot, to ensure the end effector along a prescribed trajectory the implementation of attitude control. The accurate positioning of the experiment is taken using MT-R robot as the research object, the test robot. The simulation results show that the proposed method has better robustness, and higher positioning accuracy, and it improves the reliability and safety of robot operation.

  6. Analysis of a kinetic multi-segment foot model. Part I: Model repeatability and kinematic validity.

    Science.gov (United States)

    Bruening, Dustin A; Cooney, Kevin M; Buczek, Frank L

    2012-04-01

    Kinematic multi-segment foot models are still evolving, but have seen increased use in clinical and research settings. The addition of kinetics may increase knowledge of foot and ankle function as well as influence multi-segment foot model evolution; however, previous kinetic models are too complex for clinical use. In this study we present a three-segment kinetic foot model and thorough evaluation of model performance during normal gait. In this first of two companion papers, model reference frames and joint centers are analyzed for repeatability, joint translations are measured, segment rigidity characterized, and sample joint angles presented. Within-tester and between-tester repeatability were first assessed using 10 healthy pediatric participants, while kinematic parameters were subsequently measured on 17 additional healthy pediatric participants. Repeatability errors were generally low for all sagittal plane measures as well as transverse plane Hindfoot and Forefoot segments (median<3°), while the least repeatable orientations were the Hindfoot coronal plane and Hallux transverse plane. Joint translations were generally less than 2mm in any one direction, while segment rigidity analysis suggested rigid body behavior for the Shank and Hindfoot, with the Forefoot violating the rigid body assumptions in terminal stance/pre-swing. Joint excursions were consistent with previously published studies. Copyright © 2012 Elsevier B.V. All rights reserved.

  7. Symmetrical kinematics does not imply symmetrical kinetics in people with transtibial amputation using cycling model.

    Science.gov (United States)

    Childers, W Lee; Kogler, Géza F

    2014-01-01

    People with amputation move asymmetrically with regard to kinematics (joint angles) and kinetics (joint forces and moments). Clinicians have traditionally sought to minimize kinematic asymmetries, assuming kinetic asymmetries would also be minimized. A cycling model evaluated locomotor asymmetries. Eight individuals with unilateral transtibial amputation pedaled with 172 mm-length crank arms on both sides (control condition) and with the crank arm length shortened to 162 mm on the amputated side (CRANK condition). Pedaling kinetics and limb kinematics were recorded. Joint kinetics, joint angles (mean and range of motion [ROM]), and pedaling asymmetries were calculated from force pedals and with a motion capture system. A one-way analysis of variance with tukey post hoc compared kinetics and kinematics across limbs. Statistical significance was set to p Pedaling asymmetries did not differ and were 23.0% +/= 9.8% and 23.2% +/= 12% for the control and CRANK conditions, respectively. Our results suggest that minimizing kinematic asymmetries does not relate to kinetic asymmetries as clinically assumed. We propose that future research should concentrate on defining acceptable asymmetry.

  8. H I versus H α - comparing the kinematic tracers in modelling the initial conditions of the Mice

    Science.gov (United States)

    Mortazavi, S. Alireza; Lotz, Jennifer M.; Barnes, Joshua E.; Privon, George C.; Snyder, Gregory F.

    2018-03-01

    We explore the effect of using different kinematic tracers (H I and H α) on reconstructing the encounter parameters of the Mice major galaxy merger (NGC 4676A/B). We observed the Mice using the SparsePak Integral Field Unit (IFU) on the WIYN telescope, and compared the H α velocity map with VLA H I observations. The relatively high spectral resolution of our data (R ≈ 5000) allows us to resolve more than one kinematic component in the emission lines of some fibres. We separate the H α-[N II] emission of the star-forming regions from shocks using their [N II]/H α line ratio and velocity dispersion. We show that the velocity of star-forming regions agree with that of the cold gas (H I), particularly, in the tidal tails of the system. We reconstruct the morphology and kinematics of these tidal tails utilizing an automated modelling method based on the IDENTIKIT software package. We quantify the goodness of fit and the uncertainties of the derived encounter parameters. Most of the initial conditions reconstructed using H α and H I are consistent with each other, and qualitatively agree with the results of previous works. For example, we find 210± ^{50}_{40} Myr, and 180± ^{50}_{40} Myr for the time since pericentre, when modelling H α and H I kinematics, respectively. This confirms that in some cases, H α kinematics can be used instead of H I kinematics for reconstructing the initial conditions of galaxy mergers, and our automated modelling method is applicable to some merging systems.

  9. MODELING OF KINEMATICS OF A PLASTIC SHAPING AT CALIBRATION OF A THIN-WALLED PRECISION PIPE SINKING

    Directory of Open Access Journals (Sweden)

    E. D. Chertov

    2014-01-01

    Full Text Available Summary. The mathematical model of kinematics of a plastic shaping at the sinking of a thin-walled precision pipe applied to calibration of the ends of the unified elements of the pipeline of aircraft from titanic alloys and corrosion-resistant steel before assembly to the route by means of automatic argon-arc welding of ring joints is developed. For modeling, the power criterion of stability with use of kinematic possible fields of speeds is applied to receiving the top assessment of effort of deformation. The developed model of kinematics of a plastic current allows to receive power parameters of the main condition of process of calibration by sinking and can be used for the solution of a task on stability of process of deformation by results of comparison of power (power parameters for the main (steady and indignant states. Modeling is made in cylindrical system of coordinates by comparison of options of kinematic possible fields of the speeds of a current meeting a condition of incompressibility and kinematic regional conditions. The result of the modeling was selected discontinuous field of high-speed, in which the decrease outer radius (R occurs only by increasing the thickness of the pipe wall (t. For this option the size of pressure of sinking had the smallest value, therefore the chosen field of speeds closely to the valid. It is established that with increase in a step of giving 1 at calibration by the multisector tool the demanded pressure of sinking of q decreases. At an identical step of giving 1 pipe with the smaller relative thickness of (t/r needs to be calibrated the smaller pressure of sinking. With increase of a limit of fluidity at shift of material of pipe preparation pressure of sinking of (q increases.

  10. Computational Modelling of Patella Femoral Kinematics During Gait Cycle and Experimental Validation

    Science.gov (United States)

    Maiti, Raman

    2016-06-01

    The effect of loading and boundary conditions on patellar mechanics is significant due to the complications arising in patella femoral joints during total knee replacements. To understand the patellar mechanics with respect to loading and motion, a computational model representing the patella femoral joint was developed and validated against experimental results. The computational model was created in IDEAS NX and simulated in MSC ADAMS/VIEW software. The results obtained in the form of internal external rotations and anterior posterior displacements for a new and experimentally simulated specimen for patella femoral joint under standard gait condition were compared with experimental measurements performed on the Leeds ProSim knee simulator. A good overall agreement between the computational prediction and the experimental data was obtained for patella femoral kinematics. Good agreement between the model and the past studies was observed when the ligament load was removed and the medial lateral displacement was constrained. The model is sensitive to ±5 % change in kinematics, frictional, force and stiffness coefficients and insensitive to time step.

  11. Model-based Kinematics Generation for Modular Mechatronic Toolkits

    DEFF Research Database (Denmark)

    Bordignon, Mirko; Schultz, Ulrik Pagh; Støy, Kasper

    2011-01-01

    Modular robots are mechatronic devices that enable the construction of highly versatile and flexible robotic systems whose mechanical structure can be dynamically modified. The key feature that enables this dynamic modification is the capability of the individual modules to connect to each other...... in multiple ways and thus generate a number of different mechanical systems, in contrast with the monolithic, fixed structure of conventional robots. The mechatronic flexibility, however, complicates the development of models and programming abstractions for modular robots, since manually describing...... the Modular Mechatronics Modelling Language (M3L). M3L is a domain-specific language, which can model the kinematic structure of individual robot modules and declaratively describe their possible interconnections, rather than requiring the user to enumerate them in their entirety. From this description, the M...

  12. Wave model downscaling for coastal applications

    Science.gov (United States)

    Valchev, Nikolay; Davidan, Georgi; Trifonova, Ekaterina; Andreeva, Nataliya

    2010-05-01

    Downscaling is a suitable technique for obtaining high-resolution estimates from relatively coarse-resolution global models. Dynamical and statistical downscaling has been applied to the multidecadal simulations of ocean waves. Even as large-scale variability might be plausibly estimated from these simulations, their value for the small scale applications such as design of coastal protection structures and coastal risk assessment is limited due to their relatively coarse spatial and temporal resolutions. Another advantage of the high resolution wave modeling is that it accounts for shallow water effects. Therefore, it can be used for both wave forecasting at specific coastal locations and engineering applications that require knowledge about extreme wave statistics at or near the coastal facilities. In the present study downscaling is applied to both ECMWF and NCEP/NCAR global reanalysis of atmospheric pressure over the Black Sea with 2.5 degrees spatial resolution. A simplified regional atmospheric model is employed for calculation of the surface wind field at 0.5 degrees resolution that serves as forcing for the wave models. Further, a high-resolution nested WAM/SWAN wave model suite of nested wave models is applied for spatial downscaling. It aims at resolving the wave conditions in a limited area at the close proximity to the shore. The pilot site is located in the northern part the Bulgarian Black Sea shore. The system involves the WAM wave model adapted for basin scale simulation at 0.5 degrees spatial resolution. The WAM output for significant wave height, mean wave period and mean angle of wave approach is used in terms of external boundary conditions for the SWAN wave model, which is set up for the western Black Sea shelf at 4km resolution. The same model set up on about 400m resolution is nested to the first SWAN run. In this case the SWAN 2D spectral output provides boundary conditions for the high-resolution model run. The models are implemented for a

  13. Macroscopic balance model for wave rotors

    Science.gov (United States)

    Welch, Gerard E.

    1996-01-01

    A mathematical model for multi-port wave rotors is described. The wave processes that effect energy exchange within the rotor passage are modeled using one-dimensional gas dynamics. Macroscopic mass and energy balances relate volume-averaged thermodynamic properties in the rotor passage control volume to the mass, momentum, and energy fluxes at the ports. Loss models account for entropy production in boundary layers and in separating flows caused by blade-blockage, incidence, and gradual opening and closing of rotor passages. The mathematical model provides a basis for predicting design-point wave rotor performance, port timing, and machine size. Model predictions are evaluated through comparisons with CFD calculations and three-port wave rotor experimental data. A four-port wave rotor design example is provided to demonstrate model applicability. The modeling approach is amenable to wave rotor optimization studies and rapid assessment of the trade-offs associated with integrating wave rotors into gas turbine engine systems.

  14. SELF-DESTRUCTING SPIRAL WAVES: GLOBAL SIMULATIONS OF A SPIRAL-WAVE INSTABILITY IN ACCRETION DISKS

    International Nuclear Information System (INIS)

    Bae, Jaehan; Hartmann, Lee; Nelson, Richard P.; Richard, Samuel

    2016-01-01

    We present results from a suite of three-dimensional global hydrodynamic simulations that shows that spiral density waves propagating in circumstellar disks are unstable to the growth of a parametric instability that leads to break down of the flow into turbulence. This spiral wave instability (SWI) arises from a resonant interaction between pairs of inertial waves, or inertial-gravity waves, and the background spiral wave. The development of the instability in the linear regime involves the growth of a broad spectrum of inertial modes, with growth rates on the order of the orbital time, and results in a nonlinear saturated state in which turbulent velocity perturbations are of a similar magnitude to those induced by the spiral wave. The turbulence induces angular momentum transport and vertical mixing at a rate that depends locally on the amplitude of the spiral wave (we obtain a stress parameter α ∼ 5 × 10 −4 in our reference model). The instability is found to operate in a wide range of disk models, including those with isothermal or adiabatic equations of state, and in viscous disks where the dimensionless kinematic viscosity ν ≤ 10 −5 . This robustness suggests that the instability will have applications to a broad range of astrophysical disk-related phenomena, including those in close binary systems, planets embedded in protoplanetary disks (including Jupiter in our own solar system) and FU Orionis outburst models. Further work is required to determine the nature of the instability and to evaluate its observational consequences in physically more complete disk models than we have considered in this paper.

  15. Study on individual stochastic model of GNSS observations for precise kinematic applications

    Science.gov (United States)

    Próchniewicz, Dominik; Szpunar, Ryszard

    2015-04-01

    The proper definition of mathematical positioning model, which is defined by functional and stochastic models, is a prerequisite to obtain the optimal estimation of unknown parameters. Especially important in this definition is realistic modelling of stochastic properties of observations, which are more receiver-dependent and time-varying than deterministic relationships. This is particularly true with respect to precise kinematic applications which are characterized by weakening model strength. In this case, incorrect or simplified definition of stochastic model causes that the performance of ambiguity resolution and accuracy of position estimation can be limited. In this study we investigate the methods of describing the measurement noise of GNSS observations and its impact to derive precise kinematic positioning model. In particular stochastic modelling of individual components of the variance-covariance matrix of observation noise performed using observations from a very short baseline and laboratory GNSS signal generator, is analyzed. Experimental test results indicate that the utilizing the individual stochastic model of observations including elevation dependency and cross-correlation instead of assumption that raw measurements are independent with the same variance improves the performance of ambiguity resolution as well as rover positioning accuracy. This shows that the proposed stochastic assessment method could be a important part in complex calibration procedure of GNSS equipment.

  16. Novel Adaptive Forward Neural MIMO NARX Model for the Identification of Industrial 3-DOF Robot Arm Kinematics

    OpenAIRE

    Ho Pham Huy Anh; Nguyen Thanh Nam

    2012-01-01

    In this paper, a novel forward adaptive neural MIMO NARX model is used for modelling and identifying the forward kinematics of an industrial 3‐DOF robot arm system. The nonlinear features of the forward kinematics of the industrial robot arm drive are thoroughly modelled based on the forward adaptive neural NARX model‐based identification process using experimental input‐output training data. This paper proposes a novel use of a back propagation (BP) algorithm to generate the forward neural M...

  17. 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

  18. The theory of magnetohydrodynamic wave generation by localized sources. I - General asymptotic theory

    Science.gov (United States)

    Collins, William

    1989-01-01

    The magnetohydrodynamic wave emission from several localized, periodic, kinematically specified fluid velocity fields are calculated using Lighthill's method for finding the far-field wave forms. The waves propagate through an isothermal and uniform plasma with a constant B field. General properties of the energy flux are illustrated with models of pulsating flux tubes and convective rolls. Interference theory from geometrical optics is used to find the direction of minimum fast-wave emission from multipole sources and slow-wave emission from discontinuous sources. The distribution of total flux in fast and slow waves varies with the ratios of the source dimensions l to the acoustic and Alfven wavelengths.

  19. Efficient dynamic modeling of manipulators containing closed kinematic loops

    Science.gov (United States)

    Ferretti, Gianni; Rocco, Paolo

    An approach to efficiently solve the forward dynamics problem for manipulators containing closed chains is proposed. The two main distinctive features of this approach are: the dynamics of the equivalent open loop tree structures (any closed loop can be in general modeled by imposing some additional kinematic constraints to a suitable tree structure) is computed through an efficient Newton Euler formulation; the constraint equations relative to the most commonly adopted closed chains in industrial manipulators are explicitly solved, thus, overcoming the redundancy of Lagrange's multipliers method while avoiding the inefficiency due to a numerical solution of the implicit constraint equations. The constraint equations considered for an explicit solution are those imposed by articulated gear mechanisms and planar closed chains (pantograph type structures). Articulated gear mechanisms are actually used in all industrial robots to transmit motion from actuators to links, while planar closed chains are usefully employed to increase the stiffness of the manipulators and their load capacity, as well to reduce the kinematic coupling of joint axes. The accuracy and the efficiency of the proposed approach are shown through a simulation test.

  20. Kinematic modeling of the Milky Way using the RAVE and GCS stellar surveys

    Energy Technology Data Exchange (ETDEWEB)

    Sharma, S.; Bland-Hawthorn, J. [Sydney Institute for Astronomy, School of Physics, University of Sydney, Sydney, NSW 2006 (Australia); Binney, J. [Rudolf Peierls Center for Theoretical Physics, University of Oxford, 1 Keble Road, Oxford OX1 3NP (United Kingdom); Freeman, K. C. [RSAA Australian National University, Mount Stromlo Observatory, Cotter Road, Weston Creek, Canberra, ACT 72611 (Australia); Steinmetz, M.; Williams, M. E. K. [Leibniz Institut für Astrophysik Potsdam (AIP), An der Sterwarte 16, D-14482 Potsdam (Germany); Boeche, C.; Grebel, E. K. [Astronomisches Rechen-Institut, Zentrum für Astronomie der Universität Heidelberg, D-69120 Heidelberg (Germany); Bienaymé, O.; Siebert, A. [Observatoire astronomique de Strasbourg, Université de Strasbourg, CNRS, UMR 7550, F-67000 Strasbourg (France); Gibson, B. K. [Jeremiah Horrocks Institute for Astrophysics and Super-computing, University of Central Lancashire, Preston PR1 2HE (United Kingdom); Gilmore, G. F.; Kordopatis, G. [Institute of Astronomy, University of Cambridge, Madingley Road, Cambridge CB3 0HA (United Kingdom); Helmi, A. [Kapteyn Astronomical Institute, University of Groningen, Postbus 800, 9700 AV Groningen (Netherlands); Munari, U. [INAF-Astronomical Observatory of Padova, I-36012 Asiago (VI) (Italy); Navarro, J. F. [University of Victoria, P.O. Box 3055, Station CSC, Victoria, BC V8W 3P6 (Canada); Parker, Q. A.; Reid, W. A. [Department of Physics and Astronomy, Macquarie University, Sydney, NSW 2109 (Australia); Seabroke, G. M. [Mullard Space Science Laboratory, University College London, Holmbury St Mary, Dorking RH5 6NT (United Kingdom); Watson, F. [Australian Astronomical Observatory, P.O. Box 296, Epping, NSW 1710 (Australia); and others

    2014-09-20

    We investigate the kinematic parameters of the Milky Way disk using the Radial Velocity Experiment (RAVE) and Geneva-Copenhagen Survey (GCS) stellar surveys. We do this by fitting a kinematic model to the data and taking the selection function of the data into account. For stars in the GCS we use all phase-space coordinates, but for RAVE stars we use only (ℓ, b, v {sub los}). Using the Markov Chain Monte Carlo technique, we investigate the full posterior distributions of the parameters given the data. We investigate the age-velocity dispersion relation for the three kinematic components (σ {sub R}, σ{sub φ}, σ {sub z}), the radial dependence of the velocity dispersions, the solar peculiar motion (U {sub ☉}, V {sub ☉}, W {sub ☉}), the circular speed Θ{sub 0} at the Sun, and the fall of mean azimuthal motion with height above the midplane. We confirm that the Besançon-style Gaussian model accurately fits the GCS data but fails to match the details of the more spatially extended RAVE survey. In particular, the Shu distribution function (DF) handles noncircular orbits more accurately and provides a better fit to the kinematic data. The Gaussian DF not only fits the data poorly but systematically underestimates the fall of velocity dispersion with radius. The radial scale length of the velocity dispersion profile of the thick disk was found to be smaller than that of the thin disk. We find that correlations exist between a number of parameters, which highlights the importance of doing joint fits. The large size of the RAVE survey allows us to get precise values for most parameters. However, large systematic uncertainties remain, especially in V {sub ☉} and Θ{sub 0}. We find that, for an extended sample of stars, Θ{sub 0} is underestimated by as much as 10% if the vertical dependence of the mean azimuthal motion is neglected. Using a simple model for vertical dependence of kinematics, we find that it is possible to match the Sgr A* proper motion without

  1. Model-based internal wave processing

    Energy Technology Data Exchange (ETDEWEB)

    Candy, J.V.; Chambers, D.H.

    1995-06-09

    A model-based approach is proposed to solve the oceanic internal wave signal processing problem that is based on state-space representations of the normal-mode vertical velocity and plane wave horizontal velocity propagation models. It is shown that these representations can be utilized to spatially propagate the modal (dept) vertical velocity functions given the basic parameters (wave numbers, Brunt-Vaisala frequency profile etc.) developed from the solution of the associated boundary value problem as well as the horizontal velocity components. Based on this framework, investigations are made of model-based solutions to the signal enhancement problem for internal waves.

  2. Kinematic repeatability of a multi-segment foot model for dance.

    Science.gov (United States)

    Carter, Sarah L; Sato, Nahoko; Hopper, Luke S

    2018-03-01

    The purpose of this study was to determine the intra and inter-assessor repeatability of a modified Rizzoli Foot Model for analysing the foot kinematics of ballet dancers. Six university-level ballet dancers performed the movements; parallel stance, turnout plié, turnout stance, turnout rise and flex-point-flex. The three-dimensional (3D) position of individual reflective markers and marker triads was used to model the movement of the dancers' tibia, entire foot, hindfoot, midfoot, forefoot and hallux. Intra and inter-assessor reliability demonstrated excellent (ICC ≥ 0.75) repeatability for the first metatarsophalangeal joint in the sagittal plane. Intra-assessor reliability demonstrated excellent (ICC ≥ 0.75) repeatability during flex-point-flex across all inter-segmental angles except for the tibia-hindfoot and hindfoot-midfoot frontal planes. Inter-assessor repeatability ranged from poor to excellent (0.5 > ICC ≥ 0.75) for the 3D segment rotations. The most repeatable measure was the tibia-foot dorsiflexion/plantar flexion articulation whereas the least repeatable measure was the hindfoot-midfoot adduction/abduction articulation. The variation found in the inter-assessor results is likely due to inconsistencies in marker placement. This 3D dance specific multi-segment foot model provides insight into which kinematic measures can be reliably used to ascertain in vivo technical errors and/or biomechanical abnormalities in a dancer's foot motion.

  3. Synthetic tsunami waveform catalogs with kinematic constraints

    Science.gov (United States)

    Baptista, Maria Ana; Miranda, Jorge Miguel; Matias, Luis; Omira, Rachid

    2017-07-01

    In this study we present a comprehensive methodology to produce a synthetic tsunami waveform catalogue in the northeast Atlantic, east of the Azores islands. The method uses a synthetic earthquake catalogue compatible with plate kinematic constraints of the area. We use it to assess the tsunami hazard from the transcurrent boundary located between Iberia and the Azores, whose western part is known as the Gloria Fault. This study focuses only on earthquake-generated tsunamis. Moreover, we assume that the time and space distribution of the seismic events is known. To do this, we compute a synthetic earthquake catalogue including all fault parameters needed to characterize the seafloor deformation covering the time span of 20 000 years, which we consider long enough to ensure the representability of earthquake generation on this segment of the plate boundary. The computed time and space rupture distributions are made compatible with global kinematic plate models. We use the tsunami empirical Green's functions to efficiently compute the synthetic tsunami waveforms for the dataset of coastal locations, thus providing the basis for tsunami impact characterization. We present the results in the form of offshore wave heights for all coastal points in the dataset. Our results focus on the northeast Atlantic basin, showing that earthquake-induced tsunamis in the transcurrent segment of the Azores-Gibraltar plate boundary pose a minor threat to coastal areas north of Portugal and beyond the Strait of Gibraltar. However, in Morocco, the Azores, and the Madeira islands, we can expect wave heights between 0.6 and 0.8 m, leading to precautionary evacuation of coastal areas. The advantages of the method are its easy application to other regions and the low computation effort needed.

  4. The reliability, accuracy and minimal detectable difference of a multi-segment kinematic model of the foot-shoe complex.

    Science.gov (United States)

    Bishop, Chris; Paul, Gunther; Thewlis, Dominic

    2013-04-01

    Kinematic models are commonly used to quantify foot and ankle kinematics, yet no marker sets or models have been proven reliable or accurate when wearing shoes. Further, the minimal detectable difference of a developed model is often not reported. We present a kinematic model that is reliable, accurate and sensitive to describe the kinematics of the foot-shoe complex and lower leg during walking gait. In order to achieve this, a new marker set was established, consisting of 25 markers applied on the shoe and skin surface, which informed a four segment kinematic model of the foot-shoe complex and lower leg. Three independent experiments were conducted to determine the reliability, accuracy and minimal detectable difference of the marker set and model. Inter-rater reliability of marker placement on the shoe was proven to be good to excellent (ICC=0.75-0.98) indicating that markers could be applied reliably between raters. Intra-rater reliability was better for the experienced rater (ICC=0.68-0.99) than the inexperienced rater (ICC=0.38-0.97). The accuracy of marker placement along each axis was <6.7 mm for all markers studied. Minimal detectable difference (MDD90) thresholds were defined for each joint; tibiocalcaneal joint--MDD90=2.17-9.36°, tarsometatarsal joint--MDD90=1.03-9.29° and the metatarsophalangeal joint--MDD90=1.75-9.12°. These thresholds proposed are specific for the description of shod motion, and can be used in future research designed at comparing between different footwear. Copyright © 2012 Elsevier B.V. All rights reserved.

  5. Effective orthorhombic anisotropic models for wavefield extrapolation

    KAUST Repository

    Ibanez-Jacome, W.

    2014-07-18

    Wavefield extrapolation in orthorhombic anisotropic media incorporates complicated but realistic models to reproduce wave propagation phenomena in the Earth\\'s subsurface. Compared with the representations used for simpler symmetries, such as transversely isotropic or isotropic, orthorhombic models require an extended and more elaborated formulation that also involves more expensive computational processes. The acoustic assumption yields more efficient description of the orthorhombic wave equation that also provides a simplified representation for the orthorhombic dispersion relation. However, such representation is hampered by the sixth-order nature of the acoustic wave equation, as it also encompasses the contribution of shear waves. To reduce the computational cost of wavefield extrapolation in such media, we generate effective isotropic inhomogeneous models that are capable of reproducing the firstarrival kinematic aspects of the orthorhombic wavefield. First, in order to compute traveltimes in vertical orthorhombic media, we develop a stable, efficient and accurate algorithm based on the fast marching method. The derived orthorhombic acoustic dispersion relation, unlike the isotropic or transversely isotropic ones, is represented by a sixth order polynomial equation with the fastest solution corresponding to outgoing P waves in acoustic media. The effective velocity models are then computed by evaluating the traveltime gradients of the orthorhombic traveltime solution, and using them to explicitly evaluate the corresponding inhomogeneous isotropic velocity field. The inverted effective velocity fields are source dependent and produce equivalent first-arrival kinematic descriptions of wave propagation in orthorhombic media. We extrapolate wavefields in these isotropic effective velocity models using the more efficient isotropic operator, and the results compare well, especially kinematically, with those obtained from the more expensive anisotropic extrapolator.

  6. Effective orthorhombic anisotropic models for wavefield extrapolation

    KAUST Repository

    Ibanez-Jacome, W.; Alkhalifah, Tariq Ali; Waheed, Umair bin

    2014-01-01

    Wavefield extrapolation in orthorhombic anisotropic media incorporates complicated but realistic models to reproduce wave propagation phenomena in the Earth's subsurface. Compared with the representations used for simpler symmetries, such as transversely isotropic or isotropic, orthorhombic models require an extended and more elaborated formulation that also involves more expensive computational processes. The acoustic assumption yields more efficient description of the orthorhombic wave equation that also provides a simplified representation for the orthorhombic dispersion relation. However, such representation is hampered by the sixth-order nature of the acoustic wave equation, as it also encompasses the contribution of shear waves. To reduce the computational cost of wavefield extrapolation in such media, we generate effective isotropic inhomogeneous models that are capable of reproducing the firstarrival kinematic aspects of the orthorhombic wavefield. First, in order to compute traveltimes in vertical orthorhombic media, we develop a stable, efficient and accurate algorithm based on the fast marching method. The derived orthorhombic acoustic dispersion relation, unlike the isotropic or transversely isotropic ones, is represented by a sixth order polynomial equation with the fastest solution corresponding to outgoing P waves in acoustic media. The effective velocity models are then computed by evaluating the traveltime gradients of the orthorhombic traveltime solution, and using them to explicitly evaluate the corresponding inhomogeneous isotropic velocity field. The inverted effective velocity fields are source dependent and produce equivalent first-arrival kinematic descriptions of wave propagation in orthorhombic media. We extrapolate wavefields in these isotropic effective velocity models using the more efficient isotropic operator, and the results compare well, especially kinematically, with those obtained from the more expensive anisotropic extrapolator.

  7. A NEW VIEW OF CORONAL WAVES FROM STEREO

    International Nuclear Information System (INIS)

    Ma, S.; Lin, J.; Zhao, S.; Li, Q.; Wills-Davey, M. J.; Attrill, G. D. R.; Golub, L.; Chen, P. F.; Chen, H.

    2009-01-01

    On 2007 December 7, there was an eruption from AR 10977, which also hosted a sigmoid. An EUV Imaging Telescope (EIT) wave associated with this eruption was observed by EUVI on board the Solar Terrestrial Relations Observatory (STEREO). Using EUVI images in the 171 A and the 195 A passbands from both STEREO A and B, we study the morphology and kinematics of this EIT wave. In the early stages, images of the EIT wave from the two STEREO spacecrafts differ markedly. We determine that the EUV fronts observed at the very beginning of the eruption likely include some intensity contribution from the associated coronal mass ejection (CME). Additionally, our velocity measurements suggest that the EIT wave front may propagate at nearly constant velocity. Both results offer constraints on current models and understanding of EIT waves.

  8. Fundamental plasma emission involving ion sound waves

    International Nuclear Information System (INIS)

    Cairns, I.H.

    1987-01-01

    The theory for fundamental plasma emission by the three-wave processes L ± S → T (where L, S and T denote Langmuir, ion sound and transverse waves, respectively) is developed. Kinematic constraints on the characteristics and growth lengths of waves participating in the wave processes are identified. In addition the rates, path-integrated wave temperatures, and limits on the brightness temperature of the radiation are derived. (author)

  9. Kinematic analysis of a posterior-stabilized knee prosthesis.

    Science.gov (United States)

    Zhao, Zhi-Xin; Wen, Liang; Qu, Tie-Bing; Hou, Li-Li; Xiang, Dong; Bin, Jia

    2015-01-20

    The goal of total knee arthroplasty (TKA) is to restore knee kinematics. Knee prosthesis design plays a very important role in successful restoration. Here, kinematics models of normal and prosthetic knees were created and validated using previously published data. Computed tomography and magnetic resonance imaging scans of a healthy, anticorrosive female cadaver were used to establish a model of the entire lower limbs, including the femur, tibia, patella, fibula, distal femur cartilage, and medial and lateral menisci, as well as the anterior cruciate, posterior cruciate, medial collateral, and lateral collateral ligaments. The data from the three-dimensional models of the normal knee joint and a posterior-stabilized (PS) knee prosthesis were imported into finite element analysis software to create the final kinematic model of the TKA prosthesis, which was then validated by comparison with a previous study. The displacement of the medial/lateral femur and the internal rotation angle of the tibia were analyzed during 0-135° flexion. Both the output data trends and the measured values derived from the normal knee's kinematics model were very close to the results reported in a previous in vivo study, suggesting that this model can be used for further analyses. The PS knee prosthesis underwent an abnormal forward displacement compared with the normal knee and has insufficient, or insufficiently aggressive, "rollback" compared with the lateral femur of the normal knee. In addition, a certain degree of reverse rotation occurs during flexion of the PS knee prosthesis. There were still several differences between the kinematics of the PS knee prosthesis and a normal knee, suggesting room for improving the design of the PS knee prosthesis. The abnormal kinematics during early flexion shows that the design of the articular surface played a vital role in improving the kinematics of the PS knee prosthesis.

  10. Kinematic Analysis of a Posterior-stabilized Knee Prosthesis

    Directory of Open Access Journals (Sweden)

    Zhi-Xin Zhao

    2015-01-01

    Full Text Available Background: The goal of total knee arthroplasty (TKA is to restore knee kinematics. Knee prosthesis design plays a very important role in successful restoration. Here, kinematics models of normal and prosthetic knees were created and validated using previously published data. Methods: Computed tomography and magnetic resonance imaging scans of a healthy, anticorrosive female cadaver were used to establish a model of the entire lower limbs, including the femur, tibia, patella, fibula, distal femur cartilage, and medial and lateral menisci, as well as the anterior cruciate, posterior cruciate, medial collateral, and lateral collateral ligaments. The data from the three-dimensional models of the normal knee joint and a posterior-stabilized (PS knee prosthesis were imported into finite element analysis software to create the final kinematic model of the TKA prosthesis, which was then validated by comparison with a previous study. The displacement of the medial/lateral femur and the internal rotation angle of the tibia were analyzed during 0-135° flexion. Results: Both the output data trends and the measured values derived from the normal knee′s kinematics model were very close to the results reported in a previous in vivo study, suggesting that this model can be used for further analyses. The PS knee prosthesis underwent an abnormal forward displacement compared with the normal knee and has insufficient, or insufficiently aggressive, "rollback" compared with the lateral femur of the normal knee. In addition, a certain degree of reverse rotation occurs during flexion of the PS knee prosthesis. Conclusions: There were still several differences between the kinematics of the PS knee prosthesis and a normal knee, suggesting room for improving the design of the PS knee prosthesis. The abnormal kinematics during early flexion shows that the design of the articular surface played a vital role in improving the kinematics of the PS knee prosthesis.

  11. Kinematic Analysis of a Posterior-stabilized Knee Prosthesis

    Science.gov (United States)

    Zhao, Zhi-Xin; Wen, Liang; Qu, Tie-Bing; Hou, Li-Li; Xiang, Dong; Bin, Jia

    2015-01-01

    Background: The goal of total knee arthroplasty (TKA) is to restore knee kinematics. Knee prosthesis design plays a very important role in successful restoration. Here, kinematics models of normal and prosthetic knees were created and validated using previously published data. Methods: Computed tomography and magnetic resonance imaging scans of a healthy, anticorrosive female cadaver were used to establish a model of the entire lower limbs, including the femur, tibia, patella, fibula, distal femur cartilage, and medial and lateral menisci, as well as the anterior cruciate, posterior cruciate, medial collateral, and lateral collateral ligaments. The data from the three-dimensional models of the normal knee joint and a posterior-stabilized (PS) knee prosthesis were imported into finite element analysis software to create the final kinematic model of the TKA prosthesis, which was then validated by comparison with a previous study. The displacement of the medial/lateral femur and the internal rotation angle of the tibia were analyzed during 0–135° flexion. Results: Both the output data trends and the measured values derived from the normal knee's kinematics model were very close to the results reported in a previous in vivo study, suggesting that this model can be used for further analyses. The PS knee prosthesis underwent an abnormal forward displacement compared with the normal knee and has insufficient, or insufficiently aggressive, “rollback” compared with the lateral femur of the normal knee. In addition, a certain degree of reverse rotation occurs during flexion of the PS knee prosthesis. Conclusions: There were still several differences between the kinematics of the PS knee prosthesis and a normal knee, suggesting room for improving the design of the PS knee prosthesis. The abnormal kinematics during early flexion shows that the design of the articular surface played a vital role in improving the kinematics of the PS knee prosthesis. PMID:25591565

  12. A Subject-Specific Kinematic Model to Predict Human Motion in Exoskeleton-Assisted Gait

    Science.gov (United States)

    Torricelli, Diego; Cortés, Camilo; Lete, Nerea; Bertelsen, Álvaro; Gonzalez-Vargas, Jose E.; del-Ama, Antonio J.; Dimbwadyo, Iris; Moreno, Juan C.; Florez, Julian; Pons, Jose L.

    2018-01-01

    The relative motion between human and exoskeleton is a crucial factor that has remarkable consequences on the efficiency, reliability and safety of human-robot interaction. Unfortunately, its quantitative assessment has been largely overlooked in the literature. Here, we present a methodology that allows predicting the motion of the human joints from the knowledge of the angular motion of the exoskeleton frame. Our method combines a subject-specific skeletal model with a kinematic model of a lower limb exoskeleton (H2, Technaid), imposing specific kinematic constraints between them. To calibrate the model and validate its ability to predict the relative motion in a subject-specific way, we performed experiments on seven healthy subjects during treadmill walking tasks. We demonstrate a prediction accuracy lower than 3.5° globally, and around 1.5° at the hip level, which represent an improvement up to 66% compared to the traditional approach assuming no relative motion between the user and the exoskeleton. PMID:29755336

  13. A Subject-Specific Kinematic Model to Predict Human Motion in Exoskeleton-Assisted Gait.

    Science.gov (United States)

    Torricelli, Diego; Cortés, Camilo; Lete, Nerea; Bertelsen, Álvaro; Gonzalez-Vargas, Jose E; Del-Ama, Antonio J; Dimbwadyo, Iris; Moreno, Juan C; Florez, Julian; Pons, Jose L

    2018-01-01

    The relative motion between human and exoskeleton is a crucial factor that has remarkable consequences on the efficiency, reliability and safety of human-robot interaction. Unfortunately, its quantitative assessment has been largely overlooked in the literature. Here, we present a methodology that allows predicting the motion of the human joints from the knowledge of the angular motion of the exoskeleton frame. Our method combines a subject-specific skeletal model with a kinematic model of a lower limb exoskeleton (H2, Technaid), imposing specific kinematic constraints between them. To calibrate the model and validate its ability to predict the relative motion in a subject-specific way, we performed experiments on seven healthy subjects during treadmill walking tasks. We demonstrate a prediction accuracy lower than 3.5° globally, and around 1.5° at the hip level, which represent an improvement up to 66% compared to the traditional approach assuming no relative motion between the user and the exoskeleton.

  14. SELF-DESTRUCTING SPIRAL WAVES: GLOBAL SIMULATIONS OF A SPIRAL-WAVE INSTABILITY IN ACCRETION DISKS

    Energy Technology Data Exchange (ETDEWEB)

    Bae, Jaehan; Hartmann, Lee [Department of Astronomy, University of Michigan, 1085 S. University Ave., Ann Arbor, MI 48109 (United States); Nelson, Richard P.; Richard, Samuel, E-mail: jaehbae@umich.edu, E-mail: lhartm@umich.edu, E-mail: r.p.nelson@qmul.ac.uk, E-mail: samuel.richard@qmul.ac.uk [Astronomy Unit, Queen Mary University of London, Mile End Road, London E1 4NS (United Kingdom)

    2016-09-20

    We present results from a suite of three-dimensional global hydrodynamic simulations that shows that spiral density waves propagating in circumstellar disks are unstable to the growth of a parametric instability that leads to break down of the flow into turbulence. This spiral wave instability (SWI) arises from a resonant interaction between pairs of inertial waves, or inertial-gravity waves, and the background spiral wave. The development of the instability in the linear regime involves the growth of a broad spectrum of inertial modes, with growth rates on the order of the orbital time, and results in a nonlinear saturated state in which turbulent velocity perturbations are of a similar magnitude to those induced by the spiral wave. The turbulence induces angular momentum transport and vertical mixing at a rate that depends locally on the amplitude of the spiral wave (we obtain a stress parameter α ∼ 5 × 10{sup −4} in our reference model). The instability is found to operate in a wide range of disk models, including those with isothermal or adiabatic equations of state, and in viscous disks where the dimensionless kinematic viscosity ν ≤ 10{sup −5}. This robustness suggests that the instability will have applications to a broad range of astrophysical disk-related phenomena, including those in close binary systems, planets embedded in protoplanetary disks (including Jupiter in our own solar system) and FU Orionis outburst models. Further work is required to determine the nature of the instability and to evaluate its observational consequences in physically more complete disk models than we have considered in this paper.

  15. 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

  16. Nonlinear kinematic hardening under non-proportional loading

    International Nuclear Information System (INIS)

    Ottosen, N.S.

    1979-07-01

    Within the framework of conventional plasticity theory, it is first determined under which conditions Melan-Prager's and Ziegler's kinematic hardening rules result in identical material behaviour. Next, assuming initial isotropy and adopting the von Mises yield criterion, a nonlinear kinematic hardening function is proposed for prediction of metal behaviour. The model assumes that hardening at a specific stress point depends on the direction of the new incremental loading. Hereby a realistic response is obtained for general reversed loading, and a smooth behaviour is assured, even when loading deviates more and more from proportional loading and ultimately results in reversed loading. The predictions of the proposed model for non-proportional loading under plane stress conditions are compared with those of the classical linear kinematic model, the isotropic model and with published experimental data. Finally, the limitations of the proposaed model are discussed. (author)

  17. Determination of dopant atomic positions with kinematical X-ray standing waves

    International Nuclear Information System (INIS)

    Walz, Bente

    2011-11-01

    Recent advances in the kinematic X-ray standing wave technique (KXSW) for the determination of the atomic coordinates and displacement parameters in nonperfect crystalline materials are described in this thesis. The methodology has been improved by considering three significant aspects: - the inclusion of weak multiple beam contributions - the excitation of secondary fluorescence in multiple-element samples - the influence of the crystal mosaicity on the fluorescence yield. The improvements allowed to successfully apply the method to investigate complex oxide materials of current interest for potential device applications. The thermally-induced interdiffusion of cobalt and manganese thin films on zinc oxide single crystals has been studied to determine which lattice sites are occupied preferentially. The data analysis revealed that after thermal diffusion the adsorbed atoms occupied zinc sites in the host lattice. The mean deviation of the cobalt atomic position from the zinc lattice site was comparable to the thermal displacement parameter of the zinc atoms. In the case of manganese a secondary phase was found on the surface. Measurements performed on LaSrMnO 4 provided new insight concerning the rotation of the oxygen octahedron around the manganese atoms and the concomitant displacements of the strontium and lanthanum atoms. It was found that the oxygen octahedra are rotated around the [100]-direction by 4,5 . The measurements in transmission geometry performed on titanium dioxide (rutile) demonstrated that KXSW measurements in the Laue geometry is a viable technique. By performing KXSW under grazing-incidence conditions it is possible to achieve depth resolution. The results clearly show that the extended KXSW technique is a versatile method for characterizing complex material systems. (orig.)

  18. Surface wave energy absorption by a partially submerged bio-inspired canopy.

    Science.gov (United States)

    Nové-Josserand, C; Castro Hebrero, F; Petit, L-M; Megill, W M; Godoy-Diana, R; Thiria, B

    2018-03-27

    Aquatic plants are known to protect coastlines and riverbeds from erosion by damping waves and fluid flow. These flexible structures absorb the fluid-borne energy of an incoming fluid by deforming mechanically. In this paper we focus on the mechanisms involved in these fluid-elasticity interactions, as an efficient energy harvesting system, using an experimental canopy model in a wave tank. We study an array of partially-submerged flexible structures that are subjected to the action of a surface wave field, investigating in particular the role of spacing between the elements of the array on the ability of our system to absorb energy from the flow. The energy absorption potential of the canopy model is examined using global wave height measurements for the wave field and local measurements of the elastic energy based on the kinematics of each element of the canopy. We study different canopy arrays and show in particular that flexibility improves wave damping by around 40%, for which half is potentially harvestable.

  19. Measuring sea surface height with a GNSS-Wave Glider

    Science.gov (United States)

    Morales Maqueda, Miguel Angel; Penna, Nigel T.; Foden, Peter R.; Martin, Ian; Cipollini, Paolo; Williams, Simon D.; Pugh, Jeff P.

    2017-04-01

    A GNSS-Wave Glider is a novel technique to measure sea surface height autonomously using the Global Navigation Satellite System (GNSS). It consists of an unmanned surface vehicle manufactured by Liquid Robotics, a Wave Glider, and a geodetic-grade GNSS antenna-receiver system, with the antenna installed on a mast on the vehicle's deck. The Wave Glider uses the differential wave motion through the water column for propulsion, thus guaranteeing an, in principle, indefinite autonomy. Solar energy is collected to power all on-board instrumentation, including the GNSS system. The GNSS-Wave Glider was first tested in Loch Ness in 2013, demonstrating that the technology is capable of mapping geoid heights within the loch with an accuracy of a few centimetres. The trial in Loch Ness did not conclusively confirm the reliability of the technique because, during the tests, the state of the water surface was much more benign than would normally be expect in the open ocean. We now report on a first deployment of a GNSS-Wave Glider in the North Sea. The deployment took place in August 2016 and lasted thirteen days, during which the vehicle covered a distance of about 350 nautical miles in the north western North Sea off Great Britain. During the experiment, the GNSS-Wave Glider experienced sea states between 1 (0-0.1 m wave heights) and 5 (2.5-4 m wave heights). The GNSS-Wave Glider data, recorded at 5 Hz frequency, were analysed using a post-processed kinematic GPS-GLONASS precise point positioning (PPP) approach, which were quality controlled using double difference GPS kinematic processing with respect to onshore reference stations. Filtered with a 900 s moving-average window, the PPP heights reveal geoid patterns in the survey area that are very similar to the EGM2008 geoid model, thus demonstrating the potential use of a GNSS-Wave Glider for marine geoid determination. The residual of subtracting the modelled or measured marine geoid from the PPP signal combines information

  20. Dynamic analysis of floating wave energy generation system with mooring system

    International Nuclear Information System (INIS)

    Choi, Gyu Seok; Sohn, Jeong Hyun

    2013-01-01

    In this study, dynamic behaviors of a wave energy generation system (WEGS) that converts wave energy into electric energy are analyzed using multibody dynamics techniques. Many studies have focused on reducing the effects of a mooring system on the motion of a WEGS. Several kinematic constraints and force elements are employed in the modeling stage. Three dimensional wave load equations are used to implement wave loads. The dynamic behaviors of a WEGS are analyzed under several wave conditions by using MSC/ADAMS, and the rotating speed of the generating shaft is investigated for predicting the electricity capacity. The dynamic behaviors of a WEGS with a mooring system are compared with those of a WEGS without a mooring system. Stability evaluation of a WEGS is carried out through simulation under extreme wave load

  1. Travelling Waves in Hybrid Chemotaxis Models

    KAUST Repository

    Franz, Benjamin

    2013-12-18

    Hybrid models of chemotaxis combine agent-based models of cells with partial differential equation models of extracellular chemical signals. In this paper, travelling wave properties of hybrid models of bacterial chemotaxis are investigated. Bacteria are modelled using an agent-based (individual-based) approach with internal dynamics describing signal transduction. In addition to the chemotactic behaviour of the bacteria, the individual-based model also includes cell proliferation and death. Cells consume the extracellular nutrient field (chemoattractant), which is modelled using a partial differential equation. Mesoscopic and macroscopic equations representing the behaviour of the hybrid model are derived and the existence of travelling wave solutions for these models is established. It is shown that cell proliferation is necessary for the existence of non-transient (stationary) travelling waves in hybrid models. Additionally, a numerical comparison between the wave speeds of the continuum models and the hybrid models shows good agreement in the case of weak chemotaxis and qualitative agreement for the strong chemotaxis case. In the case of slow cell adaptation, we detect oscillating behaviour of the wave, which cannot be explained by mean-field approximations. © 2013 Society for Mathematical Biology.

  2. Gravity field models from kinematic orbits of CHAMP, GRACE and GOCE satellites

    Czech Academy of Sciences Publication Activity Database

    Bezděk, Aleš; Sebera, Josef; Klokočník, Jaroslav; Kostelecký, J.

    2014-01-01

    Roč. 53, č. 3 (2014), s. 412-429 ISSN 0273-1177 R&D Projects: GA MŠk LH13071; GA ČR GA13-36843S Institutional support: RVO:67985815 Keywords : gravity field models * kinematic orbits * generalized least squares Subject RIV: BN - Astronomy, Celestial Mechanics, Astrophysics Impact factor: 1.358, year: 2014

  3. Frequency splitting in stria bursts: Possible roles of low-frequency waves

    International Nuclear Information System (INIS)

    Melrose, D.B.

    1983-01-01

    The kinematics of the process L+-F->L' are explored where L represents a parallel Langmuir wave, F represents a low frequency fluctuation and L' represents a secondary Langmuir wave, and the results are used to discuss (a) a possible interpretation of the frequency splitting in stria bursts in terms of the processes L+-F->L', L'+-F'->t, where t represents a transverse wave, and (b) second harmonic emission due to the processes L+-s->L', L+L'->t, where s represents an ion sound wave. The following results are obtained: (1) The processes L+-s->L' are allowed only for ksub(s) 0 , respectively, with k 0 =ωsub(p)/65 Vsub(e). (2) The inclusion of a magnetic field does not alter the result (1) and adds further kinematic restrictions related to angles of propagation; the kinematic restriction Tsub(e)>5x10 5 K for second harmonic emission through process (b) above is also unchanged by inclusion of the magnetic field. The effect of a spread in the wavevectors of the Langmuir waves on this restriction is discussed in the Appendix. (3) For parallel Langmuir waves the process L-f->L' is forbidden for lower hybrid waves and for nearly perpendicular resonant whistlers, and the process L+F->L' is allowed only for resonant whistlers at ωsub(F)> or approx.1/2ωsub(p)(Ωsub(e)/ωsub(p)) 2 . (4) The sequential three waves processes L+-s->L', L'+-s->t and L+F->L', L'+-F'->t encounter difficulties when applied to the interpretation of the splitting in split pair and triple bursts. (5) The four-wave process L+-F+-F'->t is kinematically allowed and provides a favourable qualitative interpretation of the splitting when F denotes a resonant whistler near the frequency mentioned in (3) above. The four wave processes should saturate under conditions which are not extreme and produce fundamental plasma emission with brightness temperature Tsub(t) equal to the effective temperature Tsub(L) of the Langmuir waves. (orig.)

  4. A Model of Parallel Kinematics for Machine Calibration

    DEFF Research Database (Denmark)

    Pedersen, David Bue; Bæk Nielsen, Morten; Kløve Christensen, Simon

    2016-01-01

    Parallel kinematics have been adopted by more than 25 manufacturers of high-end desktop 3D printers [Wohlers Report (2015), p.118] as well as by research projects such as the WASP project [WASP (2015)], a 12 meter tall linear delta robot for Additive Manufacture of large-scale components for cons......Parallel kinematics have been adopted by more than 25 manufacturers of high-end desktop 3D printers [Wohlers Report (2015), p.118] as well as by research projects such as the WASP project [WASP (2015)], a 12 meter tall linear delta robot for Additive Manufacture of large-scale components...

  5. Quantification of Wave Model Uncertainties Used for Probabilistic Reliability Assessments of Wave Energy Converters

    DEFF Research Database (Denmark)

    Ambühl, Simon; Kofoed, Jens Peter; Sørensen, John Dalsgaard

    2015-01-01

    Wave models used for site assessments are subjected to model uncertainties, which need to be quantified when using wave model results for probabilistic reliability assessments. This paper focuses on determination of wave model uncertainties. Four different wave models are considered, and validation...... data are collected from published scientific research. The bias and the root-mean-square error, as well as the scatter index, are considered for the significant wave height as well as the mean zero-crossing wave period. Based on an illustrative generic example, this paper presents how the quantified...... uncertainties can be implemented in probabilistic reliability assessments....

  6. Determination of Wave Model Uncertainties used for Probabilistic Reliability Assessments of Wave Energy Devices

    DEFF Research Database (Denmark)

    Ambühl, Simon; Kofoed, Jens Peter; Sørensen, John Dalsgaard

    2014-01-01

    Wave models used for site assessments are subject to model uncertainties, which need to be quantified when using wave model results for probabilistic reliability assessments. This paper focuses on determination of wave model uncertainties. Considered are four different wave models and validation...... data is collected from published scientific research. The bias, the root-mean-square error as well as the scatter index are considered for the significant wave height as well as the mean zero-crossing wave period. Based on an illustrative generic example it is shown how the estimated uncertainties can...... be implemented in probabilistic reliability assessments....

  7. Cyclic loading of thick vessels based on the Prager and Armstrong-Frederick kinematic hardening models

    International Nuclear Information System (INIS)

    Mahbadi, H.; Eslami, M.R.

    2006-01-01

    The aim of this paper is to relate the type of stress category in cyclic loading to ratcheting or shakedown behaviour of the structure. The kinematic hardening theory of plasticity based on the Prager and Armstrong-Frederick models is used to evaluate the cyclic loading behaviour of thick spherical and cylindrical vessels under load and deformation controlled stresses. It is concluded that kinematic hardening based on the Prager model under load and deformation controlled conditions, excluding creep, results in shakedown or reversed plasticity for spherical and cylindrical vessels with the isotropy assumption of the tension/compression curve. Under an anisotropy assumption of the tension/compression curve, this model predicts ratcheting. On the other hand, the Armstrong-Frederick model predicts ratcheting under load controlled cyclic loading and reversed plasticity for deformation controlled stress. The interesting conclusion is that the Armstrong-Frederick model is well capable to predict the experimental data under the assumed type of stresses, wherever experimental data are available

  8. Development of a parametric kinematic model of the human hand and a novel robotic exoskeleton.

    Science.gov (United States)

    Burton, T M W; Vaidyanathan, R; Burgess, S C; Turton, A J; Melhuish, C

    2011-01-01

    This paper reports the integration of a kinematic model of the human hand during cylindrical grasping, with specific focus on the accurate mapping of thumb movement during grasping motions, and a novel, multi-degree-of-freedom assistive exoskeleton mechanism based on this model. The model includes thumb maximum hyper-extension for grasping large objects (~> 50 mm). The exoskeleton includes a novel four-bar mechanism designed to reproduce natural thumb opposition and a novel synchro-motion pulley mechanism for coordinated finger motion. A computer aided design environment is used to allow the exoskeleton to be rapidly customized to the hand dimensions of a specific patient. Trials comparing the kinematic model to observed data of hand movement show the model to be capable of mapping thumb and finger joint flexion angles during grasping motions. Simulations show the exoskeleton to be capable of reproducing the complex motion of the thumb to oppose the fingers during cylindrical and pinch grip motions. © 2011 IEEE

  9. Modeling stress wave propagation in rocks by distinct lattice spring model

    Directory of Open Access Journals (Sweden)

    Gaofeng Zhao

    2014-08-01

    Full Text Available In this paper, the ability of the distinct lattice spring model (DLSM for modeling stress wave propagation in rocks was fully investigated. The influence of particle size on simulation of different types of stress waves (e.g. one-dimensional (1D P-wave, 1D S-wave and two-dimensional (2D cylindrical wave was studied through comparing results predicted by the DLSM with different mesh ratios (lr and those obtained from the corresponding analytical solutions. Suggested values of lr were obtained for modeling these stress waves accurately. Moreover, the weak material layer method and virtual joint plane method were used to model P-wave and S-wave propagating through a single discontinuity. The results were compared with the classical analytical solutions, indicating that the virtual joint plane method can give better results and is recommended. Finally, some remarks of the DLSM on modeling of stress wave propagation in rocks were provided.

  10. Modelling and Simulation of Wave Loads

    DEFF Research Database (Denmark)

    Sørensen, John Dalsgaard; Thoft-Christensen, Palle

    velocity can be approximated by a Gaussian Markov process. Known approximate results for the first-passage density or equivalently, the distribution of the extremes of wave loads are presented and compared with rather precise simulation results. It is demonstrated that the approximate results......A simple model of the wave load on slender members of offshore structures is described. The wave elevation of the sea state is modelled by a stationary Gaussian process. A new procedure to simulate realizations of the wave loads is developed. The simulation method assumes that the wave particle...

  11. Modelling and Simulation of Wave Loads

    DEFF Research Database (Denmark)

    Sørensen, John Dalsgaard; Thoft-Christensen, Palle

    1985-01-01

    velocity can be approximated by a Gaussian Markov process. Known approximate results for the first passage density or equivalently, the distribution of the extremes of wave loads are presented and compared with rather precise simulation results. It is demonstrated that the approximate results......A simple model of the wave load on stender members of offshore structures is described . The wave elevation of the sea stateis modelled by a stationary Gaussian process. A new procedure to simulate realizations of the wave loads is developed. The simulation method assumes that the wave particle...

  12. Mathematical Modeling and Kinematics Analysis of Double Spherical Shell Rotary Docking Skirt

    Directory of Open Access Journals (Sweden)

    Gong Haixia

    2017-01-01

    Full Text Available In order to solve the problem of large trim and heel angles of the wrecked submarine, the double spherical shell rotating docking skirt is studied. According to the working principle of the rotating docking skirt, and the fixed skirt, the directional skirt, the angle skirt are simplified as the connecting rod. Therefore, the posture equation and kinematics model of the docking skirt are deduced, and according to the kinematics model, the angle of rotation of the directional skirt and the angle skirt is obtained when the wrecked submarine is in different trim and heel angles. Through the directional skirt and angle skirt with the matching rotation can make docking skirt interface in the 0°~2γ range within the rotation, to complete the docking skirt and the wrecked submarine docking. The MATLAB software is used to visualize the rotation angle of fixed skirt and directional skirt, which lays a good foundation for the development of the control of the double spherical shell rotating docking skirt in future.

  13. Porous models for wave-seabed interactions

    Energy Technology Data Exchange (ETDEWEB)

    Jeng, Dong-Sheng [Shanghai Jiaotong Univ., SH (China)

    2013-02-01

    Detailed discussion about the phenomenon of wave-seabed interactions. Novel models for wave-induced seabed response. Intensive theoretical derivations for wave-seabed interactions. Practical examples for engineering applications. ''Porous Models for Wave-seabed Interactions'' discusses the Phenomenon of wave-seabed interactions, which is a vital issue for coastal and geotechnical engineers involved in the design of foundations for marine structures such as pipelines, breakwaters, platforms, etc. The most important sections of this book will be the fully detailed theoretical models of wave-seabed interaction problem, which are particularly useful for postgraduate students and junior researchers entering the discipline of marine geotechnics and offshore engineering. This book also converts the research outcomes of theoretical studies to engineering applications that will provide front-line engineers with practical and effective tools in the assessment of seabed instability in engineering design.

  14. 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.

  15. 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)

  16. KN phase shifts in a constituent quark model

    International Nuclear Information System (INIS)

    Lemaire, S.; Labarsouque, J.; Silvestre-Brac, B.

    2001-01-01

    In a first step, the I=1 and I=0 kaon-nucleon s-wave phase shifts have been calculated in a quark potential model using the resonating group method (RGM) and a relativistic kinematics. The spinless Salpeter equation has been solved numerically using the Fourier grid hamiltonian method. The results have been compared to the nonrelativistic ones. For each isospin channel the phase shifts obtained are not so far from the nonrelativistic results. Then, K-nucleon p, d, f, g-waves phase shifts have been calculated using a nonrelativistic kinematics

  17. Numerical Modelling of Wave Run-Up

    DEFF Research Database (Denmark)

    Ramirez, Jorge Robert Rodriguez; Frigaard, Peter; Andersen, Thomas Lykke

    2011-01-01

    Wave loads are important in problems related to offshore structure, such as wave run-up, slamming. The computation of such wave problems are carried out by CFD models. This paper presents one model, NS3, which solve 3D Navier-Stokes equations and use Volume of Fluid (VOF) method to treat the free...

  18. Modeling wave attenuation by salt marshes in Jamaica Bay, New York, using a new rapid wave model

    Science.gov (United States)

    Marsooli, Reza; Orton, Philip M.; Mellor, George

    2017-07-01

    Using a new rapid-computation wave model, improved and validated in the present study, we quantify the value of salt marshes in Jamaica Bay—a highly urbanized estuary located in New York City—as natural buffers against storm waves. We augment the MDO phase-averaged wave model by incorporating a vegetation-drag-induced energy dissipation term into its wave energy balance equation. We adopt an empirical formula from literature to determine the vegetation drag coefficient as a function of environmental conditions. Model evaluation using data from laboratory-scale experiments show that the improved MDO model accurately captures wave height attenuation due to submerged and emergent vegetation. We apply the validated model to Jamaica Bay to quantify the influence of coastal-scale salt marshes on storm waves. It is found that the impact of marsh islands is largest for storms with lower flood levels, due to wave breaking on the marsh island substrate. However, the role of the actual marsh plants, Spartina alterniflora, grows larger for storms with higher flood levels, when wave breaking does not occur and the vegetative drag becomes the main source of energy dissipation. For the latter case, seasonality of marsh height is important; at its maximum height in early fall, S. alterniflora causes twice the reduction as when it is at a shorter height in early summer. The model results also indicate that the vegetation drag coefficient varies 1 order of magnitude in the study area, and suggest exercising extra caution in using a constant drag coefficient in coastal wetlands.

  19. Kinematic seismic response of piles in layered soil profile

    International Nuclear Information System (INIS)

    Ahmad, I.; Khan, A.N.

    2006-01-01

    This paper is aimed at highlighting the importance of Kinematic Seismic Response of Piles, a phenomenon often ignored in dynamic analysis. A case study is presented where the end bearing pile is embedded in two layer soil system of highly contrasting stiffnesses; a typical case where kinematic loading plays important role. The pile soil system is modeled as continuous system and as discrete parameter system; both are based on BDWF (Beam on Dynamic Winkler Foundation) formulation. For discrete parameter system, a finite element software SAP2000 is used and the modeling technique of kinematic interaction in finite element software is discussed. For pile soil system modeled as continuous system, a general MATLAB code is developed capable of performing elastic site response analysis in two layer soil system, solving differential equation governing kinematic interaction, and giving as output the maximum ground displacement, maximum pile displacement, rotation, moment and shear distribution along pile length. The paper concludes that kinematic seismic actions must be evaluated particularly at the interface of soil layers of significantly differing soil stiffnesses. (author)

  20. Vertical elliptic operator for efficient wave propagation in TTI media

    KAUST Repository

    Waheed, Umair bin; Alkhalifah, Tariq Ali

    2015-01-01

    Elliptic wave extrapolation operators require significantly less computational cost than the ones for transversely isotropic (TI) media. However, it does not provide accurate wavefield representation or imaging for the prevalent TI media. We propose a new vertical elliptically anisotropic (VEA) wave equation by decomposing the acoustic TI pseudo-differential wave equation. The decomposition results in a vertical elliptic differential equation and a scalar operator. The new VEA-like wave equation shares the same dispersion relation as that of the original acoustic TI wave equation. Therefore, the kinematic contents are correctly matched to the original equation. Moreover, the proposed decomposition yields better amplitude properties than the isotropic decomposition without increasing the computational load. Therefore, it exhibits better cost versus accuracy tradeoff compared to the isotropic or the tilted elliptic decompositions. We demonstrate with numerical examples that the proposed methodology is numerically stable for complex models and is free from shear-wave artifacts.

  1. Vertical elliptic operator for efficient wave propagation in TTI media

    KAUST Repository

    Waheed, Umair bin

    2015-08-19

    Elliptic wave extrapolation operators require significantly less computational cost than the ones for transversely isotropic (TI) media. However, it does not provide accurate wavefield representation or imaging for the prevalent TI media. We propose a new vertical elliptically anisotropic (VEA) wave equation by decomposing the acoustic TI pseudo-differential wave equation. The decomposition results in a vertical elliptic differential equation and a scalar operator. The new VEA-like wave equation shares the same dispersion relation as that of the original acoustic TI wave equation. Therefore, the kinematic contents are correctly matched to the original equation. Moreover, the proposed decomposition yields better amplitude properties than the isotropic decomposition without increasing the computational load. Therefore, it exhibits better cost versus accuracy tradeoff compared to the isotropic or the tilted elliptic decompositions. We demonstrate with numerical examples that the proposed methodology is numerically stable for complex models and is free from shear-wave artifacts.

  2. Instantaneous wave emission model

    International Nuclear Information System (INIS)

    Kruer, W.L.

    1970-12-01

    A useful treatment of electrostatic wave emission by fast particles in a plasma is given. First, the potential due to a fast particle is expressed as a simple integration over the particle orbit; several interesting results readily follow. The potential in the wake of an accelerating particle is shown to be essentially that produced through local excitation of the plasma by the particle free-streaming about its instantaneous orbit. Application is made to one dimension, and it is shown that the wave emission and adsorption synchronize to the instantaneous velocity distribution function. Guided by these calculations, we then formulate a test particle model for computing the instantaneous wave emission by fast particles in a Vlasov plasma. This model lends itself to physical interpretation and provides a direct approach to many problems. By adopting a Fokker-Planck description for the particle dynamics, we calculate the broadening of the wave-particle resonance due to velocity diffusion and drag

  3. Analytical Kinematics and Coupled Vibrations Analysis of Mechanical System Operated by Solar Array Drive Assembly

    Science.gov (United States)

    Sattar, M.; Wei, C.; Jalali, A.; Sattar, R.

    2017-07-01

    To address the impact of solar array (SA) anomalies and vibrations on performance of precision space-based operations, it is important to complete its accurate jitter analysis. This work provides mathematical modelling scheme to approximate kinematics and coupled micro disturbance dynamics of rigid load supported and operated by solar array drive assembly (SADA). SADA employed in analysis provides a step wave excitation torque to activate the system. Analytical investigations into kinematics is accomplished by using generalized linear and Euler angle coordinates, applying multi-body dynamics concepts and transformations principles. Theoretical model is extended, to develop equations of motion (EoM), through energy method (Lagrange equation). The main emphasis is to research coupled frequency response by determining energies dissipated and observing dynamic behaviour of internal vibratory systems of SADA. The disturbance model captures discrete active harmonics of SADA, natural modes and vibration amplifications caused by interactions between active harmonics and structural modes of mechanical assembly. The proposed methodology can help to predict true micro disturbance nature of SADA operating rigid load. Moreover, performance outputs may be compared against actual mission requirements to assess precise spacecraft controller design to meet next space generation stringent accuracy goals.

  4. Analytical Modeling of Transient Process In Terms of One-Dimensional Problem of Dynamics With Kinematic Action

    Directory of Open Access Journals (Sweden)

    Kravets Victor V.

    2016-05-01

    Full Text Available One-dimensional dynamic design of a component characterized by inertia coefficient, elastic coefficient, and coefficient of energy dispersion. The component is affected by external action in the form of time-independent initial kinematic disturbances and varying ones. Mathematical model of component dynamics as well as a new form of analytical representation of transient in terms of one-dimensional problem of kinematic effect is provided. Dynamic design of a component is being carried out according to a theory of modal control.

  5. Kinematic sensitivity of robot manipulators

    Science.gov (United States)

    Vuskovic, Marko I.

    1989-01-01

    Kinematic sensitivity vectors and matrices for open-loop, n degrees-of-freedom manipulators are derived. First-order sensitivity vectors are defined as partial derivatives of the manipulator's position and orientation with respect to its geometrical parameters. The four-parameter kinematic model is considered, as well as the five-parameter model in case of nominally parallel joint axes. Sensitivity vectors are expressed in terms of coordinate axes of manipulator frames. Second-order sensitivity vectors, the partial derivatives of first-order sensitivity vectors, are also considered. It is shown that second-order sensitivity vectors can be expressed as vector products of the first-order sensitivity vectors.

  6. Fully Coupled Three-Dimensional Dynamic Response of a Tension-Leg Platform Floating Wind Turbine in Waves and Wind

    DEFF Research Database (Denmark)

    Kumari Ramachandran, Gireesh Kumar Vasanta; Bredmose, Henrik; Sørensen, Jens Nørkær

    2014-01-01

    , which is a consequence of the wave-induced rotor dynamics. Loads and coupled responses are predicted for a set of load cases with different wave headings. Further, an advanced aero-elastic code, Flex5, is extended for the TLP wind turbine configuration and the response comparison with the simpler model......A dynamic model for a tension-leg platform (TLP) floating offshore wind turbine is proposed. The model includes three-dimensional wind and wave loads and the associated structural response. The total system is formulated using 17 degrees of freedom (DOF), 6 for the platform motions and 11...... for the wind turbine. Three-dimensional hydrodynamic loads have been formulated using a frequency-and direction-dependent spectrum. While wave loads are computed from the wave kinematics using Morison's equation, the aerodynamic loads are modeled by means of unsteady blade-element-momentum (BEM) theory...

  7. Modeling ionization by helicon waves

    International Nuclear Information System (INIS)

    Degeling, A.W.; Boswell, R.W.

    1997-01-01

    The response of the electron distribution function in one dimension to a traveling wave electric field is modeled for parameters relevant to a low-pressure helicon wave plasma source, and the resulting change in the ionization rate calculated. This is done by calculating the trajectories of individual electrons in a given wave field and assuming no collisions to build up the distribution function as the distance from the antenna is increased. The ionization rate is calculated for argon by considering the ionization cross section and electron flux at a specified position and time relative to the left-hand boundary, where the distribution function is assumed to be Maxwellian and the wave travels to the right. The simulation shows pulses in the ionization rate that move away from the antenna at the phase velocity of the wave, demonstrating the effect of resonant electrons trapped in the wave close-quote s frame of reference. It is found that the ionization rate is highest when the phase velocity of the wave is between 2 and 3x10 6 m/s, where the electrons interacting strongly with the wave (i.e., electrons with velocities inside the wave close-quote s open-quotes trapping widthclose quotes) have initial energies just below the ionization threshold. Results from the model are compared with experimental data and show reasonable qualitative agreement. copyright 1997 American Institute of Physics

  8. Kinematic modelling of a five-DOFs spatial manipulator used in robot-assisted surgery

    Directory of Open Access Journals (Sweden)

    Shakti Singh

    2016-09-01

    Full Text Available Since last three decades, research in the field of robot kinematics is boosted-up among different researchers worldwide. This is mainly due to their increased use in various challenging fields of engineering and science. One such challenging application is the use of master–slave concept in a robot-assisted surgery. The authors have already performed the kinematic study and gravity balancing of seven degrees-of-freedom (DOFs surgeon-side manipulator (Singh et al., 2015a, 2015b. To meet these challenging demands, the most important aspect of a robotic manipulator is to develop an accurate kinematic model. In this direction, different researchers in the literature have made significant contributions. Out of these, the most prominent one is D–H parameters method, which was proposed by Denavit and Hartenberg in 1955. In the present work, this method is applied to a five-DOFs spatial manipulator, named as patient-side manipulator, which tracks the motion of surgeon-side manipulator during a robot-assisted surgery. The prototype considered in this work is a spatial serial manipulator, being developed at CSIR-CSIO Chandigarh. Experimental validations are performed and results are found to be in close agreement.

  9. CLASH-VLT: constraints on f (R) gravity models with galaxy clusters using lensing and kinematic analyses

    Energy Technology Data Exchange (ETDEWEB)

    Pizzuti, L.; Sartoris, B.; Borgani, S.; Girardi, M., E-mail: pizzuti@oats.inaf.it, E-mail: sartoris@oats.inaf.it, E-mail: borgani@oats.inaf.it, E-mail: girardi@oats.inaf.it [Dipartimento di Fisica, Sezione di Astronomia, Università di Trieste, Via Tiepolo 11, I-34143 Trieste (Italy); and others

    2017-07-01

    We perform a maximum likelihood kinematic analysis of the two dynamically relaxed galaxy clusters MACS J1206.2-0847 at z =0.44 and RXC J2248.7-4431 at z =0.35 to determine the total mass profile in modified gravity models, using a modified version of the MAMPOSSt code of Mamon, Biviano and Bou and apos;e. Our work is based on the kinematic and lensing mass profiles derived using the data from the Cluster Lensing And Supernova survey with Hubble (hereafter CLASH) and the spectroscopic follow-up with the Very Large Telescope (hereafter CLASH-VLT). We assume a spherical Navarro-Frenk-White (NFW hereafter) profile in order to obtain a constraint on the fifth force interaction range λ for models in which the dependence of this parameter on the environment is negligible at the scale considered (i.e. λ= const ) and fixing the fifth force strength to the value predicted in f (R) gravity. We then use information from lensing analysis to put a prior on the other NFW free parameters. In the case of MACSJ 1206 the joint kinematic+lensing analysis leads to an upper limit on the effective interaction range λ≤1.61 mpc at Δχ{sup 2}=2.71 on the marginalized distribution. For RXJ 2248 instead a possible tension with the ΛCDM model appears when adding lensing information, with a lower limit λ≥0.14 mpc at Δχ{sup 2}=2.71. This is consequence of the slight difference between the lensing and kinematic data, appearing in GR for this cluster, that could in principle be explained in terms of modifications of gravity. We discuss the impact of systematics and the limits of our analysis as well as future improvements of the results obtained. This work has interesting implications in view of upcoming and future large imaging and spectroscopic surveys, that will deliver lensing and kinematic mass reconstruction for a large number of galaxy clusters.

  10. Proton relativistic model

    International Nuclear Information System (INIS)

    Araujo, Wilson Roberto Barbosa de

    1995-01-01

    In this dissertation, we present a model for the nucleon, which is composed by three relativistic quarks interacting through a contract force. The nucleon wave-function was obtained from the Faddeev equation in the null-plane. The covariance of the model under kinematical null-plane boots is discussed. The electric proton form-factor, calculated from the Faddeev wave-function, was in agreement with the data for low-momentum transfers and described qualitatively the asymptotic region for momentum transfers around 2 GeV. (author)

  11. Tracking shocked dust: State estimation for a complex plasma during a shock wave

    International Nuclear Information System (INIS)

    Oxtoby, Neil P.; Ralph, Jason F.; Durniak, Celine; Samsonov, Dmitry

    2012-01-01

    We consider a two-dimensional complex (dusty) plasma crystal excited by an electrostatically-induced shock wave. Dust particle kinematics in such a system are usually determined using particle tracking velocimetry. In this work we present a particle tracking algorithm which determines the dust particle kinematics with significantly higher accuracy than particle tracking velocimetry. The algorithm uses multiple extended Kalman filters to estimate the particle states and an interacting multiple model to assign probabilities to the different filters. This enables the determination of relevant physical properties of the dust, such as kinetic energy and kinetic temperature, with high precision. We use a Hugoniot shock-jump relation to calculate a pressure-volume diagram from the shocked dust kinematics. Calculation of the full pressure-volume diagram was possible with our tracking algorithm, but not with particle tracking velocimetry.

  12. Ion-acoustic waves in ultracold neutral plasmas: Modulational instability and dissipative rogue waves

    Energy Technology Data Exchange (ETDEWEB)

    El-Tantawy, S.A., E-mail: samireltantawy@yahoo.com

    2017-02-26

    Progress is reported on the modulational instability (MI) of ion-acoustic waves (IAWs) and dissipative rogue waves (RWs) in ultracold neutral plasmas (UNPs). The UNPs consist of inertial ions fluid and Maxwellian inertialess hot electrons, and the presence of an ion kinematic viscosity is allowed. For this purpose, a modified nonlinear Schrödinger equation (NLSE) is derived and then solved analytically to show the occurrence of MI. It is found that the (in)stability regions of the wavepacks are dependent on time due to of the existence of the dissipative term. The existing regions of the MI of the IAWs are inventoried precisely. After that, we use a suitable transformation to convert the modified NLSE into the normal NLSE whose analytical solutions for rogue waves are known. The rogue wave propagation condition and its behavior are discussed. The impact of the relevant physical parameters on the profile of the RWs is examined. - Highlights: • UNPs are modeled by the phenomenological generalized hydrodynamic equations. • The derivative expansion method has been employed in order to derive a modified-NLSE. • A suitable transformation is used to transform the modified-NLSE into the standard NLSE. • The effect of the ion viscosity on the modulational instability and rogue waves is investigated.

  13. Computing broadband accelerograms using kinematic rupture modeling; Generation d'accelerogrammes synthetiques large-bande par modelisation cinematique de la rupture sismique

    Energy Technology Data Exchange (ETDEWEB)

    Ruiz Paredes, J.A

    2007-05-15

    In order to make the broadband kinematic rupture modeling more realistic with respect to dynamic modeling, physical constraints are added to the rupture parameters. To improve the slip velocity function (SVF) modeling, an evolution of the k{sup -2} source model is proposed, which consists to decompose the slip as a sum of sub-events by band of k. This model yields to SVF close to the solution proposed by Kostrov for a crack, while preserving the spectral characteristics of the radiated wave field, i.e. a w{sup 2} model with spectral amplitudes at high frequency scaled to the coefficient of directivity C{sub d}. To better control the directivity effects, a composite source description is combined with a scaling law defining the extent of the nucleation area for each sub-event. The resulting model allows to reduce the apparent coefficient of directivity to a fraction of C{sub d}, as well as to reproduce the standard deviation of the new empirical attenuation relationships proposed for Japan. To make source models more realistic, a variable rupture velocity in agreement with the physics of the rupture must be considered. The followed approach that is based on an analytical relation between the fracture energy, the slip and the rupture velocity, leads to higher values of the peak ground acceleration in the vicinity of the fault. Finally, to better account for the interaction of the wave field with the geological medium, a semi-empirical methodology is developed combining a composite source model with empirical Green functions, and is applied to the Yamaguchi, M{sub w} 5.9 earthquake. The modeled synthetics reproduce satisfactorily well the observed main characteristics of ground motions. (author)

  14. Modeling of Mud-Wave Interaction: Mud-Induced Wave Transport & Wave-Induced Mud Transport

    National Research Council Canada - National Science Library

    Winterwerp, Johan C

    2007-01-01

    .... Also a new rheological model has been proposed to describe liquefaction of soft mud by waves, and the subsequent strength recovery after the passage of the waves. A scheme is presented on how to implement these formulations in Delft3D.

  15. Extreme Wave Analysis by Integrating Model and Wave Buoy Data

    Directory of Open Access Journals (Sweden)

    Fabio Dentale

    2018-03-01

    Full Text Available Estimating the extreme values of significant wave height (HS, generally described by the HS return period TR function HS(TR and by its confidence intervals, is a necessity in many branches of coastal science and engineering. The availability of indirect wave data generated by global and regional wind and wave model chains have brought radical changes to the estimation procedures of such probability distribution—weather and wave modeling systems are routinely run all over the world, and HS time series for each grid point are produced and published after assimilation (analysis of the ground truth. However, while the sources of such indirect data are numerous, and generally of good quality, many aspects of their procedures are hidden to the users, who cannot evaluate the reliability and the limits of the HS(TR deriving from such data. In order to provide a simple engineering tool to evaluate the probability of extreme sea-states as well as the quality of such estimates, we propose here a procedure based on integrating HS time series generated by model chains with those recorded by wave buoys in the same area.

  16. Wave Reflection Model Tests

    DEFF Research Database (Denmark)

    Burcharth, H. F.; Larsen, Brian Juul

    The investigation concerns the design of a new internal breakwater in the main port of Ibiza. The objective of the model tests was in the first hand to optimize the cross section to make the wave reflection low enough to ensure that unacceptable wave agitation will not occur in the port. Secondly...

  17. Experimental Modeling of the Overtopping Flow on the Wave Dragon Wave Energy Converter

    DEFF Research Database (Denmark)

    Parmeggiani, Stefano; Kofoed, Jens Peter; Friis-Madsen, Erik

    2011-01-01

    The Wave Dragon Wave Energy Converter is currently facing a precommercial phase. At this stage of development a reliable overtopping model is highly required, in order to predict the performance of the device at possible deployment locations. A model formulation derived for an overtopping device...... with general geometry has been used so far. The paper presents an updated formulation drawn through the tank testing of a scaled model the Wave Dragon. The sensitivity analysis of the main features influencing the overtopping flow led to an updated model formulation which can be specifically suited...... for the Wave Dragon....

  18. Spiral structure and star formation. II. Stellar lifetimes and cloud kinematics

    International Nuclear Information System (INIS)

    Hausman, M.A.; Roberts, W.W. Jr.

    1984-01-01

    We present further results of our model, introduced in Paper I, of star formation and star-gas interactions in the cloud-dominated ISMs of spiral density wave galaxies. The global density distribution and velocity field of the gas clouds are virtually independent of stellar parameters and even of mean free path for the wide range of values studied, but local density variations are found which superficially resemble cloud complexes. Increasing the average life span of ''spiral tracer'' stellar associations beyond about 20 Myr washes out the spiral pattern which younger associations show. Allowing clouds to form several successive associations (sequential star formation) slightly increases the frequency of interarm, young-star spurs and substantially increases the average star formation rate. The mean velocity field of clouds shows tipped oval streamlines, similar to both continuum gas dynamical models and stellar-kinematic models of spiral density waves. These streamlines are almost ballistic orbits except close to the spiral arms. Newly formed stellar associations leave the spiral density peak with initial tangential velocitie shigher than ''postshock'' values and do not fall back into the ''preshock'' region. By varying our stellar parametes within physically reasonable limits, we may reproduce spiral galaxies with a wide range of morphological appearaces

  19. Kinematics and Dynamics of Roller Chain Drives

    DEFF Research Database (Denmark)

    Fuglede, Niels

    There are two main subjects of this work: Kinematic and dynamic modeling and analysis of roller chain drives. In the kinematic analysis we contribute first with a complete treatment of the roller chain drive modeled as a four-bar mechanism. This includes a general, exact and approximate analysis...... which is useful for predicting the characteristic loading of the roller chain drive. As a completely novel contribution, a kinematic model and analysis is presented which includes both spans and sprockets in a simple chain drive system. A general procedure for determination of the total wrapping length...... is presented, which also allows for exact sprocket center positions for a chain with a given number of links. Results show that the total chain wrapping length varies periodically with the tooth frequency. These results are of practical importance to both the design, installation and operation of roller chain...

  20. Modeling North Atlantic Nor'easters With Modern Wave Forecast Models

    Science.gov (United States)

    Perrie, Will; Toulany, Bechara; Roland, Aron; Dutour-Sikiric, Mathieu; Chen, Changsheng; Beardsley, Robert C.; Qi, Jianhua; Hu, Yongcun; Casey, Michael P.; Shen, Hui

    2018-01-01

    Three state-of-the-art operational wave forecast model systems are implemented on fine-resolution grids for the Northwest Atlantic. These models are: (1) a composite model system consisting of SWAN implemented within WAVEWATCHIII® (the latter is hereafter, WW3) on a nested system of traditional structured grids, (2) an unstructured grid finite-volume wave model denoted "SWAVE," using SWAN physics, and (3) an unstructured grid finite element wind wave model denoted as "WWM" (for "wind wave model") which uses WW3 physics. Models are implemented on grid systems that include relatively large domains to capture the wave energy generated by the storms, as well as including fine-resolution nearshore regions of the southern Gulf of Maine with resolution on the scale of 25 m to simulate areas where inundation and coastal damage have occurred, due to the storms. Storm cases include three intense midlatitude cases: a spring Nor'easter storm in May 2005, the Patriot's Day storm in 2007, and the Boxing Day storm in 2010. Although these wave model systems have comparable overall properties in terms of their performance and skill, it is found that there are differences. Models that use more advanced physics, as presented in recent versions of WW3, tuned to regional characteristics, as in the Gulf of Maine and the Northwest Atlantic, can give enhanced results.

  1. A test-bed modeling study for wave resource assessment

    Science.gov (United States)

    Yang, Z.; Neary, V. S.; Wang, T.; Gunawan, B.; Dallman, A.

    2016-02-01

    Hindcasts from phase-averaged wave models are commonly used to estimate standard statistics used in wave energy resource assessments. However, the research community and wave energy converter industry is lacking a well-documented and consistent modeling approach for conducting these resource assessments at different phases of WEC project development, and at different spatial scales, e.g., from small-scale pilot study to large-scale commercial deployment. Therefore, it is necessary to evaluate current wave model codes, as well as limitations and knowledge gaps for predicting sea states, in order to establish best wave modeling practices, and to identify future research needs to improve wave prediction for resource assessment. This paper presents the first phase of an on-going modeling study to address these concerns. The modeling study is being conducted at a test-bed site off the Central Oregon Coast using two of the most widely-used third-generation wave models - WaveWatchIII and SWAN. A nested-grid modeling approach, with domain dimension ranging from global to regional scales, was used to provide wave spectral boundary condition to a local scale model domain, which has a spatial dimension around 60km by 60km and a grid resolution of 250m - 300m. Model results simulated by WaveWatchIII and SWAN in a structured-grid framework are compared to NOAA wave buoy data for the six wave parameters, including omnidirectional wave power, significant wave height, energy period, spectral width, direction of maximum directionally resolved wave power, and directionality coefficient. Model performance and computational efficiency are evaluated, and the best practices for wave resource assessments are discussed, based on a set of standard error statistics and model run times.

  2. PIV measurements of velocities and accelerations under breaking waves on a slope

    DEFF Research Database (Denmark)

    Vested, Malene Hovgaard; Carstensen, Stefan; Christensen, Erik Damgaard

    2017-01-01

    waves. In this study, we have investigated the wave kinematics under steep and breaking waves on a laboratory beach with a slope of 1/25. The velocity field was measured by use of Particle Image Velocimetry (PIV) at a sample rate of 96Hz. The high sample rate allowed for the accelerations...... to be determined directly from the sampled velocities. It was found that both velocities and accelerations differ from the ones predicted from common wave theories such as streamfunction theory. This was especially evident at the top part of the wave close to the surface. This was not surprising, since...... the breaking event is a highly non-linear process. The results presented here may facilitate computations of the impact force on offshore structures and furthermore be used for validation of CFD models while altogether shedding light on the mechanisms behind breaking waves....

  3. Seismic response of pile foundations and pile forces caused by kinematic and inertial interaction

    International Nuclear Information System (INIS)

    Hartmann, H.G.; Waas, G.

    1985-01-01

    The horizontal motion and pile forces of pile groups subjected to earthquake excitation are analysed. The piles are modelled as linear elastic beam elements embedded in a layered linear visco-elastic soil medium. Pile-soil-pile interaction is included. The earthquake excitation results from vertically propagating shear waves. Kinematic and inertial interaction effects on foundation motion and pile forces are studied for a single pile, a small pile group and a large pile group. Soft and stiff soil conditions are considered, and the effect of a flexible vs. a rigid halfspace below the soil layers is shown. (orig.)

  4. Modeling storm waves

    International Nuclear Information System (INIS)

    Benoit, M.; Marcos, F.; Teisson, Ch.

    1999-01-01

    Nuclear power stations located on the coast take the water they use to cool their circuits from the sea. The water intake and discharge devices must be able to operate in all weathers, notably during extreme storms, with waves 10 m high and over. To predict the impact of the waves on the equipment, they are modeled digitally from the moment they form in the middle of the ocean right up to the moment they break on the shore. (authors)

  5. Lagrangian modelling of ocean surface waves and synthetic aperture radar wave measurements

    Energy Technology Data Exchange (ETDEWEB)

    Fouques, Sebastien

    2005-07-01

    The present thesis is concerned with the estimation of the ocean wave spectrum from synthetic aperture radar imaging and the modelling of ocean surface waves using the Lagrangian formalism. The first part gives a short overview of the theories of ocean surface waves and synthetic aperture radar (SAR) whereas the second part consists of five independent publications. The first two articles investigate the influence of the radar backscatter model on the SAR imaging of ocean waves. In Article I, Monte Carlo simulations of SAR images of the ocean surface are carried out using a nonlinear backscatter model that include both specular reflection and Bragg scattering and the results are compared to simulations from the classical Hasselmann integral transform (Hasselmann and Hasselmann, 1991). It is shown that nonlinearities in the backscatter model strongly influence the imaging of range-travelling waves and that the former can suppress the range-splitting effect (Bruning et al., 1988). Furthermore, in Article II a database of Envisat-ASAR Wave Mode products co-located with directional wave spectra from the numerical model WAM and which contains range-travelling wave cases only, is set up. The WAM spectra are used as input to several ocean-to-SAR integral transforms, with various real aperture radar (RAR) models and the obtained SAR image cross-spectra are compared to the Envisat-ASAR observations. A first result is that the use of a linear backscatter model leads to a high proportion of non-physical negative backscatter values in the RAR image, as suggested by Schulz-Stellenfleth (2001). Then, a comparison between the observed SAR cross-spectra and the ones simulated through Hasselmann's integral transform reveals that only twenty percents of the observations show a range-splitting effect as strong as in the simulations. A much better agreement is obtained when using the integral transform by Schulz-Stellenfleth (2003), which is based on a nonlinear hackscatter model

  6. Human Gait Feature Extraction Including a Kinematic Analysis toward Robotic Power Assistance

    Directory of Open Access Journals (Sweden)

    Mario I. Chacon-Murguia

    2012-09-01

    Full Text Available The present work proposes a method for human gait and kinematic analysis. Gait analysis consists of the determination of hip, knee and ankle positions through video analysis. Gait kinematic for the thigh and knee is then generated from this data. Evaluations of the gait analysis method indicate an acceptable performance of 86.66% for hip and knee position estimation, and comparable findings with other reported works for gait kinematic. A coordinate systems assignment is performed according to the DH algorithm and a direct kinematic model of the legs is obtained. The legs' angles obtained from the video analysis are applied to the kinematic model in order to revise the application of this model to robotic legs in a power assisted system.

  7. Tilting at wave beams: a new perspective on the St Andrew's Cross

    Science.gov (United States)

    Akylas, T. R.; Kataoka, T.; Ghaemsaidi, S. J.; Holzenberger, N.; Peacock, T.

    2017-11-01

    The generation of internal gravity waves by a vertically oscillating cylinder that is tilted to the horizontal in a stratified fluid of constant buoyancy frequency, is investigated theoretically and experimentally. This forcing arrangement leads to a variant of the classical St Andrew's Cross that has certain unique features: (i) radiation of wave beams is limited due to a lower cut-off frequency set by the cylinder tilt angle to the horizontal; (ii) the response is essentially three-dimensional, as end effects eventually come into play when the cut-off frequency is approached, however long a cylinder might be. These results follow from kinematic considerations and are also confirmed by laboratory experiments. The kinematic analysis, moreover, suggests a resonance phenomenon near the cut-off frequency, where viscous and nonlinear effects are likely to play an important part. This scenario is examined by an asymptotic model as well as experimentally. Supported in part by NSF Grant DMS-1512925.

  8. 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.

  9. Overview of Wave to Wire Models

    DEFF Research Database (Denmark)

    Nielsen, Kim; Kramer, Morten Mejlhede; Ferri, Francesco

    A “Wave to Wire” (W2W) model is a numerical tool that can calculate the power output from a specified Wave Energy Converter (WEC), under specified ocean wave conditions. The tool can be used to assess and optimize the performance of a Wave Energy Converter (WEC) design and provide knowledge...

  10. The kinematical AdS{sub 5}×S{sup 5} Neumann coefficient

    Energy Technology Data Exchange (ETDEWEB)

    Bajnok, Zoltan [MTA Lendület Holographic QFT Group, Wigner Research Centre,P.O.B. 49, Budapest 114, H-1525 (Hungary); Janik, Romuald A. [Institute of Physics, Jagiellonian University,ul. Łojasiewicza 11, Kraków, 30-348 (Poland)

    2016-02-22

    For the case of two particles a solution of the string field theory vertex axioms can be factorized into a standard form factor and a kinematical piece which includes the dependence on the size of the third string. In this paper we construct an exact solution of the kinematical axioms for AdS{sub 5}×S{sup 5} which includes all order wrapping corrections w.r.t. the size of the third string. This solution is expressed in terms of elliptic Gamma functions and ordinary elliptic functions. The solution is valid at any coupling and we analyze its weak coupling, pp-wave and large L limit.

  11. Modelling of the Overtopping Flow on the Wave Dragon Wave Energy Converter

    DEFF Research Database (Denmark)

    Parmeggiani, Stefano; Pecher, Arthur; Kofoed, Jens Peter

    2010-01-01

    The Wave Dragon is a floating slack-moored Wave Energy Converter of the overtopping type, which is facing now the last phase of development before the commercial exploitation: the deployment of a full-scale demonstrator. In this phase a modelling tool allowing for accurate predictions of the perf......The Wave Dragon is a floating slack-moored Wave Energy Converter of the overtopping type, which is facing now the last phase of development before the commercial exploitation: the deployment of a full-scale demonstrator. In this phase a modelling tool allowing for accurate predictions...

  12. Wind-wave modelling aspects within complicate topography

    Directory of Open Access Journals (Sweden)

    S. Christopoulos

    Full Text Available Wave forecasting aspects for basins with complicate geomorphology, such as the Aegean Sea, are investigated through an intercomparison study. The efficiency of the available wind models (ECMWF, UKMO to reproduce wind patterns over special basins, as well as three wave models incorporating different physics and characteristics (WAM, AUT, WACCAS, are tested for selected storm cases representing the typical wind situations over the basin. From the wave results, discussed in terms of time-series and statistical parameters, the crucial role is pointed out of the wind resolution and the reliability of the different wave models to estimate the wave climate in such a basin. The necessary grid resolution is also tested, while for a specific test case (December 1991 ERS-1 satellite data are compared with those of the model.

  13. Factorized distorted wave approximation for the (e,2e) reaction on atoms : noncoplanar symmetric

    International Nuclear Information System (INIS)

    Dixon, A.J.; McCarthy, I.E.; Noble, C.J.; Weigold, E.

    1977-02-01

    Angular and energy correlations for electrons produced in the ionization of neon and xenon by electrons with energies between 400eV and 2.5 keV have been measured using symmetric noncoplanar kinematics. The reaction yields information about the atomic orbitals and their correlations when analysed with the distorted-wave off-shell impulse approximation. In the past either plane waves or various eikonal approximations have been used for the distorted waves, and in the cases where the eikonal parameters are approximately related to the elastic scattering the spectroscopic sum rule has been approximately verified. In the present work calculations have also been carried out using partial-wave-expanded optical model wave functions which describe the elastic scattering in detail. (Author)

  14. 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...

  15. Soft tissue artifact compensation in knee kinematics by multi-body optimization: Performance of subject-specific knee joint models.

    Science.gov (United States)

    Clément, Julien; Dumas, Raphaël; Hagemeister, Nicola; de Guise, Jaques A

    2015-11-05

    Soft tissue artifact (STA) distort marker-based knee kinematics measures and make them difficult to use in clinical practice. None of the current methods designed to compensate for STA is suitable, but multi-body optimization (MBO) has demonstrated encouraging results and can be improved. The goal of this study was to develop and validate the performance of knee joint models, with anatomical and subject-specific kinematic constraints, used in MBO to reduce STA errors. Twenty subjects were recruited: 10 healthy and 10 osteoarthritis (OA) subjects. Subject-specific knee joint models were evaluated by comparing dynamic knee kinematics recorded by a motion capture system (KneeKG™) and optimized with MBO to quasi-static knee kinematics measured by a low-dose, upright, biplanar radiographic imaging system (EOS(®)). Errors due to STA ranged from 1.6° to 22.4° for knee rotations and from 0.8 mm to 14.9 mm for knee displacements in healthy and OA subjects. Subject-specific knee joint models were most effective in compensating for STA in terms of abduction-adduction, inter-external rotation and antero-posterior displacement. Root mean square errors with subject-specific knee joint models ranged from 2.2±1.2° to 6.0±3.9° for knee rotations and from 2.4±1.1 mm to 4.3±2.4 mm for knee displacements in healthy and OA subjects, respectively. Our study shows that MBO can be improved with subject-specific knee joint models, and that the quality of the motion capture calibration is critical. Future investigations should focus on more refined knee joint models to reproduce specific OA knee geometry and physiology. Copyright © 2015 Elsevier Ltd. All rights reserved.

  16. ELASTO-KINEMATIC COMPUTATIONAL MODEL OF SUSPENSION WITH FLEXIBLE SUPPORTING ELEMENTS

    Directory of Open Access Journals (Sweden)

    Tomáš Vrána

    2016-04-01

    Full Text Available This paper analyzes the impact of flexibility of individual supporting elements of independent suspension on its elasto-kinematic characteristics. The toe and camber angle are the geometric parameters of the suspension, which waveforms and their changes under the action of vertical, longitudinal and transverse forces affect the stability of the vehicle. To study these dependencies, the computational multibody system (MBS model of axle suspension in the system HyperWorks is created. There are implemented Finite-Element-Method (FEM models reflecting the flexibility of the main supporting elements. These are subframe, the longitudinal arms, transverse arms and knuckle. Flexible models are developed using Component Mode Synthesis (CMS by Craig-Bampton. The model further comprises force elements, such as helical springs, shock absorbers with a stop of the wheel and the anti-roll bar. Rubber-metal bushings are modeled flexibly, using nonlinear deformation characteristics. Simulation results are validated by experimental measurements of geometric parameters of real suspension.

  17. The effect of age and speed on foot and ankle kinematics assessed using a 4-segment foot model.

    Science.gov (United States)

    van Hoeve, Sander; Leenstra, Bernard; Willems, Paul; Poeze, Martijn; Meijer, Kenneth

    2017-09-01

    The effects of age and speed on foot and ankle kinematics in gait studies using foot models are not fully understood, whereas this can have significant influence. We analyzed these variables with the 4-segment Oxford foot model. Twenty-one healthy subjects (aged 20-65 years) were recruited for gait analysis. The effect of speed on foot and ankle kinematics was assessed by comparing results during slow walking and fast walking. To assess the effect of age, a group of 13 healthy young adults (aged 20-24 years) were compared with a group of 8 older adults (aged 53-65 years). Also, the interaction between age and speed was analyzed. Regarding speed, there was a significant difference between forefoot/hindfoot motion in the sagittal plane (flexion/extension) during both loading- and push-off phase (P = .004, P < .001). Between hindfoot/tibia, there was a significant difference for all parameters except for motion in the sagittal plane (flexion/extension) during push-off phase (P = .5). Age did not significantly influence kinematics. There was no interaction between age and speed. Our analysis found that speed significantly influenced the kinematic outcome parameters. This was more pronounced in the ankle joint. In contrast, no significant differences were found between younger and older healthy subjects.

  18. The effect of age and speed on foot and ankle kinematics assessed using a 4-segment foot model

    Science.gov (United States)

    van Hoeve, Sander; Leenstra, Bernard; Willems, Paul; Poeze, Martijn; Meijer, Kenneth

    2017-01-01

    Abstract Background: The effects of age and speed on foot and ankle kinematics in gait studies using foot models are not fully understood, whereas this can have significant influence. We analyzed these variables with the 4-segment Oxford foot model. Methods: Twenty-one healthy subjects (aged 20–65 years) were recruited for gait analysis. The effect of speed on foot and ankle kinematics was assessed by comparing results during slow walking and fast walking. To assess the effect of age, a group of 13 healthy young adults (aged 20–24 years) were compared with a group of 8 older adults (aged 53–65 years). Also, the interaction between age and speed was analyzed. Results: Regarding speed, there was a significant difference between forefoot/hindfoot motion in the sagittal plane (flexion/extension) during both loading- and push-off phase (P = .004, P push-off phase (P = .5). Age did not significantly influence kinematics. There was no interaction between age and speed. Conclusion: Our analysis found that speed significantly influenced the kinematic outcome parameters. This was more pronounced in the ankle joint. In contrast, no significant differences were found between younger and older healthy subjects. PMID:28858109

  19. 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)

  20. 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...

  1. Radio wave propagation and parabolic equation modeling

    CERN Document Server

    Apaydin, Gokhan

    2018-01-01

    A thorough understanding of electromagnetic wave propagation is fundamental to the development of sophisticated communication and detection technologies. The powerful numerical methods described in this book represent a major step forward in our ability to accurately model electromagnetic wave propagation in order to establish and maintain reliable communication links, to detect targets in radar systems, and to maintain robust mobile phone and broadcasting networks. The first new book on guided wave propagation modeling and simulation to appear in nearly two decades, Radio Wave Propagation and Parabolic Equation Modeling addresses the fundamentals of electromagnetic wave propagation generally, with a specific focus on radio wave propagation through various media. The authors explore an array of new applications, and detail various v rtual electromagnetic tools for solving several frequent electromagnetic propagation problems. All of the methods described are presented within the context of real-world scenari...

  2. 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.

  3. Model for Shock Wave Chaos

    KAUST Repository

    Kasimov, Aslan R.; Faria, Luiz; Rosales, Rodolfo R.

    2013-01-01

    : steady traveling wave solutions, instability of such solutions, and the onset of chaos. Our model is the first (to our knowledge) to describe chaos in shock waves by a scalar first-order partial differential equation. The chaos arises in the equation

  4. Nonlinear kinematics for piezoelectricity in ALEGRA-EMMA.

    Energy Technology Data Exchange (ETDEWEB)

    Mitchell, John Anthony; Fuller, Timothy Jesse

    2013-09-01

    This report develops and documents nonlinear kinematic relations needed to implement piezoelectric constitutive models in ALEGRA-EMMA [5], where calculations involving large displacements and rotations are routine. Kinematic relationships are established using Gausss law and Faradays law; this presentation on kinematics goes beyond piezoelectric materials and is applicable to all dielectric materials. The report then turns to practical details of implementing piezoelectric models in an application code where material principal axes are rarely aligned with user defined problem coordinate axes. This portion of the report is somewhat pedagogical but is necessary in order to establish documentation for the piezoelectric implementation in ALEGRA-EMMA. This involves transforming elastic, piezoelectric, and permittivity moduli from material principal axes to problem coordinate axes. The report concludes with an overview of the piezoelectric implementation in ALEGRA-EMMA and small verification examples.

  5. An efficient wave extrapolation method for tilted orthorhombic media using effective ellipsoidal models

    KAUST Repository

    Waheed, Umair bin

    2014-08-01

    The wavefield extrapolation operator for ellipsoidally anisotropic (EA) media offers significant cost reduction compared to that for the orthorhombic case, especially when the symmetry planes are tilted and/or rotated. However, ellipsoidal anisotropy does not provide accurate focusing for media of orthorhombic anisotropy. Therefore, we develop effective EA models that correctly capture the kinematic behavior of the wavefield for tilted orthorhombic (TOR) media. Specifically, we compute effective source-dependent velocities for the EA model using kinematic high-frequency representation of the TOR wavefield. The effective model allows us to use the cheaper EA wavefield extrapolation operator to obtain approximate wavefield solutions for a TOR model. Despite the fact that the effective EA models are obtained by kinematic matching using high-frequency asymptotic, the resulting wavefield contains most of the critical wavefield components, including the frequency dependency and caustics, if present, with reasonable accuracy. The methodology developed here offers a much better cost versus accuracy tradeoff for wavefield computations in TOR media, particularly for media of low to moderate complexity. We demonstrate applicability of the proposed approach on a layered TOR model.

  6. An efficient wave extrapolation method for tilted orthorhombic media using effective ellipsoidal models

    KAUST Repository

    Waheed, Umair bin; Alkhalifah, Tariq Ali

    2014-01-01

    The wavefield extrapolation operator for ellipsoidally anisotropic (EA) media offers significant cost reduction compared to that for the orthorhombic case, especially when the symmetry planes are tilted and/or rotated. However, ellipsoidal anisotropy does not provide accurate focusing for media of orthorhombic anisotropy. Therefore, we develop effective EA models that correctly capture the kinematic behavior of the wavefield for tilted orthorhombic (TOR) media. Specifically, we compute effective source-dependent velocities for the EA model using kinematic high-frequency representation of the TOR wavefield. The effective model allows us to use the cheaper EA wavefield extrapolation operator to obtain approximate wavefield solutions for a TOR model. Despite the fact that the effective EA models are obtained by kinematic matching using high-frequency asymptotic, the resulting wavefield contains most of the critical wavefield components, including the frequency dependency and caustics, if present, with reasonable accuracy. The methodology developed here offers a much better cost versus accuracy tradeoff for wavefield computations in TOR media, particularly for media of low to moderate complexity. We demonstrate applicability of the proposed approach on a layered TOR model.

  7. Understanding ‘human’ waves: exploiting the physics in a viral video

    Science.gov (United States)

    Ferrer-Roca, Chantal

    2018-01-01

    Waves are a relevant part of physics that students find difficult to grasp, even in those cases in which wave propagation kinematics can be visualized. This may hinder a proper understanding of sound, light or quantum physics phenomena that are explained using a wave model. So-called ‘human’ waves, choreographed by people, have proved to be an advisable way to understand basic wave concepts. Videos are widely used as a teaching resource and can be of considerable help in order to watch and discuss ‘human’ waves provided their quality is reasonably good. In this paper we propose and analyse a video that went viral online and has been revealed to be a useful teaching resource for introductory physics students. It shows a unique and very complete series of wave propagations, including pulses with different polarizations and periodic waves that can hardly be found elsewhere. After a proposal on how to discuss the video qualitatively, a quantitative analysis is carried out (no video-tracker needed), including a determination of the main wave magnitudes such as period, wavelength and propagation speed.

  8. Heavy baryon spectroscopy with relativistic kinematics

    International Nuclear Information System (INIS)

    Valcarce, A.; Garcilazo, H.; Vijande, J.

    2014-01-01

    We present a comparative Faddeev study of heavy baryon spectroscopy with nonrelativistic and relativistic kinematics. We show results for different standard hyperfine interactions with both kinematics in an attempt to learn about the light quark dynamics. We highlight the properties of particular states accessible in nowadays laboratories that would help in discriminating between different dynamical models. The advance in the knowledge of light quark dynamics is a key tool for the understanding of the existence of exotic hadrons.

  9. 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.

  10. 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

  11. Wave and Wind Model Performance Metrics Tools

    Science.gov (United States)

    Choi, J. K.; Wang, D. W.

    2016-02-01

    Continual improvements and upgrades of Navy ocean wave and wind models are essential to the assurance of battlespace environment predictability of ocean surface wave and surf conditions in support of Naval global operations. Thus, constant verification and validation of model performance is equally essential to assure the progress of model developments and maintain confidence in the predictions. Global and regional scale model evaluations may require large areas and long periods of time. For observational data to compare against, altimeter winds and waves along the tracks from past and current operational satellites as well as moored/drifting buoys can be used for global and regional coverage. Using data and model runs in previous trials such as the planned experiment, the Dynamics of the Adriatic in Real Time (DART), we demonstrated the use of accumulated altimeter wind and wave data over several years to obtain an objective evaluation of the performance the SWAN (Simulating Waves Nearshore) model running in the Adriatic Sea. The assessment provided detailed performance of wind and wave models by using cell-averaged statistical variables maps with spatial statistics including slope, correlation, and scatter index to summarize model performance. Such a methodology is easily generalized to other regions and at global scales. Operational technology currently used by subject matter experts evaluating the Navy Coastal Ocean Model and the Hybrid Coordinate Ocean Model can be expanded to evaluate wave and wind models using tools developed for ArcMAP, a GIS application developed by ESRI. Recent inclusion of altimeter and buoy data into a format through the Naval Oceanographic Office's (NAVOCEANO) quality control system and the netCDF standards applicable to all model output makes it possible for the fusion of these data and direct model verification. Also, procedures were developed for the accumulation of match-ups of modelled and observed parameters to form a data base

  12. Waves, currents and sediment transport modelling at the Wave Hub site

    OpenAIRE

    Gonzalez-Santamaria, Raul

    2013-01-01

    Primary supervisory team: Qingping Zou and Shunqi Pan This research project uses an integrated modelling system to investigate the effects of a wave farm on nearshore sediment transport at the Wave Hub site. The Wave Hub project is a large scale demonstration site for the development of the operation of arrays of wave energy generation devices located at the southwest coast of the UK where multiple field measurements took place. Particular attention of this study was paid to th...

  13. KIN SP: A boundary element method based code for single pile kinematic bending in layered soil

    Directory of Open Access Journals (Sweden)

    Stefano Stacul

    2018-02-01

    Full Text Available In high seismicity areas, it is important to consider kinematic effects to properly design pile foundations. Kinematic effects are due to the interaction between pile and soil deformations induced by seismic waves. One of the effect is the arise of significant strains in weak soils that induce bending moments on piles. These moments can be significant in presence of a high stiffness contrast in a soil deposit. The single pile kinematic interaction problem is generally solved with beam on dynamic Winkler foundation approaches (BDWF or using continuous models. In this work, a new boundary element method (BEM based computer code (KIN SP is presented where the kinematic analysis is preceded by a free-field response analysis. The analysis results of this method, in terms of bending moments at the pile-head and at the interface of a two-layered soil, are influenced by many factors including the soil–pile interface discretization. A parametric study is presented with the aim to suggest the minimum number of boundary elements to guarantee the accuracy of a BEM solution, for typical pile–soil relative stiffness values as a function of the pile diameter, the location of the interface of a two-layered soil and of the stiffness contrast. KIN SP results have been compared with simplified solutions in literature and with those obtained using a quasi-three-dimensional (3D finite element code.

  14. Rigid-body kinematics versus flapping kinematics of a flapping wing micro air vehicle

    NARCIS (Netherlands)

    Caetano, J.V.; Weehuizen, M.B.; De Visser, C.C.; De Croon, G.C.H.E.; Mulder, M.

    2015-01-01

    Several formulations have been proposed to model the dynamics of ornithopters, with inconclusive results regarding the need for complex kinematic formulations. Furthermore, the impact of assumptions made in the collected results was never assessed by comparing simulations with real flight data. In

  15. 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.

  16. A system-level mathematical model of Basal Ganglia motor-circuit for kinematic planning of arm movements.

    Science.gov (United States)

    Salimi-Badr, Armin; Ebadzadeh, Mohammad Mehdi; Darlot, Christian

    2018-01-01

    In this paper, a novel system-level mathematical model of the Basal Ganglia (BG) for kinematic planning, is proposed. An arm composed of several segments presents a geometric redundancy. Thus, selecting one trajectory among an infinite number of possible ones requires overcoming redundancy, according to some kinds of optimization. Solving this optimization is assumed to be the function of BG in planning. In the proposed model, first, a mathematical solution of kinematic planning is proposed for movements of a redundant arm in a plane, based on minimizing energy consumption. Next, the function of each part in the model is interpreted as a possible role of a nucleus of BG. Since the kinematic variables are considered as vectors, the proposed model is presented based on the vector calculus. This vector model predicts different neuronal populations in BG which is in accordance with some recent experimental studies. According to the proposed model, the function of the direct pathway is to calculate the necessary rotation of each joint, and the function of the indirect pathway is to control each joint rotation considering the movement of the other joints. In the proposed model, the local feedback loop between Subthalamic Nucleus and Globus Pallidus externus is interpreted as a local memory to store the previous amounts of movements of the other joints, which are utilized by the indirect pathway. In this model, activities of dopaminergic neurons would encode, at short-term, the error between the desired and actual positions of the end-effector. The short-term modulating effect of dopamine on Striatum is also modeled as cross product. The model is simulated to generate the commands of a redundant manipulator. The performance of the model is studied for different reaching movements between 8 points in a plane. Finally, some symptoms of Parkinson's disease such as bradykinesia and akinesia are simulated by modifying the model parameters, inspired by the dopamine depletion

  17. Model wave functions for the deuteron

    International Nuclear Information System (INIS)

    Certov, A.; Mathelitsch, L.; Moravcsik, M.J.

    1987-01-01

    Model wave functions are constructed for the deuteron to facilitate the unambiguous exploration of dependencies on the percentage D state and on the small-, medium-, and large-distance parts of the deuteron wave function. The wave functions are constrained by those deuteron properties which are accurately known experimentally, and are in an analytic form which is easily integrable in expressions usually encountered in the use of such wave functions

  18. Mechanics, Waves and Thermodynamics

    Science.gov (United States)

    Ranjan Jain, Sudhir

    2016-05-01

    Figures; Preface; Acknowledgement; 1. Energy, mass, momentum; 2. Kinematics, Newton's laws of motion; 3. Circular motion; 4. The principle of least action; 5. Work and energy; 6. Mechanics of a system of particles; 7. Friction; 8. Impulse and collisions; 9. Central forces; 10. Dimensional analysis; 11. Oscillations; 12. Waves; 13. Sound of music; 14. Fluid mechanics; 15. Water waves; 16. The kinetic theory of gases; 17. Concepts and laws of thermodynamics; 18. Some applications of thermodynamics; 19. Basic ideas of statistical mechanics; Bibliography; Index.

  19. Wave Generation in Physical Models

    DEFF Research Database (Denmark)

    Andersen, Thomas Lykke; Frigaard, Peter

    The present book describes the most important aspects of wave generation techniques in physical models. Moreover, the book serves as technical documentation for the wave generation software AwaSys 6, cf. Aalborg University (2012). In addition to the two main authors also Tue Hald and Michael...

  20. Effective ellipsoidal models for wavefield extrapolation in tilted orthorhombic media

    KAUST Repository

    Waheed, Umair Bin

    2016-04-22

    Wavefield computations using the ellipsoidally anisotropic extrapolation operator offer significant cost reduction compared to that for the orthorhombic case, especially when the symmetry planes are tilted and/or rotated. However, ellipsoidal anisotropy does not provide accurate wavefield representation or imaging for media of orthorhombic symmetry. Therefore, we propose the use of ‘effective ellipsoidally anisotropic’ models that correctly capture the kinematic behaviour of wavefields for tilted orthorhombic (TOR) media. We compute effective velocities for the ellipsoidally anisotropic medium using kinematic high-frequency representation of the TOR wavefield, obtained by solving the TOR eikonal equation. The effective model allows us to use the cheaper ellipsoidally anisotropic wave extrapolation operators. Although the effective models are obtained by kinematic matching using high-frequency asymptotic, the resulting wavefield contains most of the critical wavefield components, including frequency dependency and caustics, if present, with reasonable accuracy. The proposed methodology offers a much better cost versus accuracy trade-off for wavefield computations in TOR media, particularly for media of low to moderate anisotropic strength. Furthermore, the computed wavefield solution is free from shear-wave artefacts as opposed to the conventional finite-difference based TOR wave extrapolation scheme. We demonstrate applicability and usefulness of our formulation through numerical tests on synthetic TOR models. © 2016 Institute of Geophysics of the ASCR, v.v.i

  1. Probabilistic approach to manipulator kinematics and dynamics

    International Nuclear Information System (INIS)

    Rao, S.S.; Bhatti, P.K.

    2001-01-01

    A high performance, high speed robotic arm must be able to manipulate objects with a high degree of accuracy and repeatability. As with any other physical system, there are a number of factors causing uncertainties in the behavior of a robotic manipulator. These factors include manufacturing and assembling tolerances, and errors in the joint actuators and controllers. In order to study the effect of these uncertainties on the robotic end-effector and to obtain a better insight into the manipulator behavior, the manipulator kinematics and dynamics are modeled using a probabilistic approach. Based on the probabilistic model, kinematic and dynamic performance criteria are defined to provide measures of the behavior of the robotic end-effector. Techniques are presented to compute the kinematic and dynamic reliabilities of the manipulator. The effects of tolerances associated with the various manipulator parameters on the reliabilities are studied. Numerical examples are presented to illustrate the procedures

  2. Shot- and angle-domain wave-equation traveltime inversion of reflection data: Synthetic and field data examples

    KAUST Repository

    Zhang, Sanzong

    2015-05-26

    Full-waveform inversion requires the accurate simulation of the dynamics and kinematics of wave propagation. This is difficult in practice because the amplitudes cannot be precisely reproduced for seismic waves in the earth. Wave-equation reflection traveltime tomography (WT) is proposed to avoid this problem by directly inverting the reflection-traveltime residuals without the use of the high-frequency approximation. We inverted synthetic traces and recorded seismic data for the velocity model by WT. Our results demonstrated that the wave-equation solution overcame the high-frequency approximation of ray-based tomography, was largely insensitive to the accurate modeling of amplitudes, and mitigated problems with ambiguous event identification. The synthetic examples illustrated the effectiveness of the WT method in providing a highly resolved estimate of the velocity model. A real data example from the Gulf of Mexico demonstrated these benefits of WT, but also found the limitations in traveltime residual estimation for complex models.

  3. Particle transport model sensitivity on wave-induced processes

    Science.gov (United States)

    Staneva, Joanna; Ricker, Marcel; Krüger, Oliver; Breivik, Oyvind; Stanev, Emil; Schrum, Corinna

    2017-04-01

    Different effects of wind waves on the hydrodynamics in the North Sea are investigated using a coupled wave (WAM) and circulation (NEMO) model system. The terms accounting for the wave-current interaction are: the Stokes-Coriolis force, the sea-state dependent momentum and energy flux. The role of the different Stokes drift parameterizations is investigated using a particle-drift model. Those particles can be considered as simple representations of either oil fractions, or fish larvae. In the ocean circulation models the momentum flux from the atmosphere, which is related to the wind speed, is passed directly to the ocean and this is controlled by the drag coefficient. However, in the real ocean, the waves play also the role of a reservoir for momentum and energy because different amounts of the momentum flux from the atmosphere is taken up by the waves. In the coupled model system the momentum transferred into the ocean model is estimated as the fraction of the total flux that goes directly to the currents plus the momentum lost from wave dissipation. Additionally, we demonstrate that the wave-induced Stokes-Coriolis force leads to a deflection of the current. During the extreme events the Stokes velocity is comparable in magnitude to the current velocity. The resulting wave-induced drift is crucial for the transport of particles in the upper ocean. The performed sensitivity analyses demonstrate that the model skill depends on the chosen processes. The results are validated using surface drifters, ADCP, HF radar data and other in-situ measurements in different regions of the North Sea with a focus on the coastal areas. The using of a coupled model system reveals that the newly introduced wave effects are important for the drift-model performance, especially during extremes. Those effects cannot be neglected by search and rescue, oil-spill, transport of biological material, or larva drift modelling.

  4. 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.

  5. Rogue waves in a water tank: Experiments and modeling

    Science.gov (United States)

    Lechuga, Antonio

    2013-04-01

    Recently many rogue waves have been reported as the main cause of ship incidents on the sea. One of the main characteristics of rogue waves is its elusiveness: they present unexpectedly and disappear in the same wave. Some authors (Zakharov and al.2010) are attempting to find the probability of their appearances apart from studyingthe mechanism of the formation. As an effort on this topic we tried the generation of rogue waves in a water wave tank using a symmetric spectrum(Akhmediev et al. 2011) as input on the wave maker. The produced waves were clearly rogue waves with a rate (maximum wave height/ Significant wave height) of 2.33 and a kurtosis of 4.77 (Janssen 2003, Onorato 2006). These results were already presented (Lechuga 2012). Similar waves (in pattern aspect, but without being extreme waves) were described as crossing waves in a water tank(Shemer and Lichter1988). To go on further the next step has been to apply a theoretical model to the envelope of these waves. After some considerations the best model has been an analogue of the Ginzburg-Landau equation. This apparently amazing result is easily explained: We know that the Ginzburg-Landau model is related to some regular structures on the surface of a liquid and also in plasmas, electric and magnetic fields and other media. Another important characteristic of the model is that their solutions are invariants with respectto the translation group. The main aim of this presentation is to extract conclusions of the model and the comparison with the measured waves in the water tank.The nonlinear structure of waves and their regularity make suitable the use of the Ginzburg-Landau model to the envelope of generated waves in the tank,so giving us a powerful tool to cope with the results of our experiment.

  6. Observation of sagittal X-ray diffraction by surface acoustic waves in Bragg geometry.

    Science.gov (United States)

    Vadilonga, Simone; Zizak, Ivo; Roshchupkin, Dmitry; Evgenii, Emelin; Petsiuk, Andrei; Leitenberger, Wolfram; Erko, Alexei

    2017-04-01

    X-ray Bragg diffraction in sagittal geometry on a Y-cut langasite crystal (La 3 Ga 5 SiO 14 ) modulated by Λ = 3 µm Rayleigh surface acoustic waves was studied at the BESSY II synchrotron radiation facility. Owing to the crystal lattice modulation by the surface acoustic wave diffraction, satellites appear. Their intensity and angular separation depend on the amplitude and wavelength of the ultrasonic superlattice. Experimental results are compared with the corresponding theoretical model that exploits the kinematical diffraction theory. This experiment shows that the propagation of the surface acoustic waves creates a dynamical diffraction grating on the crystal surface, and this can be used for space-time modulation of an X-ray beam.

  7. Dispersion modeling by kinematic simulation: Cloud dispersion model

    International Nuclear Information System (INIS)

    Fung, J C H; Perkins, R J

    2008-01-01

    A new technique has been developed to compute mean and fluctuating concentrations in complex turbulent flows (tidal current near a coast and deep ocean). An initial distribution of material is discretized into any small clouds which are advected by a combination of the mean flow and large scale turbulence. The turbulence can be simulated either by kinematic simulation (KS) or direct numerical simulation. The clouds also diffuse relative to their centroids; the statistics for this are obtained from a separate calculation of the growth of individual clouds in small scale turbulence, generated by KS. The ensemble of discrete clouds is periodically re-discretized, to limit the size of the small clouds and prevent overlapping. The model is illustrated with simulations of dispersion in uniform flow, and the results are compared with analytic, steady state solutions. The aim of this study is to understand how pollutants disperses in a turbulent flow through a numerical simulation of fluid particle motion in a random flow field generated by Fourier modes. Although this homogeneous turbulent is rather a 'simple' flow, it represents a building block toward understanding pollutant dispersion in more complex flow. The results presented here are preliminary in nature, but we expect that similar qualitative results should be observed in a genuine turbulent flow.

  8. Wave Tank Testing and Model Validation of an Autonomous Wave Energy Converter

    Directory of Open Access Journals (Sweden)

    Bret Bosma

    2015-08-01

    Full Text Available A key component in bringing ocean wave energy converters from concept to commercialization is the building and testing of scaled prototypes to provide model validation. A one quarter scale prototype of an autonomous two body heaving point absorber was modeled, built, and tested for this work. Wave tank testing results are compared with two hydrodynamic and system models—implemented in both ANSYS AQWA and MATLAB/Simulink—and show model validation over certain regions of operation. This work will serve as a guide for future developers of wave energy converter devices, providing insight in taking their design from concept to prototype stage.

  9. 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 ...

  10. A generalized multivariate regression model for modelling ocean wave heights

    Science.gov (United States)

    Wang, X. L.; Feng, Y.; Swail, V. R.

    2012-04-01

    In this study, a generalized multivariate linear regression model is developed to represent the relationship between 6-hourly ocean significant wave heights (Hs) and the corresponding 6-hourly mean sea level pressure (MSLP) fields. The model is calibrated using the ERA-Interim reanalysis of Hs and MSLP fields for 1981-2000, and is validated using the ERA-Interim reanalysis for 2001-2010 and ERA40 reanalysis of Hs and MSLP for 1958-2001. The performance of the fitted model is evaluated in terms of Pierce skill score, frequency bias index, and correlation skill score. Being not normally distributed, wave heights are subjected to a data adaptive Box-Cox transformation before being used in the model fitting. Also, since 6-hourly data are being modelled, lag-1 autocorrelation must be and is accounted for. The models with and without Box-Cox transformation, and with and without accounting for autocorrelation, are inter-compared in terms of their prediction skills. The fitted MSLP-Hs relationship is then used to reconstruct historical wave height climate from the 6-hourly MSLP fields taken from the Twentieth Century Reanalysis (20CR, Compo et al. 2011), and to project possible future wave height climates using CMIP5 model simulations of MSLP fields. The reconstructed and projected wave heights, both seasonal means and maxima, are subject to a trend analysis that allows for non-linear (polynomial) trends.

  11. Estimation of kinematic parameters in CALIFA galaxies: no-assumption on internal dynamics

    Science.gov (United States)

    García-Lorenzo, B.; Barrera-Ballesteros, J.; CALIFA Team

    2016-06-01

    We propose a simple approach to homogeneously estimate kinematic parameters of a broad variety of galaxies (elliptical, spirals, irregulars or interacting systems). This methodology avoids the use of any kinematical model or any assumption on internal dynamics. This simple but novel approach allows us to determine: the frequency of kinematic distortions, systemic velocity, kinematic center, and kinematic position angles which are directly measured from the two dimensional-distributions of radial velocities. We test our analysis tools using the CALIFA Survey

  12. Model Predictive Control of a Wave Energy Converter

    DEFF Research Database (Denmark)

    Andersen, Palle; Pedersen, Tom Søndergård; Nielsen, Kirsten Mølgaard

    2015-01-01

    In this paper reactive control and Model Predictive Control (MPC) for a Wave Energy Converter (WEC) are compared. The analysis is based on a WEC from Wave Star A/S designed as a point absorber. The model predictive controller uses wave models based on the dominating sea states combined with a model...... connecting undisturbed wave sequences to sequences of torque. Losses in the conversion from mechanical to electrical power are taken into account in two ways. Conventional reactive controllers are tuned for each sea state with the assumption that the converter has the same efficiency back and forth. MPC...

  13. WISDOM project - I. Black hole mass measurement using molecular gas kinematics in NGC 3665

    Science.gov (United States)

    Onishi, Kyoko; Iguchi, Satoru; Davis, Timothy A.; Bureau, Martin; Cappellari, Michele; Sarzi, Marc; Blitz, Leo

    2017-07-01

    As a part of the mm-Wave Interferometric Survey of Dark Object Masses (WISDOM) project, we present an estimate of the mass of the supermassive black hole (SMBH) in the nearby fast-rotator early-type galaxy NGC 3665. We obtained the Combined Array for Research in Millimeter Astronomy (CARMA) B and C array observations of the 12CO(J = 2 - 1) emission line with a combined angular resolution of 0.59 arcsec. We analysed and modelled the three-dimensional molecular gas kinematics, obtaining a best-fitting SMBH mass M_BH=5.75^{+1.49}_{-1.18} × 108 M⊙, a mass-to-light ratio at H-band (M/L)H = 1.45 ± 0.04 (M/L)⊙,H and other parameters describing the geometry of the molecular gas disc (statistical errors, all at 3σ confidence). We estimate the systematic uncertainties on the stellar M/L to be ≈0.2 (M/L)⊙,H, and on the SMBH mass to be ≈0.4 × 108 M⊙. The measured SMBH mass is consistent with that estimated from the latest correlations with galaxy properties. Following our older works, we also analysed and modelled the kinematics using only the major-axis position-velocity diagram, and conclude that the two methods are consistent.

  14. Gravitational waves in hybrid quintessential inflationary models

    International Nuclear Information System (INIS)

    Sa, Paulo M; Henriques, Alfredo B

    2011-01-01

    The generation of primordial gravitational waves is investigated within the hybrid quintessential inflationary model. Using the method of continuous Bogoliubov coefficients, we calculate the full gravitational-wave energy spectrum. The post-inflationary kination period, characteristic of quintessential inflationary models, leaves a clear signature on the spectrum, namely, a sharp rise of the gravitational-wave spectral energy density Ω GW at high frequencies. For appropriate values of the parameters of the model, Ω GW can be as high as 10 -12 in the MHz-GHz range of frequencies.

  15. Kinematics modeling and experimentation of the multi-manipulator tooth-arrangement robot for full denture manufacturing.

    Science.gov (United States)

    Zhang, Yong-de; Jiang, Jin-gang; Liang, Ting; Hu, Wei-ping

    2011-12-01

    Artificial teeth are very complicated in shape, and not easy to be grasped and manipulated accurately by a single robot. The method of tooth-arrangement by multi-manipulator for complete denture manufacturing proposed in this paper. A novel complete denture manufacturing mechanism is designed based on multi-manipulator and dental arch generator. Kinematics model of the multi-manipulator tooth-arrangement robot is built by analytical method based on tooth-arrangement principle for full denture. Preliminary experiments on tooth-arrangement are performed using the multi-manipulator tooth-arrangement robot prototype system. The multi-manipulator tooth-arrangement robot prototype system can automatically design and manufacture a set of complete denture that is suitable for a patient according to the jaw arch parameters. The experimental results verified the validity of kinematics model of the multi-manipulator tooth-arrangement robot and the feasibility of the manufacture strategy of complete denture fulfilled by multi-manipulator tooth-arrangement robot.

  16. Testing the effects of topography, geometry, and kinematics on modeled thermochronometer cooling ages in the eastern Bhutan Himalaya

    Science.gov (United States)

    Gilmore, Michelle E.; McQuarrie, Nadine; Eizenhöfer, Paul R.; Ehlers, Todd A.

    2018-05-01

    In this study, reconstructions of a balanced geologic cross section in the Himalayan fold-thrust belt of eastern Bhutan are used in flexural-kinematic and thermokinematic models to understand the sensitivity of predicted cooling ages to changes in fault kinematics, geometry, topography, and radiogenic heat production. The kinematics for each scenario are created by sequentially deforming the cross section with ˜ 10 km deformation steps while applying flexural loading and erosional unloading at each step to develop a high-resolution evolution of deformation, erosion, and burial over time. By assigning ages to each increment of displacement, we create a suite of modeled scenarios that are input into a 2-D thermokinematic model to predict cooling ages. Comparison of model-predicted cooling ages to published thermochronometer data reveals that cooling ages are most sensitive to (1) the location and size of fault ramps, (2) the variable shortening rates between 68 and 6.4 mm yr-1, and (3) the timing and magnitude of out-of-sequence faulting. The predicted ages are less sensitive to (4) radiogenic heat production and (5) estimates of topographic evolution. We used the observed misfit of predicted to measured cooling ages to revise the cross section geometry and separate one large ramp previously proposed for the modern décollement into two smaller ramps. The revised geometry results in an improved fit to observed ages, particularly young AFT ages (2-6 Ma) located north of the Main Central Thrust. This study presents a successful approach for using thermochronometer data to test the viability of a proposed cross section geometry and kinematics and describes a viable approach to estimating the first-order topographic evolution of a compressional orogen.

  17. Simulation of Irregular Waves and Wave Induced Loads on Wind Power Plants in Shallow Water

    Energy Technology Data Exchange (ETDEWEB)

    Trumars, Jenny [Chalmers Univ. of Technology, Goeteborg (Sweden). Dept. of Water Environment Transport

    2004-05-01

    The essay gives a short introduction to waves and discusses the problem with non-linear waves in shallow water and how they effect an offshore wind energy converter. The focus is on the realisation of non-linear waves in the time domain from short-term statistics in the form of a variance density spectrum of the wave elevation. For this purpose the wave transformation from deep water to the near to shore site of a wind energy farm at Bockstigen has been calculated with the use of SWAN (Simulating Waves Near Shore). The result is a wave spectrum, which can be used as input to the realisation. The realisation of waves is done by perturbation theory to the first and second-order. The properties calculated are the wave elevation, water particle velocity and acceleration. The wave heights from the second order perturbation equations are higher than those from the first order perturbation equations. This is also the case for the water particle kinematics. The increase of variance is significant between the first order and the second order realisation. The calculated wave elevation exhibits non-linear features as the peaks become sharper and the troughs flatter. The resulting forces are calculated using Morison's equation. For second order force and base moment there is an increase in the maximum values. The force and base moment are largest approximately at the zero up and down crossing of the wave elevation. This indicates an inertia dominated wave load. So far the flexibility and the response of the structure have not been taken into account. They are, however, of vital importance. For verification of the wave model the results will later on be compared with measurements at Bockstigen off the coast of Gotland in the Baltic Sea.

  18. Wave Resource Characterization Using an Unstructured Grid Modeling Approach

    Directory of Open Access Journals (Sweden)

    Wei-Cheng Wu

    2018-03-01

    Full Text Available This paper presents a modeling study conducted on the central Oregon coast for wave resource characterization, using the unstructured grid Simulating WAve Nearshore (SWAN model coupled with a nested grid WAVEWATCH III® (WWIII model. The flexibility of models with various spatial resolutions and the effects of open boundary conditions simulated by a nested grid WWIII model with different physics packages were evaluated. The model results demonstrate the advantage of the unstructured grid-modeling approach for flexible model resolution and good model skills in simulating the six wave resource parameters recommended by the International Electrotechnical Commission in comparison to the observed data in Year 2009 at National Data Buoy Center Buoy 46050. Notably, spectral analysis indicates that the ST4 physics package improves upon the ST2 physics package’s ability to predict wave power density for large waves, which is important for wave resource assessment, load calculation of devices, and risk management. In addition, bivariate distributions show that the simulated sea state of maximum occurrence with the ST4 physics package matched the observed data better than with the ST2 physics package. This study demonstrated that the unstructured grid wave modeling approach, driven by regional nested grid WWIII outputs along with the ST4 physics package, can efficiently provide accurate wave hindcasts to support wave resource characterization. Our study also suggests that wind effects need to be considered if the dimension of the model domain is greater than approximately 100 km, or O (102 km.

  19. Observations and modeling of wave-supported sediment gravity flows on the Po prodelta and comparison to prior observations from the Eel shelf

    Science.gov (United States)

    Traykovski, P.; Wiberg, P. L.; Geyer, W. R.

    2007-02-01

    A mooring and tripod array was deployed from the fall of 2002 through the spring of 2003 on the Po prodelta to measure sediment transport processes associated with sediment delivered from the Po River. Observations on the prodelta revealed wave-supported gravity flows of high concentration mud suspensions that are dynamically and kinematically similar to those observed on the Eel shelf [Traykovski, P., Geyer, W.R., Irish, J.D., Lynch, J.F., 2000. The role of wave-induced density-driven fluid mud flows for cross-shelf transport on the Eel River continental shelf. Continental Shelf Research 20, 2113-2140]. Due to the dynamic similarity between the two sites, a simple one-dimensional (1D) across-shelf model with the appropriate bottom boundary condition was used to examine fluxes associated with this transport mechanism at both locations. To calculate the sediment concentrations associated with the wave-dominated and wave-current resuspension, a bottom boundary condition using a reference concentration was combined with an "active layer" formulation to limit the amount of sediment in suspension. Whereas the wave-supported gravity flow mechanism dominated the transport on the Eel shelf, on the Po prodelta flux due to this mechanism is equal in magnitude to transport due to wave resuspension and wind-forced mean currents in the cross-shore direction. Southward transport due to wave resuspension and wind forced mean currents move an order of magnitude more sediment along-shore than the down-slope flux associated wave-supported gravity flows.

  20. Cluster-based upper body marker models for three-dimensional kinematic analysis: Comparison with an anatomical model and reliability analysis.

    Science.gov (United States)

    Boser, Quinn A; Valevicius, Aïda M; Lavoie, Ewen B; Chapman, Craig S; Pilarski, Patrick M; Hebert, Jacqueline S; Vette, Albert H

    2018-04-27

    Quantifying angular joint kinematics of the upper body is a useful method for assessing upper limb function. Joint angles are commonly obtained via motion capture, tracking markers placed on anatomical landmarks. This method is associated with limitations including administrative burden, soft tissue artifacts, and intra- and inter-tester variability. An alternative method involves the tracking of rigid marker clusters affixed to body segments, calibrated relative to anatomical landmarks or known joint angles. The accuracy and reliability of applying this cluster method to the upper body has, however, not been comprehensively explored. Our objective was to compare three different upper body cluster models with an anatomical model, with respect to joint angles and reliability. Non-disabled participants performed two standardized functional upper limb tasks with anatomical and cluster markers applied concurrently. Joint angle curves obtained via the marker clusters with three different calibration methods were compared to those from an anatomical model, and between-session reliability was assessed for all models. The cluster models produced joint angle curves which were comparable to and highly correlated with those from the anatomical model, but exhibited notable offsets and differences in sensitivity for some degrees of freedom. Between-session reliability was comparable between all models, and good for most degrees of freedom. Overall, the cluster models produced reliable joint angles that, however, cannot be used interchangeably with anatomical model outputs to calculate kinematic metrics. Cluster models appear to be an adequate, and possibly advantageous alternative to anatomical models when the objective is to assess trends in movement behavior. Copyright © 2018 Elsevier Ltd. All rights reserved.

  1. 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.

  2. Relation of Structural and Vibratory Kinematics of the Vocal Folds to Two Acoustic Measures of Breathy Voice Based on Computational Modeling

    Science.gov (United States)

    Samlan, Robin A.; Story, Brad H.

    2011-01-01

    Purpose: To relate vocal fold structure and kinematics to 2 acoustic measures: cepstral peak prominence (CPP) and the amplitude of the first harmonic relative to the second (H1-H2). Method: The authors used a computational, kinematic model of the medial surfaces of the vocal folds to specify features of vocal fold structure and vibration in a…

  3. Forecasting ocean wave energy: A Comparison of the ECMWF wave model with time series methods

    DEFF Research Database (Denmark)

    Reikard, Gordon; Pinson, Pierre; Bidlot, Jean

    2011-01-01

    Recently, the technology has been developed to make wave farms commercially viable. Since electricity is perishable, utilities will be interested in forecasting ocean wave energy. The horizons involved in short-term management of power grids range from as little as a few hours to as long as several...... days. In selecting a method, the forecaster has a choice between physics-based models and statistical techniques. A further idea is to combine both types of models. This paper analyzes the forecasting properties of a well-known physics-based model, the European Center for Medium-Range Weather Forecasts...... (ECMWF) Wave Model, and two statistical techniques, time-varying parameter regressions and neural networks. Thirteen data sets at locations in the Atlantic and Pacific Oceans and the Gulf of Mexico are tested. The quantities to be predicted are the significant wave height, the wave period, and the wave...

  4. A DETAILED MORPHO-KINEMATIC MODEL OF THE ESKIMO, NGC 2392: A UNIFYING VIEW WITH THE CAT'S EYE AND SATURN PLANETARY NEBULAE

    International Nuclear Information System (INIS)

    García-Díaz, Ma. T.; López, J. A.; Steffen, W.; Richer, M. G.

    2012-01-01

    The three-dimensional and kinematic structure of the Eskimo nebula, NGC 2392, has been notoriously difficult to interpret in detail given its complex morphology, multiple kinematic components and its nearly pole-on orientation along the line of sight. We present a comprehensive, spatially resolved, high-resolution, long-slit spectroscopic mapping of the Eskimo planetary nebula. The data consist of 21 spatially resolved, long-slit echelle spectra tightly spaced over the Eskimo and along its bipolar jets. This data set allows us to construct a velocity-resolved [N II] channel map of the nebula with a resolution of 10 km s –1 that disentangles its different kinematic components. The spectroscopic information is combined with Hubble Space Telescope images to construct a detailed three-dimensional morpho-kinematic model of the Eskimo using the code SHAPE. With this model we demonstrate that the Eskimo is a close analog to the Saturn and the Cat's Eye nebulae, but rotated 90° to the line of sight. Furthermore, we show that the main characteristics of our model apply to the general properties of the group of elliptical planetary nebulae with ansae or FLIERS, once the orientation is considered. We conclude that this kind of nebula belongs to a class with a complex common evolutionary sequence of events.

  5. Gravitational waves in hybrid quintessential inflationary models

    Energy Technology Data Exchange (ETDEWEB)

    Sa, Paulo M [Departamento de Fisica, Faculdade de Ciencias e Tecnologia, Universidade do Algarve, Campus de Gambelas, 8005-139 Faro (Portugal); Henriques, Alfredo B, E-mail: pmsa@ualg.pt, E-mail: alfredo.henriques@ist.utl.pt [Centro Multidisciplinar de Astrofisica - CENTRA and Departamento de Fisica, Instituto Superior Tecnico, UTL, Av. Rovisco Pais, 1049-001 Lisboa (Portugal)

    2011-09-22

    The generation of primordial gravitational waves is investigated within the hybrid quintessential inflationary model. Using the method of continuous Bogoliubov coefficients, we calculate the full gravitational-wave energy spectrum. The post-inflationary kination period, characteristic of quintessential inflationary models, leaves a clear signature on the spectrum, namely, a sharp rise of the gravitational-wave spectral energy density {Omega}{sub GW} at high frequencies. For appropriate values of the parameters of the model, {Omega}{sub GW} can be as high as 10{sup -12} in the MHz-GHz range of frequencies.

  6. Repeatability of the Oxford Foot Model for Kinematic Gait Analysis of the Foot and Ankle

    NARCIS (Netherlands)

    van Hoeve, S.; Vos, J.; Weijers, P.; Verbruggen, J.; Willems, P.; Poeze, M.; Meijer, K.

    2015-01-01

    INTRODUCTION: Kinematic gait analysis via the multi-segmental Oxford foot model (OFM) may be a valuable addition to the biomechanical examination of the foot and ankle. The aim of this study is to assess the repeatability of the OFM in healthy subjects. METHODS: Nine healthy subjects, without a

  7. Evaluation of Simulated Marine Aerosol Production Using the WaveWatchIII Prognostic Wave Model Coupled to the Community Atmosphere Model within the Community Earth System Model

    Energy Technology Data Exchange (ETDEWEB)

    Long, M. S. [Harvard Univ., Cambridge, MA (United States). School of Engineering and Applied Sciences; Keene, William C. [Univ. of Virginia, Charlottesville, VA (United States). Dept. of Environmental Sciences; Zhang, J. [Univ. of North Dakota, Grand Forks, ND (United States). Dept. of Atmospheric Sciences; Reichl, B. [Univ. of Rhode Island, Narragansett, RI (United States). Graduate School of Oceanography; Shi, Y. [Univ. of North Dakota, Grand Forks, ND (United States). Dept. of Atmospheric Sciences; Hara, T. [Univ. of Rhode Island, Narragansett, RI (United States). Graduate School of Oceanography; Reid, J. S. [Naval Research Lab. (NRL), Monterey, CA (United States); Fox-Kemper, B. [Brown Univ., Providence, RI (United States). Earth, Environmental and Planetary Sciences; Craig, A. P. [National Center for Atmospheric Research, Boulder, CO (United States); Erickson, D. J. [Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States). Computer Science and Mathematics Division; Ginis, I. [Univ. of Rhode Island, Narragansett, RI (United States). Graduate School of Oceanography; Webb, A. [Univ. of Tokyo (Japan). Dept. of Ocean Technology, Policy, and Environment

    2016-11-08

    Primary marine aerosol (PMA) is emitted into the atmosphere via breaking wind waves on the ocean surface. Most parameterizations of PMA emissions use 10-meter wind speed as a proxy for wave action. This investigation coupled the 3rd generation prognostic WAVEWATCH-III wind-wave model within a coupled Earth system model (ESM) to drive PMA production using wave energy dissipation rate – analogous to whitecapping – in place of 10-meter wind speed. The wind speed parameterization did not capture basin-scale variability in relations between wind and wave fields. Overall, the wave parameterization did not improve comparison between simulated versus measured AOD or Na+, thus highlighting large remaining uncertainties in model physics. Results confirm the efficacy of prognostic wind-wave models for air-sea exchange studies coupled with laboratory- and field-based characterizations of the primary physical drivers of PMA production. No discernible correlations were evident between simulated PMA fields and observed chlorophyll or sea surface temperature.

  8. Estimating severity of sideways fall using a generic multi linear regression model based on kinematic input variables.

    Science.gov (United States)

    van der Zijden, A M; Groen, B E; Tanck, E; Nienhuis, B; Verdonschot, N; Weerdesteyn, V

    2017-03-21

    Many research groups have studied fall impact mechanics to understand how fall severity can be reduced to prevent hip fractures. Yet, direct impact force measurements with force plates are restricted to a very limited repertoire of experimental falls. The purpose of this study was to develop a generic model for estimating hip impact forces (i.e. fall severity) in in vivo sideways falls without the use of force plates. Twelve experienced judokas performed sideways Martial Arts (MA) and Block ('natural') falls on a force plate, both with and without a mat on top. Data were analyzed to determine the hip impact force and to derive 11 selected (subject-specific and kinematic) variables. Falls from kneeling height were used to perform a stepwise regression procedure to assess the effects of these input variables and build the model. The final model includes four input variables, involving one subject-specific measure and three kinematic variables: maximum upper body deceleration, body mass, shoulder angle at the instant of 'maximum impact' and maximum hip deceleration. The results showed that estimated and measured hip impact forces were linearly related (explained variances ranging from 46 to 63%). Hip impact forces of MA falls onto the mat from a standing position (3650±916N) estimated by the final model were comparable with measured values (3698±689N), even though these data were not used for training the model. In conclusion, a generic linear regression model was developed that enables the assessment of fall severity through kinematic measures of sideways falls, without using force plates. Copyright © 2017 Elsevier Ltd. All rights reserved.

  9. 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

  10. Kinematic signature of a rotating bar near a resonance

    Science.gov (United States)

    Weinberg, Martin D.

    1994-01-01

    Recent work based on H I, star count and emission data suggests that the Milky Way has rotating bar-like features. In this paper, I show that such features cause distinctive stellar kinematic signatures near Outer Lindblad Resonance (OLR) and Inner Lindblad Resonance (ILR). The effect of these resonances may be observable far from the peak density of the pattern and relatively nearby the solar position. The details of the kinematic signatures depend on the evolutionary history of the 'bar' and therefore velocity data, both systematic and velocity dispersion, may be used to probe the evolutionary history as well as the present state of Galaxy. Kinematic models for a variety of sample scenarios are presented. Models with evolving pattern speeds show significantly stronger dispersion signatures than those with static pattern speeds, suggesting that useful observational constraints are possible. The models are applied to the proposed rotating spheroid and bar models; we find (1) none of these models chosen to represent the proposed large-scale rotating spheroid are consistent with the stellar kinematics and (2) a Galactic bar with semimajor axis of 3 kpc will cause a large increase in velocity dispersion in the vicinity of OLR (approximately 5 kpc) with little change in the net radial motion and such a signature is suggested by K-giant velocity data. Potential future observations and analyses are discussed.

  11. Horizontal circulation and jumps in Hamiltonian wave models

    NARCIS (Netherlands)

    Gagarina, Elena; van der Vegt, Jacobus J.W.; Bokhove, Onno

    2013-01-01

    We are interested in the numerical modeling of wave-current interactions around surf zones at beaches. Any model that aims to predict the onset of wave breaking at the breaker line needs to capture both the nonlinearity of the wave and its dispersion. We have therefore formulated the Hamiltonian

  12. Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods

    Directory of Open Access Journals (Sweden)

    Yingzhong Tian

    2016-01-01

    Full Text Available This paper presents the kinematic analysis of a continuum bionic robot with three flexible actuation rods. Since the motion of the end-effector is actuated by the deformation of the rods, the robot structure is with high elasticity and good compliance and the kinematic analysis of the robot requires special treatment. We propose a kinematic model based on the geometry with constant curvature. The analysis consists of two independent mappings: a general mapping for the kinematics of all robots and a specific mapping for this kind of robots. Both of those mappings are developed for the single section and for the multisections. We aim at providing a guide for kinematic analysis of the similar manipulators through this paper.

  13. 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.

  14. Latest Advances in Robot Kinematics

    CERN Document Server

    Husty, Manfred

    2012-01-01

    This book is  of interest to researchers inquiring about modern topics and methods in the kinematics, control and design of robotic manipulators. It considers the full range of robotic systems, including serial, parallel and cable driven manipulators, both planar and spatial. The systems range from being less than fully mobile to kinematically redundant to overconstrained. In addition to recognized areas, this book also presents recent advances in emerging areas such as the design and control of humanoids and humanoid subsystems, and the analysis, modeling and simulation of human body motions, as well as the mobility analysis of protein molecules and the development of machines which incorporate man.

  15. Experimental Update of the Overtopping Model Used for the Wave Dragon Wave Energy Converter

    Directory of Open Access Journals (Sweden)

    Erik Friis-Madsen

    2013-04-01

    Full Text Available An overtopping model specifically suited for Wave Dragon is needed in order to improve the reliability of its performance estimates. The model shall be comprehensive of all relevant physical processes that affect overtopping and flexible to adapt to any local conditions and device configuration. An experimental investigation is carried out to update an existing formulation suited for 2D draft-limited, low-crested structures, in order to include the effects on the overtopping flow of the wave steepness, the 3D geometry of Wave Dragon, the wing reflectors, the device motions and the non-rigid connection between platform and reflectors. The study is carried out in four phases, each of them specifically targeted at quantifying one of these effects through a sensitivity analysis and at modeling it through custom-made parameters. These are depending on features of the wave or the device configuration, all of which can be measured in real-time. Instead of using new fitting coefficients, this approach allows a broader applicability of the model beyond the Wave Dragon case, to any overtopping WEC or structure within the range of tested conditions. Predictions reliability of overtopping over Wave Dragon increased, as the updated model allows improved accuracy and precision respect to the former version.

  16. Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink

    Directory of Open Access Journals (Sweden)

    Mahmoud Gouasmi

    2012-12-01

    Full Text Available The simulation of robot systems is becoming very popular, especially with the lowering of the cost of computers, and it can be used for layout evaluation, feasibility studies, presentations with animation and off-line programming. The trajectory planning of redundant manipulators is a very active area since many tasks require special characteristics to be satisfied. The importance of redundant manipulators has increased over the last two decades because of the possibility of avoiding singularities as well as obstacles within the course of motion. The angle that the last link of a 2 DOF manipulator makes with the x-axis is required in order to find the solution for the inverse kinematics problem. This angle could be optimized with respect to a given specified key factor (time, velocity, torques while the end-effector performs a chosen trajectory (i.e., avoiding an obstacle in the task space. Modeling and simulation of robots could be achieved using either of the following models: the geometrical model (positions, postures, the kinematic model and the dynamic model. To do so, the modelization of a 2-R robot type is implemented. Our main tasks are comparing two robot postures with the same trajectory (path and for the same length of time, and establishing a computing code to obtain the kinematic and dynamic parameters. SolidWorks and MATLAB/Simulink softwares are used to check the theory and the robot motion simulation. This could be easily generalized to a 3-R robot and possibly therefore to any serial robot (Scara, Puma, etc.. The verification of the obtained results by both softwares allows us to qualitatively evaluate and underline the validityof the chosen model and obtain the right conclusions. The results of the simulations are discussed and an agreement between the two softwares is certainly obtained.

  17. Model Test Bed for Evaluating Wave Models and Best Practices for Resource Assessment and Characterization

    Energy Technology Data Exchange (ETDEWEB)

    Neary, Vincent Sinclair [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States). Water Power Technologies; Yang, Zhaoqing [Pacific Northwest National Lab. (PNNL), Richland, WA (United States). Coastal Sciences Division; Wang, Taiping [Pacific Northwest National Lab. (PNNL), Richland, WA (United States). Coastal Sciences Division; Gunawan, Budi [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States). Water Power Technologies; Dallman, Ann Renee [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States). Water Power Technologies

    2016-03-01

    A wave model test bed is established to benchmark, test and evaluate spectral wave models and modeling methodologies (i.e., best practices) for predicting the wave energy resource parameters recommended by the International Electrotechnical Commission, IEC TS 62600-101Ed. 1.0 ©2015. Among other benefits, the model test bed can be used to investigate the suitability of different models, specifically what source terms should be included in spectral wave models under different wave climate conditions and for different classes of resource assessment. The overarching goal is to use these investigations to provide industry guidance for model selection and modeling best practices depending on the wave site conditions and desired class of resource assessment. Modeling best practices are reviewed, and limitations and knowledge gaps in predicting wave energy resource parameters are identified.

  18. Experimental Update of the Overtopping Model Used for the Wave Dragon Wave Energy Converter

    DEFF Research Database (Denmark)

    Parmeggiani, Stefano; Kofoed, Jens Peter; Friis-Madsen, Erik

    2013-01-01

    An overtopping model specifically suited for Wave Dragon is needed in order to improve the reliability of its performance estimates. The model shall be comprehensive of all relevant physical processes that affect overtopping and flexible to adapt to any local conditions and device configuration....... An experimental investigation is carried out to update an existing formulation suited for 2D draft-limited, low-crested structures, in order to include the effects on the overtopping flow of the wave steepness, the 3D geometry of Wave Dragon, the wing reflectors, the device motions and the non-rigid connection...... of which can be measured in real-time. Instead of using new fitting coefficients, this approach allows a broader applicability of the model beyond the Wave Dragon case, to any overtopping WEC or structure within the range of tested conditions. Predictions reliability of overtopping over Wave Dragon...

  19. -Advanced Models for Tsunami and Rogue Waves

    Directory of Open Access Journals (Sweden)

    D. W. Pravica

    2012-01-01

    Full Text Available A wavelet , that satisfies the q-advanced differential equation for , is used to model N-wave oscillations observed in tsunamis. Although q-advanced ODEs may seem nonphysical, we present an application that model tsunamis, in particular the Japanese tsunami of March 11, 2011, by utilizing a one-dimensional wave equation that is forced by . The profile is similar to tsunami models in present use. The function is a wavelet that satisfies a q-advanced harmonic oscillator equation. It is also shown that another wavelet, , matches a rogue-wave profile. This is explained in terms of a resonance wherein two small amplitude forcing waves eventually lead to a large amplitude rogue. Since wavelets are used in the detection of tsunamis and rogues, the signal-analysis performance of and is examined on actual data.

  20. Kinematic cross-correlation induces sensory integration across separate objects.

    Science.gov (United States)

    Debats, Nienke B; Ernst, Marc O; Heuer, Herbert

    2017-12-01

    In a basic cursor-control task, the perceived positions of the hand and the cursor are biased towards each other. We recently found that this phenomenon conforms to the reliability-based weighting mechanism of optimal multisensory integration. This indicates that optimal integration is not restricted to sensory signals originating from a single source, as is the prevailing view, but that it also applies to separate objects that are connected by a kinematic relation (i.e. hand and cursor). In the current study, we examined which aspects of the kinematic relation are crucial for eliciting the sensory integration: (i) the cross-correlation between kinematic variables of the hand and cursor trajectories, and/or (ii) an internal model of the hand-cursor kinematic transformation. Participants made out-and-back movements from the centre of a semicircular workspace to its boundary, after which they judged the position where either their hand or the cursor hit the boundary. We analysed the position biases and found that the integration was strong in a condition with high kinematic correlations (a straight hand trajectory was mapped to a straight cursor trajectory), that it was significantly reduced for reduced kinematic correlations (a straight hand trajectory was transformed into a curved cursor trajectory) and that it was not affected by the inability to acquire an internal model of the kinematic transformation (i.e. by the trial-to-trial variability of the cursor curvature). These findings support the idea that correlations play a crucial role in multisensory integration irrespective of the number of sensory sources involved. © 2017 Federation of European Neuroscience Societies and John Wiley & Sons Ltd.

  1. User's Manual for the Simulating Waves Nearshore Model (SWAN)

    National Research Council Canada - National Science Library

    Allard, Richard

    2002-01-01

    The Simulating WAves Nearshore (SWAN) model is a numerical wave model used to obtain realistic estimates of wave parameters in coastal areas, lakes, and estuaries from given wind, bottom, and current conditions...

  2. Internal models of target motion: expected dynamics overrides measured kinematics in timing manual interceptions.

    Science.gov (United States)

    Zago, Myrka; Bosco, Gianfranco; Maffei, Vincenzo; Iosa, Marco; Ivanenko, Yuri P; Lacquaniti, Francesco

    2004-04-01

    Prevailing views on how we time the interception of a moving object assume that the visual inputs are informationally sufficient to estimate the time-to-contact from the object's kinematics. Here we present evidence in favor of a different view: the brain makes the best estimate about target motion based on measured kinematics and an a priori guess about the causes of motion. According to this theory, a predictive model is used to extrapolate time-to-contact from expected dynamics (kinetics). We projected a virtual target moving vertically downward on a wide screen with different randomized laws of motion. In the first series of experiments, subjects were asked to intercept this target by punching a real ball that fell hidden behind the screen and arrived in synchrony with the visual target. Subjects systematically timed their motor responses consistent with the assumption of gravity effects on an object's mass, even when the visual target did not accelerate. With training, the gravity model was not switched off but adapted to nonaccelerating targets by shifting the time of motor activation. In the second series of experiments, there was no real ball falling behind the screen. Instead the subjects were required to intercept the visual target by clicking a mousebutton. In this case, subjects timed their responses consistent with the assumption of uniform motion in the absence of forces, even when the target actually accelerated. Overall, the results are in accord with the theory that motor responses evoked by visual kinematics are modulated by a prior of the target dynamics. The prior appears surprisingly resistant to modifications based on performance errors.

  3. 'Oscillator-wave' model: properties and heuristic instances

    International Nuclear Information System (INIS)

    Damgov, Vladimir; Trenchev, Plamen; Sheiretsky, Kostadin

    2003-01-01

    The article considers a generalized model of an oscillator, subjected to the influence of an external wave. It is shown that the systems of diverse physical background, which this model encompasses by their nature, should belong to the broader, proposed in previous works class of 'kick-excited self-adaptive dynamical systems'. The theoretical treatment includes an analytic approach to the conditions for emergence of small and large amplitudes, i.e. weak and strong non-linearity of the system. Derived also are generalized conditions for the transition of systems of this 'oscillator-wave' type to non-regular and chaotic behaviour. For the purpose of demonstrating the heuristic properties of the generalized oscillator-wave model from this point of view are considered the relevant systems and phenomena of the quantized cyclotron resonance and the megaquantum resonance-wave model of the Solar System. We point to a number of other natural and scientific phenomena, which can be effectively analyzed from the point of view of the developed approach. In particular we stress on the possibility for development and the wide applicability of specific wave influences, for example for the improvement and the speeding up of technological processes

  4. A coupling modulation model of capillary waves from gravity waves: Theoretical analysis and experimental validation

    Science.gov (United States)

    Chen, Pengzhen; Wang, Xiaoqing; Liu, Li; Chong, Jinsong

    2016-06-01

    According to Bragg theory, capillary waves are the predominant scatterers of high-frequency band (such as Ka-band) microwave radiation from the surface of the ocean. Therefore, understanding the modulation mechanism of capillary waves is an important foundation for interpreting high-frequency microwave remote sensing images of the surface of the sea. In our experiments, we discovered that modulations of capillary waves are significantly larger than the values predicted by the classical theory. Further, analysis shows that the difference in restoring force results in an inflection point while the phase velocity changes from gravity waves region to capillary waves region, and this results in the capillary waves being able to resonate with gravity waves when the phase velocity of the gravity waves is equal to the group velocity of the capillary waves. Consequently, we propose a coupling modulation model in which the current modulates the capillary wave indirectly by modulating the resonant gravity waves, and the modulation of the former is approximated by that of the latter. This model very effectively explains the results discovered in our experiments. Further, based on Bragg scattering theory and this coupling modulation model, we simulate the modulation of normalized radar cross section (NRCS) of typical internal waves and show that the high-frequency bands are superior to the low-frequency bands because of their greater modulation of NRCS and better radiometric resolution. This result provides new support for choice of radar band for observation of wave-current modulation oceanic phenomena such as internal waves, fronts, and shears.

  5. 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

  6. Short-Term Wave Forecasting with AR models in Real-Time Optimal Control of Wave Energy Converters

    OpenAIRE

    Fusco, Francesco; Ringwood, John

    2010-01-01

    Time domain control of wave energy converters requires knowledge of future incident wave elevation in order to approach conditions for optimal energy extraction. Autoregressive models revealed to be a promising approach to the prediction of future values of the wave elevation only from its past history. Results on real wave observations from different ocean locations show that AR models allow to achieve very good predictions for more than one wave period in the future if ...

  7. Propagation of multidimensional nonlinear waves and kinematical conservation laws

    CERN Document Server

    Prasad, Phoolan

    2017-01-01

    This book formulates the kinematical conservation laws (KCL), analyses them and presents their applications to various problems in physics. Finally, it addresses one of the most challenging problems in fluid dynamics: finding successive positions of a curved shock front. The topics discussed are the outcome of collaborative work that was carried out mainly at the Indian Institute of Science, Bengaluru, India. The theory presented in the book is supported by referring to extensive numerical results. The book is organised into ten chapters. Chapters 1–4 offer a summary of and briefly discuss the theory of hyperbolic partial differential equations and conservation laws. Formulation of equations of a weakly nonlinear wavefront and those of a shock front are briefly explained in Chapter 5, while Chapter 6 addresses KCL theory in space of arbitrary dimensions. The remaining chapters examine various analyses and applications of KCL equations ending in the ultimate goal-propagation of a three-dimensional curved sho...

  8. Modelization of highly nonlinear waves in coastal regions

    Science.gov (United States)

    Gouin, Maïté; Ducrozet, Guillaume; Ferrant, Pierre

    2015-04-01

    The proposed work deals with the development of a highly non-linear model for water wave propagation in coastal regions. The accurate modelization of surface gravity waves is of major interest in ocean engineering, especially in the field of marine renewable energy. These marine structures are intended to be settled in coastal regions where the effect of variable bathymetry may be significant on local wave conditions. This study presents a numerical model for the wave propagation with complex bathymetry. It is based on High-Order Spectral (HOS) method, initially limited to the propagation of non-linear wave fields over flat bottom. Such a model has been developed and validated at the LHEEA Lab. (Ecole Centrale Nantes) over the past few years and the current developments will enlarge its application range. This new numerical model will keep the interesting numerical properties of the original pseudo-spectral approach (convergence, efficiency with the use of FFTs, …) and enable the possibility to propagate highly non-linear wave fields over long time and large distance. Different validations will be provided in addition to the presentation of the method. At first, Bragg reflection will be studied with the proposed approach. If the Bragg condition is satisfied, the reflected wave generated by a sinusoidal bottom patch should be amplified as a result of resonant quadratic interactions between incident wave and bottom. Comparisons will be provided with experiments and reference solutions. Then, the method will be used to consider the transformation of a non-linear monochromatic wave as it propagates up and over a submerged bar. As the waves travel up the front slope of the bar, it steepens and high harmonics are generated due to non-linear interactions. Comparisons with experimental data will be provided. The different test cases will assess the accuracy and efficiency of the method proposed.

  9. Evaluation of the numerical wave model (SWAN) for wave simulation in the Black Sea

    Science.gov (United States)

    Akpınar, Adem; van Vledder, Gerbrant Ph.; Kömürcü, Murat İhsan; Özger, Mehmet

    2012-12-01

    This study summaries the implementation of the SWAN model forced by the ECMWF ERA Interim dataset reanalyzed 10 m winds over the Black Sea which will be used to study the wind-wave climate and wave energy potential in the region, and its verification. The SWAN model results were compared with directional buoy measurements at three locations along the north and south coasts of the Black Sea, parametric model results based on the JONSWAP growth relations, and the results of previous studies. The SWAN model has been applied in a third generation and non-stationary mode with spherical coordinates. The linear and exponential growth from wind input, depth-induced wave breaking, bottom friction, whitecapping, four-wave (for deep water) and triad-wave (for shallow water) nonlinear interactions have been activated in the simulations. The results of this study indicate that agreement between simulated and observed wave parameters is satisfactory and it is slightly more accurate than the results of the previous studies. However, it still has lower estimates for the maximum values of both wave parameters. These lower estimates are probably due to too low wind speeds in the applied ECMWF wind fields, which is probably caused by orographic effects, and due to the relatively course resolution in time and space of the ECMWF (ERA-Interim) wind fields for the Black Sea.

  10. Adaptive control of an exoskeleton robot with uncertainties on kinematics and dynamics.

    Science.gov (United States)

    Brahmi, Brahim; Saad, Maarouf; Ochoa-Luna, Cristobal; Rahman, Mohammad H

    2017-07-01

    In this paper, we propose a new adaptive control technique based on nonlinear sliding mode control (JSTDE) taking into account kinematics and dynamics uncertainties. This approach is applied to an exoskeleton robot with uncertain kinematics and dynamics. The adaptation design is based on Time Delay Estimation (TDE). The proposed strategy does not necessitate the well-defined dynamic and kinematic models of the system robot. The updated laws are designed using Lyapunov-function to solve the adaptation problem systematically, proving the close loop stability and ensuring the convergence asymptotically of the outputs tracking errors. Experiments results show the effectiveness and feasibility of JSTDE technique to deal with the variation of the unknown nonlinear dynamics and kinematics of the exoskeleton model.

  11. Input relegation control for gross motion of a kinematically redundant manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Unseren, M.A.

    1992-10-01

    This report proposes a method for resolving the kinematic redundancy of a serial link manipulator moving in a three-dimensional workspace. The underspecified problem of solving for the joint velocities based on the classical kinematic velocity model is transformed into a well-specified problem. This is accomplished by augmenting the original model with additional equations which relate a new vector variable quantifying the redundant degrees of freedom (DOF) to the joint velocities. The resulting augmented system yields a well specified solution for the joint velocities. Methods for selecting the redundant DOF quantifying variable and the transformation matrix relating it to the joint velocities are presented so as to obtain a minimum Euclidean norm solution for the joint velocities. The approach is also applied to the problem of resolving the kinematic redundancy at the acceleration level. Upon resolving the kinematic redundancy, a rigid body dynamical model governing the gross motion of the manipulator is derived. A control architecture is suggested which according to the model, decouples the Cartesian space DOF and the redundant DOF.

  12. Kinematics and Workspace of a 4-DOF Hybrid Palletizing Robot

    Directory of Open Access Journals (Sweden)

    Yong Tao

    2014-06-01

    Full Text Available We presented the kinematical analysis of a 4-DOF hybrid palletizing robot. The palletizing robot structure was proposed and the arm model of the robot was presented. The kinematical analysis of the end robotic manipulator was given. As a result, the position, velocity, and acceleration curves as well as the maximum workspace were demonstrated by simulation in Matlab. This study would be useful for the kinematical characteristics of the 4-DOF palletizing robot in space.

  13. MAGNETIC QUENCHING OF TURBULENT DIFFUSIVITY: RECONCILING MIXING-LENGTH THEORY ESTIMATES WITH KINEMATIC DYNAMO MODELS OF THE SOLAR CYCLE

    International Nuclear Information System (INIS)

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

    2011-01-01

    The turbulent magnetic diffusivity in the solar convection zone is one of the most poorly constrained ingredients of mean-field dynamo models. This lack of constraint has previously led to controversy regarding the most appropriate set of parameters, as different assumptions on the value of turbulent diffusivity lead to radically different solar cycle predictions. Typically, the dynamo community uses double-step diffusivity profiles characterized by low values of diffusivity in the bulk of the convection zone. However, these low diffusivity values are not consistent with theoretical estimates based on mixing-length theory, which suggest much higher values for turbulent diffusivity. To make matters worse, kinematic dynamo simulations cannot yield sustainable magnetic cycles using these theoretical estimates. In this work, we show that magnetic cycles become viable if we combine the theoretically estimated diffusivity profile with magnetic quenching of the diffusivity. Furthermore, we find that the main features of this solution can be reproduced by a dynamo simulation using a prescribed (kinematic) diffusivity profile that is based on the spatiotemporal geometric average of the dynamically quenched diffusivity. This bridges the gap between dynamically quenched and kinematic dynamo models, supporting their usage as viable tools for understanding the solar magnetic cycle.

  14. New Gravity Wave Treatments for GISS Climate Models

    Science.gov (United States)

    Geller, Marvin A.; Zhou, Tiehan; Ruedy, Reto; Aleinov, Igor; Nazarenko, Larissa; Tausnev, Nikolai L.; Sun, Shan; Kelley, Maxwell; Cheng, Ye

    2011-01-01

    Previous versions of GISS climate models have either used formulations of Rayleigh drag to represent unresolved gravity wave interactions with the model-resolved flow or have included a rather complicated treatment of unresolved gravity waves that, while being climate interactive, involved the specification of a relatively large number of parameters that were not well constrained by observations and also was computationally very expensive. Here, the authors introduce a relatively simple and computationally efficient specification of unresolved orographic and nonorographic gravity waves and their interaction with the resolved flow. Comparisons of the GISS model winds and temperatures with no gravity wave parameterization; with only orographic gravity wave parameterization; and with both orographic and nonorographic gravity wave parameterizations are shown to illustrate how the zonal mean winds and temperatures converge toward observations. The authors also show that the specifications of orographic and nonorographic gravity waves must be different in the Northern and Southern Hemispheres. Then results are presented where the nonorographic gravity wave sources are specified to represent sources from convection in the intertropical convergence zone and spontaneous emission from jet imbalances. Finally, a strategy to include these effects in a climate-dependent manner is suggested.

  15. Eikonal Approximation in AdS/CFT: Conformal Partial Waves and Finite N Four-Point Functions

    CERN Document Server

    Cornalba, L; Penedones, J; Schiappa, R; Cornalba, Lorenzo; Costa, Miguel S.; Penedones, Joao; Schiappa, Ricardo

    2007-01-01

    We introduce the impact-parameter representation for conformal field theory correlators of the form A ~ . This representation is appropriate in the eikonal kinematical regime, and approximates the conformal partial-wave decomposition in the limit of large spin and dimension of the exchanged primary. Using recent results on the two-point function _{shock} in the presence of a shock wave in Anti-de Sitter, and its relation to the discontinuity of the four-point amplitude A across a kinematical branch-cut, we find the high spin and dimension conformal partial- wave decomposition of all tree-level Anti-de Sitter Witten diagrams. We show that, as in flat space, the eikonal kinematical regime is dominated by the T-channel exchange of the massless particle with highest spin (graviton dominance). We also compute the anomalous dimensions of the high-spin O_1 O_2 composites. Finally, we conjecture a formula re-summing crossed-ladder Witten diagrams to all orders in the gravitational coupling.

  16. Ocean wave prediction using numerical and neural network models

    Digital Repository Service at National Institute of Oceanography (India)

    Mandal, S.; Prabaharan, N.

    This paper presents an overview of the development of the numerical wave prediction models and recently used neural networks for ocean wave hindcasting and forecasting. The numerical wave models express the physical concepts of the phenomena...

  17. Middle Atmosphere Dynamics with Gravity Wave Interactions in the Numerical Spectral Model: Tides and Planetary Waves

    Science.gov (United States)

    Mayr, Hans G.; Mengel, J. G.; Chan, K. L.; Huang, F. T.

    2010-01-01

    As Lindzen (1981) had shown, small-scale gravity waves (GW) produce the observed reversals of the zonal-mean circulation and temperature variations in the upper mesosphere. The waves also play a major role in modulating and amplifying the diurnal tides (DT) (e.g., Waltersheid, 1981; Fritts and Vincent, 1987; Fritts, 1995a). We summarize here the modeling studies with the mechanistic numerical spectral model (NSM) with Doppler spread parameterization for GW (Hines, 1997a, b), which describes in the middle atmosphere: (a) migrating and non-migrating DT, (b) planetary waves (PW), and (c) global-scale inertio gravity waves. Numerical experiments are discussed that illuminate the influence of GW filtering and nonlinear interactions between DT, PW, and zonal mean variations. Keywords: Theoretical modeling, Middle atmosphere dynamics, Gravity wave interactions, Migrating and non-migrating tides, Planetary waves, Global-scale inertio gravity waves.

  18. Computational study on full-wave inversion based on the acoustic wave-equation; Onkyoha hado hoteishiki full wave inversion no model keisan ni yoru kento

    Energy Technology Data Exchange (ETDEWEB)

    Watanabe, T; Sassa, K [Kyoto University, Kyoto (Japan); Uesaka, S [Kyoto University, Kyoto (Japan). Faculty of Engineering

    1996-10-01

    The effect of initial models on full-wave inversion (FWI) analysis based on acoustic wave-equation was studied for elastic wave tomography of underground structures. At present, travel time inversion using initial motion travel time is generally used, and inverse analysis is conducted using the concept `ray,` assuming very high wave frequency. Although this method can derive stable solutions relatively unaffected by initial model, it uses only the data of initial motion travel time. FWI calculates theoretical waveform at each receiver using all of observed waveforms as data by wave equation modeling where 2-D underground structure is calculated by difference calculus under the assumption that wave propagation is described by wave equation of P wave. Although it is a weak point that FWI is easily affected by noises in an initial model and data, it is featured by high resolution of solutions. This method offers very excellent convergence as a proper initial model is used, resulting in sufficient performance, however, it is strongly affected by initial model. 2 refs., 7 figs., 1 tab.

  19. Spin-Wave Wave Function for Quantum Spin Models : Condensed Matter and Statistical Physics

    OpenAIRE

    Franjo, FRANJIC; Sandro, SORELLA; Istituto Nazionale di Fisica della Materia International School for Advance Studies; Istituto Nazionale di Fisica della Materia International School for Advance Studies

    1997-01-01

    We present a new approach to determine an accurate variational wave function for general quantum spin models, completely defined by a consistency requirement with the simple and well-known linear spin-wave expansion. With this wave function, it is also possible to obtain the correct behavior of the long distance correlation functions for the 1D S=1/2 antiferromagnet. In 2D the proposed spin-wave wave function represents an excellent approximation to the exact ground state of the S=1.2 XY mode...

  20. Design of a Two-Step Calibration Method of Kinematic Parameters for Serial Robots

    Science.gov (United States)

    WANG, Wei; WANG, Lei; YUN, Chao

    2017-03-01

    Serial robots are used to handle workpieces with large dimensions, and calibrating kinematic parameters is one of the most efficient ways to upgrade their accuracy. Many models are set up to investigate how many kinematic parameters can be identified to meet the minimal principle, but the base frame and the kinematic parameter are indistinctly calibrated in a one-step way. A two-step method of calibrating kinematic parameters is proposed to improve the accuracy of the robot's base frame and kinematic parameters. The forward kinematics described with respect to the measuring coordinate frame are established based on the product-of-exponential (POE) formula. In the first step the robot's base coordinate frame is calibrated by the unit quaternion form. The errors of both the robot's reference configuration and the base coordinate frame's pose are equivalently transformed to the zero-position errors of the robot's joints. The simplified model of the robot's positioning error is established in second-power explicit expressions. Then the identification model is finished by the least square method, requiring measuring position coordinates only. The complete subtasks of calibrating the robot's 39 kinematic parameters are finished in the second step. It's proved by a group of calibration experiments that by the proposed two-step calibration method the average absolute accuracy of industrial robots is updated to 0.23 mm. This paper presents that the robot's base frame should be calibrated before its kinematic parameters in order to upgrade its absolute positioning accuracy.

  1. Coupling atmospheric and ocean wave models for storm simulation

    DEFF Research Database (Denmark)

    Du, Jianting

    the atmosphere must, by conservation, result in the generation of the surface waves and currents. The physics-based methods are sensitive to the choice of wind-input source function (Sin), parameterization of high-frequency wave spectra tail, and numerical cut-off frequencies. Unfortunately, literature survey......This thesis studies the wind-wave interactions through the coupling between the atmospheric model and ocean surface wave models. Special attention is put on storm simulations in the North Sea for wind energy applications in the coastal zones. The two aspects, namely storm conditions and coastal...... shows that in most wind-wave coupling systems, either the Sin in the wave model is different from the one used for the momentum flux estimation in the atmospheric model, or the methods are too sensitive to the parameterization of high-frequency spectra tail and numerical cut-off frequencies. To confront...

  2. Contact kinematics of biomimetic scales

    Energy Technology Data Exchange (ETDEWEB)

    Ghosh, Ranajay; Ebrahimi, Hamid; Vaziri, Ashkan, E-mail: vaziri@coe.neu.edu [Department of Mechanical and Industrial Engineering, Northeastern University, Boston, Massachusetts 02115 (United States)

    2014-12-08

    Dermal scales, prevalent across biological groups, considerably boost survival by providing multifunctional advantages. Here, we investigate the nonlinear mechanical effects of biomimetic scale like attachments on the behavior of an elastic substrate brought about by the contact interaction of scales in pure bending using qualitative experiments, analytical models, and detailed finite element (FE) analysis. Our results reveal the existence of three distinct kinematic phases of operation spanning linear, nonlinear, and rigid behavior driven by kinematic interactions of scales. The response of the modified elastic beam strongly depends on the size and spatial overlap of rigid scales. The nonlinearity is perceptible even in relatively small strain regime and without invoking material level complexities of either the scales or the substrate.

  3. A kinematical model for the plastic deformation of face-centred cubic polycrystals

    International Nuclear Information System (INIS)

    Leffers, T.

    1975-01-01

    During the plastic deformation of a polycrystalline material the deformation of the individual grain must be adjusted to the deformation of the surrounding grains so that material continuity is maintained. This continuity condition is the essential feature distinguishing polycrystal deformation from single-crystal deformation. In the present work it is attempted to explain how the continuity condition is fulfilled in face-centred cubic polycrystals. The early treatments of the plastic deformation of polycrystalline materials were aimed directly at the formulation of a ''dynamical'' theory, i.e. it was the intention to cover the magnitude of the stresses involved as well as the slip processes producing the deformation. It is argued that rolling texture is a good tool for a necessary intermediate stage of establishing a ''kinematical'' model describing the slip processes, but not the magnitude of the necessary stresses. Three aspects of rolling texture are considered: (a) the development of the rolling textures found experimentally in face-centred cubic materials can be computer-simulated on the basis of models for the plastic deformation that only involve (111) slip; (b) experimentally that the widely accepted twinning theory for the transition in f.c.c. rolling texture does not reflect the behaviour of real materials; and (c) it is shown that the texture transition is thermally activated with an activation energy corresponding to that of cross slip. An electron-microscopical investigation of the slip process operating during rolling of f.c.c. polycrystals is also included. On the basis of the computer simulation of the texture formation supplemented by the experimental results a kinematical model is developed for the plastic deformation of f.c.c. polycrystals by rolling. In the proposed model the material continuity is maintained by inhomogeneous slip processes, combined with homogeneous multiple glide when the cross-slip frequency is high. (author)

  4. On use of radial evanescence remain term in kinematic hardening

    International Nuclear Information System (INIS)

    Geyer, P.

    1995-10-01

    A fine modelling of the material' behaviour can be necessary to study the mechanical strength of nuclear power plant' components under cyclic loads. Ratchetting is one of the last phenomena for which numerical models have to be improved. We discuss in this paper on use of radial evanescence remain term in kinematic hardening to improve the description of ratchetting in biaxial loading tests. It's well known that Chaboche elastoplastic model with two non linear kinematic hardening variables initially proposed by Armstrong and Frederick, usually over-predicts accumulation of ratchetting strain. Burlet and Cailletaud proposed in 1987 a non linear kinematic rule with a radial evanescence remain term. The two models lead to identical formulation for proportional loadings. In the case of a biaxial loading test (primary+secondary loading), Burlet and Cailletaud model leads to accommodation, when Chaboche one's leads to ratchetting with a constant increment of strain. So we can have an under-estimate with the first model and an over-estimate with the second. An easy method to improve the description of ratchetting is to combine the two kinematic rules. Such an idea is already used by Delobelle in his model. With analytical results in the case of tension-torsion tests, we show in a first part of the paper, the interest of radial evanescence remain term in the non linear kinematic rule to describe ratchetting: we give the conditions to get adaptation, accommodation or ratchetting and the value of the strain increment in the last case. In the second part of the paper, we propose to modify the elastoplastic Chaboche model by coupling the two types of hardening by means of two scalar parameters which can be identified independently on biaxial loading tests. Identification of these two parameters returns to speculate on the directions of strain in order to adjust the ratchetting to experimental observations. We use the experimental results on the austenitic steel 316L at room

  5. New Methods for Kinematic Modelling and Calibration of Robots

    DEFF Research Database (Denmark)

    Søe-Knudsen, Rune

    2014-01-01

    the accuracy in an easy and accessible way. The required equipment is accessible, since the cost is held to a minimum and can be made with conventional processing equipment. Our first method calibrates the kinematics of a robot using known relative positions measured with the robot itself and a plate...... with holes matching the robot tool flange. The second method calibrates the kinematics using two robots. This method allows the robots to carry out the collection of measurements and the adjustment, by themselves, after the robots have been connected. Furthermore, we also propose a method for restoring......Improving a robot's accuracy increases its ability to solve certain tasks, and is therefore valuable. Practical ways of achieving this improved accuracy, even after robot repair, is also valuable. In this work, we introduce methods that improve the robot's accuracy and make it possible to maintain...

  6. Wave Tank Studies of Strong Modulation of Wind Ripples Due To Long Waves

    Science.gov (United States)

    Ermakov, S.; Sergievskaya, I.; Shchegolkov, Yu.

    Modulation of wind capillary-gravity ripples due to long waves has been studied in wave tank experiment at low wind speeds using Ka-band radar. The experiments were carried out both for clean water and the water surface covered with surfactant films. It is obtained that the modulation of radar signals is quite strong and can increase with surfactant concentration and fetch. It is shown that the hydrodynamic Modulation Transfer Function (MTF) calculated for free wind ripples and taking into account the kinematic (straining) effect, variations of the wind stress and variations of surfactant concentration strongly underestimates experimental MTF-values. The effect of strong modulation is assumed to be connected with nonlinear harmonics of longer dm-cm- scale waves - bound waves ("parasitic ripples"). The intensity of bound waves depends strongly on the amplitude of decimetre-scale waves, therefore even weak modulation of the dm-scale waves due to long waves results to strong ("cascade") modulation of bound waves. Modulation of the system of "free/bound waves" is estimated using results of wave tank studies of bound waves generation and is shown to be in quali- tative agreement with experiment. This work was supported by MOD, UK via DERA Winfrith (Project ISTC 1774P) and by RFBR (Project 02-05-65102).

  7. Improving wave forecasting by integrating ensemble modelling and machine learning

    Science.gov (United States)

    O'Donncha, F.; Zhang, Y.; James, S. C.

    2017-12-01

    Modern smart-grid networks use technologies to instantly relay information on supply and demand to support effective decision making. Integration of renewable-energy resources with these systems demands accurate forecasting of energy production (and demand) capacities. For wave-energy converters, this requires wave-condition forecasting to enable estimates of energy production. Current operational wave forecasting systems exhibit substantial errors with wave-height RMSEs of 40 to 60 cm being typical, which limits the reliability of energy-generation predictions thereby impeding integration with the distribution grid. In this study, we integrate physics-based models with statistical learning aggregation techniques that combine forecasts from multiple, independent models into a single "best-estimate" prediction of the true state. The Simulating Waves Nearshore physics-based model is used to compute wind- and currents-augmented waves in the Monterey Bay area. Ensembles are developed based on multiple simulations perturbing input data (wave characteristics supplied at the model boundaries and winds) to the model. A learning-aggregation technique uses past observations and past model forecasts to calculate a weight for each model. The aggregated forecasts are compared to observation data to quantify the performance of the model ensemble and aggregation techniques. The appropriately weighted ensemble model outperforms an individual ensemble member with regard to forecasting wave conditions.

  8. Wave Model Development in Multi-Ion Plasmas

    Directory of Open Access Journals (Sweden)

    Sung-Hee Song

    1999-06-01

    Full Text Available Near-earth space is composed of plasmas which embed a number of plasma waves. Space plasmas consist of electrons and multi-ion that determine local wave propagation characteristics. In multi-ion plasmas, it is di cult to find out analytic solution from the dispersion relation in general. In this work, we have developed a model with an arbitrary magnetic field and density as well as multi-ion plasmas. This model allows us to investigate how plasma waves behave when they propagate along realistic magnetic field lines, which are assumed by IGRF(International Geomagnetic Reference Field. The results are found to be useful for the analysis of the in situ observational data in space. For instance, if waves are assumed to propagate into the polar region, from the equatorial region, our model quantitatively shows how polarization is altered along earth travel path.

  9. Quantum kinematics of spacetime. II. A model quantum cosmology with real clocks

    International Nuclear Information System (INIS)

    Hartle, J.B.

    1988-01-01

    Nonrelativistic model quantum cosmologies are studied in which the basic time variable is the position of a clock indicator and the time parameter of the Schroedinger equation is an unobservable label. Familiar Schroedinger-Heisenberg quantum mechanics emerges if the clock is ideal: arbitrarily accurate for arbitrarily long times. More realistically, however, the usual formulation emerges only as an approximation appropriate to states of this model universe in which part of the system functions approximately as an ideal clock. It is suggested that the quantum kinematics of spacetime theories such as general relativity may be analogous to those of this model. In particular it is suggested that our familiar notion of time in quantum mechanics is not an inevitable property of a general quantum framework but an approximate feature of specific initial conditions

  10. Kinematics of the symbiotic system R Aqr

    Science.gov (United States)

    Navarro, S.; Corral, L. J.; Steffen, W.

    2014-04-01

    We present the results of the kinematical analysis of the symbiotic system R Aqr. We obtained high dispersion spectra with the MES spectrograph at the 2.1 m telescope of San Pedro Mártir (MEZCAL). The used filter were Ha + [NII], (λc = 6575Å, Δλ = 90Å). We analyse the [NII] λλ6583 line. When the observations are compared with previous ones by Solf (1992) we detected an important change in the projected velocities of the observed knots, supporting the idea of a precessing jet. We are working also in a 3-D kinematic model for the object using the measured velocities and the state of the model is presented.

  11. Benchmark Modeling of the Near-Field and Far-Field Wave Effects of Wave Energy Arrays

    Energy Technology Data Exchange (ETDEWEB)

    Rhinefrank, Kenneth E; Haller, Merrick C; Ozkan-Haller, H Tuba

    2013-01-26

    This project is an industry-led partnership between Columbia Power Technologies and Oregon State University that will perform benchmark laboratory experiments and numerical modeling of the near-field and far-field impacts of wave scattering from an array of wave energy devices. These benchmark experimental observations will help to fill a gaping hole in our present knowledge of the near-field effects of multiple, floating wave energy converters and are a critical requirement for estimating the potential far-field environmental effects of wave energy arrays. The experiments will be performed at the Hinsdale Wave Research Laboratory (Oregon State University) and will utilize an array of newly developed Buoys' that are realistic, lab-scale floating power converters. The array of Buoys will be subjected to realistic, directional wave forcing (1:33 scale) that will approximate the expected conditions (waves and water depths) to be found off the Central Oregon Coast. Experimental observations will include comprehensive in-situ wave and current measurements as well as a suite of novel optical measurements. These new optical capabilities will include imaging of the 3D wave scattering using a binocular stereo camera system, as well as 3D device motion tracking using a newly acquired LED system. These observing systems will capture the 3D motion history of individual Buoys as well as resolve the 3D scattered wave field; thus resolving the constructive and destructive wave interference patterns produced by the array at high resolution. These data combined with the device motion tracking will provide necessary information for array design in order to balance array performance with the mitigation of far-field impacts. As a benchmark data set, these data will be an important resource for testing of models for wave/buoy interactions, buoy performance, and far-field effects on wave and current patterns due to the presence of arrays. Under the proposed project we will initiate

  12. Analysis and experimental kinematics of a skid-steering wheeled robot based on a laser scanner sensor.

    Science.gov (United States)

    Wang, Tianmiao; Wu, Yao; Liang, Jianhong; Han, Chenhao; Chen, Jiao; Zhao, Qiteng

    2015-04-24

    Skid-steering mobile robots are widely used because of their simple mechanism and robustness. However, due to the complex wheel-ground interactions and the kinematic constraints, it is a challenge to understand the kinematics and dynamics of such a robotic platform. In this paper, we develop an analysis and experimental kinematic scheme for a skid-steering wheeled vehicle based-on a laser scanner sensor. The kinematics model is established based on the boundedness of the instantaneous centers of rotation (ICR) of treads on the 2D motion plane. The kinematic parameters (the ICR coefficient , the path curvature variable and robot speed ), including the effect of vehicle dynamics, are introduced to describe the kinematics model. Then, an exact but costly dynamic model is used and the simulation of this model's stationary response for the vehicle shows a qualitative relationship for the specified parameters and . Moreover, the parameters of the kinematic model are determined based-on a laser scanner localization experimental analysis method with a skid-steering robotic platform, Pioneer P3-AT. The relationship between the ICR coefficient and two physical factors is studied, i.e., the radius of the path curvature and the robot speed . An empirical function-based relationship between the ICR coefficient of the robot and the path parameters is derived. To validate the obtained results, it is empirically demonstrated that the proposed kinematics model significantly improves the dead-reckoning performance of this skid-steering robot.

  13. Model for Shock Wave Chaos

    KAUST Repository

    Kasimov, Aslan R.

    2013-03-08

    We propose the following model equation, ut+1/2(u2−uus)x=f(x,us) that predicts chaotic shock waves, similar to those in detonations in chemically reacting mixtures. The equation is given on the half line, x<0, and the shock is located at x=0 for any t≥0. Here, us(t) is the shock state and the source term f is taken to mimic the chemical energy release in detonations. This equation retains the essential physics needed to reproduce many properties of detonations in gaseous reactive mixtures: steady traveling wave solutions, instability of such solutions, and the onset of chaos. Our model is the first (to our knowledge) to describe chaos in shock waves by a scalar first-order partial differential equation. The chaos arises in the equation thanks to an interplay between the nonlinearity of the inviscid Burgers equation and a novel forcing term that is nonlocal in nature and has deep physical roots in reactive Euler equations.

  14. Traveling waves and conservation laws for highly nonlinear wave equations modeling Hertz chains

    Science.gov (United States)

    Przedborski, Michelle; Anco, Stephen C.

    2017-09-01

    A highly nonlinear, fourth-order wave equation that models the continuum theory of long wavelength pulses in weakly compressed, homogeneous, discrete chains with a general power-law contact interaction is studied. For this wave equation, all solitary wave solutions and all nonlinear periodic wave solutions, along with all conservation laws, are derived. The solutions are explicitly parameterized in terms of the asymptotic value of the wave amplitude in the case of solitary waves and the peak of the wave amplitude in the case of nonlinear periodic waves. All cases in which the solution expressions can be stated in an explicit analytic form using elementary functions are worked out. In these cases, explicit expressions for the total energy and total momentum for all solutions are obtained as well. The derivation of the solutions uses the conservation laws combined with an energy analysis argument to reduce the wave equation directly to a separable first-order differential equation that determines the wave amplitude in terms of the traveling wave variable. This method can be applied more generally to other highly nonlinear wave equations.

  15. Extreme winds and waves for offshore turbines: Coupling atmosphere and wave modeling for design and operation in coastal zones

    DEFF Research Database (Denmark)

    Larsén, Xiaoli Guo; Bolanos, Rodolfo; Du, Jianting

    modeling for oshore wind farms. This modeling system consists of the atmospheric Weather Research and Forecasting (WRF) model, the wave model SWAN and an interface the Wave Boundary Layer Model WBLM, within the framework of coupled-ocean-atmosphere-wave-sediment transport modeling system COAWST...... (Hereinafter the WRF-WBLM-SWAN model). WBLM is implemented in SWAN, and it calculates stress and kinetic energy budgets in the lowest atmospheric layer where the wave-induced stress is introduced to the atmospheric modeling. WBLM ensures consistent calculation of stress for both the atmospheric and wave......, which can aect the choice of the off-shore wind turbine type. X-WiWa examined various methodologies for wave modeling. The offline coupling system using atmospheric data such as WRF or global reanalysis wind field to the MIKE 21 SW model has been improved with considerations of stability, air density...

  16. Application of multi-parameter chorus and plasmaspheric hiss wave models in radiation belt modeling

    Science.gov (United States)

    Aryan, H.; Kang, S. B.; Balikhin, M. A.; Fok, M. C. H.; Agapitov, O. V.; Komar, C. M.; Kanekal, S. G.; Nagai, T.; Sibeck, D. G.

    2017-12-01

    Numerical simulation studies of the Earth's radiation belts are important to understand the acceleration and loss of energetic electrons. The Comprehensive Inner Magnetosphere-Ionosphere (CIMI) model along with many other radiation belt models require inputs for pitch angle, energy, and cross diffusion of electrons, due to chorus and plasmaspheric hiss waves. These parameters are calculated using statistical wave distribution models of chorus and plasmaspheric hiss amplitudes. In this study we incorporate recently developed multi-parameter chorus and plasmaspheric hiss wave models based on geomagnetic index and solar wind parameters. We perform CIMI simulations for two geomagnetic storms and compare the flux enhancement of MeV electrons with data from the Van Allen Probes and Akebono satellites. We show that the relativistic electron fluxes calculated with multi-parameter wave models resembles the observations more accurately than the relativistic electron fluxes calculated with single-parameter wave models. This indicates that wave models based on a combination of geomagnetic index and solar wind parameters are more effective as inputs to radiation belt models.

  17. Determining SUSY model parameters and masses at the LHC using cross sections, kinematic edges and other observables

    CERN Document Server

    White, M J; Parker, M A

    2005-01-01

    We address the problem of mass measurements of supersymmetric particles at the Large Hadron Collider, using the ATLAS detector as an example. By using Markov Chain sampling techniques to combine standard measurements of kinematic edges in the invariant mass distributions of decay products with a measurement of a missing $p_T$ cross-section, we show that the precision of mass measurements at the LHC can be dramatically improved, even when we do not assume that we have measured the kinematic endpoints precisely, or that we have identified exactly which particles are involved in the decay chain causing the endpoints. The generality of the technique is demonstrated in a preliminary investigation of a non-universal SUGRA model, in which we relax the requirements of mSUGRA by breaking the degeneracy of the GUT scale gaugino masses. The model studied is compatible with the WMAP limits on dark matter relic density.

  18. Wave-induced stress and breaking of sea ice in a coupled hydrodynamic discrete-element wave-ice model

    Science.gov (United States)

    Herman, Agnieszka

    2017-11-01

    In this paper, a coupled sea ice-wave model is developed and used to analyze wave-induced stress and breaking in sea ice for a range of wave and ice conditions. The sea ice module is a discrete-element bonded-particle model, in which ice is represented as cuboid grains floating on the water surface that can be connected to their neighbors by elastic joints. The joints may break if instantaneous stresses acting on them exceed their strength. The wave module is based on an open-source version of the Non-Hydrostatic WAVE model (NHWAVE). The two modules are coupled with proper boundary conditions for pressure and velocity, exchanged at every wave model time step. In the present version, the model operates in two dimensions (one vertical and one horizontal) and is suitable for simulating compact ice in which heave and pitch motion dominates over surge. In a series of simulations with varying sea ice properties and incoming wavelength it is shown that wave-induced stress reaches maximum values at a certain distance from the ice edge. The value of maximum stress depends on both ice properties and characteristics of incoming waves, but, crucially for ice breaking, the location at which the maximum occurs does not change with the incoming wavelength. Consequently, both regular and random (Jonswap spectrum) waves break the ice into floes with almost identical sizes. The width of the zone of broken ice depends on ice strength and wave attenuation rates in the ice.

  19. VOLUMETRIC ERROR COMPENSATION IN FIVE-AXIS CNC MACHINING CENTER THROUGH KINEMATICS MODELING OF GEOMETRIC ERROR

    Directory of Open Access Journals (Sweden)

    Pooyan Vahidi Pashsaki

    2016-06-01

    Full Text Available Accuracy of a five-axis CNC machine tool is affected by a vast number of error sources. This paper investigates volumetric error modeling and its compensation to the basis for creation of new tool path for improvement of work pieces accuracy. The volumetric error model of a five-axis machine tool with the configuration RTTTR (tilting head B-axis and rotary table in work piece side A΄ was set up taking into consideration rigid body kinematics and homogeneous transformation matrix, in which 43 error components are included. Volumetric error comprises 43 error components that can separately reduce geometrical and dimensional accuracy of work pieces. The machining accuracy of work piece is guaranteed due to the position of the cutting tool center point (TCP relative to the work piece. The cutting tool is deviated from its ideal position relative to the work piece and machining error is experienced. For compensation process detection of the present tool path and analysis of the RTTTR five-axis CNC machine tools geometrical error, translating current position of component to compensated positions using the Kinematics error model, converting newly created component to new tool paths using the compensation algorithms and finally editing old G-codes using G-code generator algorithm have been employed.

  20. Applicability of WaveWatch-III wave model to fatigue assessment of offshore floating structures

    NARCIS (Netherlands)

    Zou, T.; Kaminski, M.L.

    2016-01-01

    In design and operation of floating offshore structures, one has to avoid fatigue failures caused by action of ocean waves. The aim of this paper is to investigate the applicability of WaveWatch-III wave model to fatigue assessment of offshore floating structures. The applicability was investigated

  1. Computational study of nonlinear plasma waves. I. Simulation model and monochromatic wave propagation

    International Nuclear Information System (INIS)

    Matsuda, Y.; Crawford, F.W.

    1975-01-01

    An economical low-noise plasma simulation model originated by Denavit is applied to a series of problems associated with electrostatic wave propagation in a one-dimensional, collisionless, Maxwellian plasma, in the absence of magnetic field. The model is described and tested, first in the absence of an applied signal, and then with a small amplitude perturbation. These tests serve to establish the low-noise features of the model, and to verify the theoretical linear dispersion relation at wave energy levels as low as 10 -6 of the plasma thermal energy: Better quantitative results are obtained, for comparable computing time, than can be obtained by conventional particle simulation models, or direct solution of the Vlasov equation. The method is then used to study propagation of an essentially monochromatic plane wave. Results on amplitude oscillation and nonlinear frequency shift are compared with available theories

  2. 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.

  3. A wave model for dwarf novae

    International Nuclear Information System (INIS)

    Sparks, W.M.; Kutter, G.S.

    1980-01-01

    The rapid coherent oscillation during a dwarf nova outburst is attributed to an accretion-driven wave going around the white dwarf component of the binary system. The increase and decrease in the period of this oscillation is due to the change in the velocity of the wave as it is first being driven and then damped. Qualitatively, a large number of observations can be explained with such a model. The beginnings of a mathematical representation of this model are developed. (orig.)

  4. Computational study of nonlinear plasma waves. I. Simulation model and monochromatic wave propagtion

    International Nuclear Information System (INIS)

    Matda, Y.; Crawford, F.W.

    1974-12-01

    An economical low noise plasma simulation model is applied to a series of problems associated with electrostatic wave propagation in a one-dimensional, collisionless, Maxwellian plasma, in the absence of magnetic field. The model is described and tested, first in the absence of an applied signal, and then with a small amplitude perturbation, to establish the low noise features and to verify the theoretical linear dispersion relation at wave energy levels as low as 0.000,001 of the plasma thermal energy. The method is then used to study propagation of an essentially monochromatic plane wave. Results on amplitude oscillation and nonlinear frequency shift are compared with available theories. The additional phenomena of sideband instability and satellite growth, stimulated by large amplitude wave propagation and the resulting particle trapping, are described. (auth)

  5. Hydraulic Model Tests on Modified Wave Dragon

    DEFF Research Database (Denmark)

    Hald, Tue; Lynggaard, Jakob

    A floating model of the Wave Dragon (WD) was built in autumn 1998 by the Danish Maritime Institute in scale 1:50, see Sørensen and Friis-Madsen (1999) for reference. This model was subjected to a series of model tests and subsequent modifications at Aalborg University and in the following...... are found in Hald and Lynggaard (2001). Model tests and reconstruction are carried out during the phase 3 project: ”Wave Dragon. Reconstruction of an existing model in scale 1:50 and sequentiel tests of changes to the model geometry and mass distribution parameters” sponsored by the Danish Energy Agency...

  6. 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.)

  7. General analytical shakedown solution for structures with kinematic hardening materials

    Science.gov (United States)

    Guo, Baofeng; Zou, Zongyuan; Jin, Miao

    2016-09-01

    The effect of kinematic hardening behavior on the shakedown behaviors of structure has been investigated by performing shakedown analysis for some specific problems. The results obtained only show that the shakedown limit loads of structures with kinematic hardening model are larger than or equal to those with perfectly plastic model of the same initial yield stress. To further investigate the rules governing the different shakedown behaviors of kinematic hardening structures, the extended shakedown theorem for limited kinematic hardening is applied, the shakedown condition is then proposed, and a general analytical solution for the structural shakedown limit load is thus derived. The analytical shakedown limit loads for fully reversed cyclic loading and non-fully reversed cyclic loading are then given based on the general solution. The resulting analytical solution is applied to some specific problems: a hollow specimen subjected to tension and torsion, a flanged pipe subjected to pressure and axial force and a square plate with small central hole subjected to biaxial tension. The results obtained are compared with those in literatures, they are consistent with each other. Based on the resulting general analytical solution, rules governing the general effects of kinematic hardening behavior on the shakedown behavior of structure are clearly.

  8. Experimental and numerical statistics of storm wave forces on a monopile in uni- and multidirectional seas

    DEFF Research Database (Denmark)

    Schløer, Signe; Bredmose, Henrik; Ghadirian, Amin

    2017-01-01

    the straight multiples of the peak frequency. Further, the higher harmonics of the multidirectional wave spectra contain less energy. Both effects can be explained by the second order wave theory. Finally, the computed wave kinematics are used to investigate the dynamic response of an offshore wind turbine...

  9. Analysis of flood events on small river catchments using the KINFIL model

    Czech Academy of Sciences Publication Activity Database

    Kovář, P.; Cudlín, Pavel; Heřman, Michal; Zemek, František; Korytář, M.

    2002-01-01

    Roč. 50, č. 2 (2002), s. 157-171 ISSN 0042-790X Institutional research plan: CEZ:AV0Z6087904 Keywords : Infiltration Approach * Kinematic Wave * Rainfall-Runoff Models Subject RIV: DA - Hydrology ; Limnology

  10. Transfer reactions in inverse kinematics at REX-ISOLDE

    CERN Document Server

    Tengborn, E

    Research on the structure of exotic nuclei is one of the most intriguing topics in present day nuclear physics. With the use of facilities for isotope separation on-line, such as ISOLDE at CERN, short-lived isotopes can be studied experimentally. Since 2002, the REX-ISOLDE facility enables radioactive ions produced by ISOLDE to be post-accelerated, increasing the energy of the ions enough to do nuclear transfer reactions in inverse kinematics. In this thesis, transfer reactions are used to study the structure of neutron-rich lithium isotopes through a series of experiments at REX-ISOLDE. The first experiment used a 9Li beam at 2.36 MeV/u impinging on a deuterated polyethylene target to study 10Li, 9Li and 8Li. For the (d,p)-channel the resonance ground state and a first excited state are observed and the results agree with theoretical calculations. The elastic channel agrees with Optical Model, OM, calculations. For the (d,t)-channel the shape of the angular distribution agrees with Distorted Wave Born Approx...

  11. A Blast Wave Model With Viscous Corrections

    International Nuclear Information System (INIS)

    Yang, Z; Fries, R J

    2017-01-01

    Hadronic observables in the final stage of heavy ion collision can be described well by fluid dynamics or blast wave parameterizations. We improve existing blast wave models by adding shear viscous corrections to the particle distributions in the Navier-Stokes approximation. The specific shear viscosity η/s of a hadron gas at the freeze-out temperature is a new parameter in this model. We extract the blast wave parameters with viscous corrections from experimental data which leads to constraints on the specific shear viscosity at kinetic freeze-out. Preliminary results show η/s is rather small. (paper)

  12. A Blast Wave Model With Viscous Corrections

    Science.gov (United States)

    Yang, Z.; Fries, R. J.

    2017-04-01

    Hadronic observables in the final stage of heavy ion collision can be described well by fluid dynamics or blast wave parameterizations. We improve existing blast wave models by adding shear viscous corrections to the particle distributions in the Navier-Stokes approximation. The specific shear viscosity η/s of a hadron gas at the freeze-out temperature is a new parameter in this model. We extract the blast wave parameters with viscous corrections from experimental data which leads to constraints on the specific shear viscosity at kinetic freeze-out. Preliminary results show η/s is rather small.

  13. Prediction of Equilibrium States of Kinematic and Thermal Fields in Homogeneous Turbulence Submitted To the Rotation

    International Nuclear Information System (INIS)

    Chebbi, Besma; Bouzaiane, Mounir; Lili, Taieb

    2009-01-01

    In this work, effects of rotation on the evolution of kinematic and thermal fields in homogeneous sheared turbulence are investigated using second order closure modeling. The Launder-Reece-Ro di models, the Speziale-Sarkar-Gatski model and the Shih-Lumley models are retained for pressure-strain correlation and pressure-temperature correlation. Whereas classic models are retained for time evolution equations of kinematic and thermal dissipation rates. The fourth order Runge-Kutta method is used to resolve three non linear differential systems obtained after modeling. The numerical integration is carried out separately for several values of the dimensionless rotation number R equal to 0, 0.25 and 0.5. The obtained results are compared to the recent results of Direct Numerical Simulations of G.Brethouwer. The results have confirmed the asymptotic equilibrium behaviors of kinematic and thermal dimensionless parameters. Furthermore they have shown that rotation affects not only kinematic field but also thermal field. The coupling between the Speziale-Sarkar-Gatski model and the Launder-Reece-Rodi model is of a big contribution on the prediction of kinematic and thermal fields

  14. Three-dimensional optical reconstruction of vocal fold kinematics using high-speed video with a laser projection system

    Science.gov (United States)

    Luegmair, Georg; Mehta, Daryush D.; Kobler, James B.; Döllinger, Michael

    2015-01-01

    Vocal fold kinematics and its interaction with aerodynamic characteristics play a primary role in acoustic sound production of the human voice. Investigating the temporal details of these kinematics using high-speed videoendoscopic imaging techniques has proven challenging in part due to the limitations of quantifying complex vocal fold vibratory behavior using only two spatial dimensions. Thus, we propose an optical method of reconstructing the superior vocal fold surface in three spatial dimensions using a high-speed video camera and laser projection system. Using stereo-triangulation principles, we extend the camera-laser projector method and present an efficient image processing workflow to generate the three-dimensional vocal fold surfaces during phonation captured at 4000 frames per second. Initial results are provided for airflow-driven vibration of an ex vivo vocal fold model in which at least 75% of visible laser points contributed to the reconstructed surface. The method captures the vertical motion of the vocal folds at a high accuracy to allow for the computation of three-dimensional mucosal wave features such as vibratory amplitude, velocity, and asymmetry. PMID:26087485

  15. Investigation of Wave Energy Converter Effects on Wave Fields: A Modeling Sensitivity Study in Monterey Bay CA.

    Energy Technology Data Exchange (ETDEWEB)

    Roberts, Jesse D.; Grace Chang; Jason Magalen; Craig Jones

    2014-08-01

    A n indust ry standard wave modeling tool was utilized to investigate model sensitivity to input parameters and wave energy converter ( WEC ) array deploym ent scenarios. Wave propagation was investigated d ownstream of the WECs to evaluate overall near - and far - field effects of WEC arrays. The sensitivity study illustrate d that b oth wave height and near - bottom orbital velocity we re subject to the largest pote ntial variations, each decreas ed in sensitivity as transmission coefficient increase d , as number and spacing of WEC devices decrease d , and as the deployment location move d offshore. Wave direction wa s affected consistently for all parameters and wave perio d was not affected (or negligibly affected) by varying model parameters or WEC configuration .

  16. Improvements on Semi-Classical Distorted-Wave model

    Energy Technology Data Exchange (ETDEWEB)

    Sun Weili; Watanabe, Y.; Kuwata, R. [Kyushu Univ., Fukuoka (Japan); Kohno, M.; Ogata, K.; Kawai, M.

    1998-03-01

    A method of improving the Semi-Classical Distorted Wave (SCDW) model in terms of the Wigner transform of the one-body density matrix is presented. Finite size effect of atomic nuclei can be taken into account by using the single particle wave functions for harmonic oscillator or Wood-Saxon potential, instead of those based on the local Fermi-gas model which were incorporated into previous SCDW model. We carried out a preliminary SCDW calculation of 160 MeV (p,p`x) reaction on {sup 90}Zr with the Wigner transform of harmonic oscillator wave functions. It is shown that the present calculation of angular distributions increase remarkably at backward angles than the previous ones and the agreement with the experimental data is improved. (author)

  17. Continuous and simultaneous estimation of finger kinematics using inputs from an EMG-to-muscle activation model.

    Science.gov (United States)

    Ngeo, Jimson G; Tamei, Tomoya; Shibata, Tomohiro

    2014-08-14

    Surface electromyography (EMG) signals are often used in many robot and rehabilitation applications because these reflect motor intentions of users very well. However, very few studies have focused on the accurate and proportional control of the human hand using EMG signals. Many have focused on discrete gesture classification and some have encountered inherent problems such as electro-mechanical delays (EMD). Here, we present a new method for estimating simultaneous and multiple finger kinematics from multi-channel surface EMG signals. In this study, surface EMG signals from the forearm and finger kinematic data were extracted from ten able-bodied subjects while they were tasked to do individual and simultaneous multiple finger flexion and extension movements in free space. Instead of using traditional time-domain features of EMG, an EMG-to-Muscle Activation model that parameterizes EMD was used and shown to give better estimation performance. A fast feed forward artificial neural network (ANN) and a nonparametric Gaussian Process (GP) regressor were both used and evaluated to estimate complex finger kinematics, with the latter rarely used in the other related literature. The estimation accuracies, in terms of mean correlation coefficient, were 0.85 ± 0.07, 0.78 ± 0.06 and 0.73 ± 0.04 for the metacarpophalangeal (MCP), proximal interphalangeal (PIP) and the distal interphalangeal (DIP) finger joint DOFs, respectively. The mean root-mean-square error in each individual DOF ranged from 5 to 15%. We show that estimation improved using the proposed muscle activation inputs compared to other features, and that using GP regression gave better estimation results when using fewer training samples. The proposed method provides a viable means of capturing the general trend of finger movements and shows a good way of estimating finger joint kinematics using a muscle activation model that parameterizes EMD. The results from this study demonstrates a potential control

  18. Model-based dispersive wave processing: A recursive Bayesian solution

    International Nuclear Information System (INIS)

    Candy, J.V.; Chambers, D.H.

    1999-01-01

    Wave propagation through dispersive media represents a significant problem in many acoustic applications, especially in ocean acoustics, seismology, and nondestructive evaluation. In this paper we propose a propagation model that can easily represent many classes of dispersive waves and proceed to develop the model-based solution to the wave processing problem. It is shown that the underlying wave system is nonlinear and time-variable requiring a recursive processor. Thus the general solution to the model-based dispersive wave enhancement problem is developed using a Bayesian maximum a posteriori (MAP) approach and shown to lead to the recursive, nonlinear extended Kalman filter (EKF) processor. The problem of internal wave estimation is cast within this framework. The specific processor is developed and applied to data synthesized by a sophisticated simulator demonstrating the feasibility of this approach. copyright 1999 Acoustical Society of America.

  19. Kinematic Earthquake Ground‐Motion Simulations on Listric Normal Faults

    KAUST Repository

    Passone, Luca

    2017-11-28

    Complex finite-faulting source processes have important consequences for near-source ground motions, but empirical ground-motion prediction equations still lack near-source data and hence cannot fully capture near-fault shaking effects. Using a simulation-based approach, we study the effects of specific source parameterizations on near-field ground motions where empirical data are limited. Here, we investigate the effects of fault listricity through near-field kinematic ground-motion simulations. Listric faults are defined as curved faults in which dip decreases with depth, resulting in a concave upward profile. The listric profiles used in this article are built by applying a specific shape function and varying the initial dip and the degree of listricity. Furthermore, we consider variable rupture speed and slip distribution to generate ensembles of kinematic source models. These ensembles are then used in a generalized 3D finite-difference method to compute synthetic seismograms; the corresponding shaking levels are then compared in terms of peak ground velocities (PGVs) to quantify the effects of breaking fault planarity. Our results show two general features: (1) as listricity increases, the PGVs decrease on the footwall and increase on the hanging wall, and (2) constructive interference of seismic waves emanated from the listric fault causes PGVs over two times higher than those observed for the planar fault. Our results are relevant for seismic hazard assessment for near-fault areas for which observations are scarce, such as in the listric Campotosto fault (Italy) located in an active seismic area under a dam.

  20. Kinematic Earthquake Ground‐Motion Simulations on Listric Normal Faults

    KAUST Repository

    Passone, Luca; Mai, Paul Martin

    2017-01-01

    Complex finite-faulting source processes have important consequences for near-source ground motions, but empirical ground-motion prediction equations still lack near-source data and hence cannot fully capture near-fault shaking effects. Using a simulation-based approach, we study the effects of specific source parameterizations on near-field ground motions where empirical data are limited. Here, we investigate the effects of fault listricity through near-field kinematic ground-motion simulations. Listric faults are defined as curved faults in which dip decreases with depth, resulting in a concave upward profile. The listric profiles used in this article are built by applying a specific shape function and varying the initial dip and the degree of listricity. Furthermore, we consider variable rupture speed and slip distribution to generate ensembles of kinematic source models. These ensembles are then used in a generalized 3D finite-difference method to compute synthetic seismograms; the corresponding shaking levels are then compared in terms of peak ground velocities (PGVs) to quantify the effects of breaking fault planarity. Our results show two general features: (1) as listricity increases, the PGVs decrease on the footwall and increase on the hanging wall, and (2) constructive interference of seismic waves emanated from the listric fault causes PGVs over two times higher than those observed for the planar fault. Our results are relevant for seismic hazard assessment for near-fault areas for which observations are scarce, such as in the listric Campotosto fault (Italy) located in an active seismic area under a dam.

  1. Generating synthetic wave climates for coastal modelling: a linear mixed modelling approach

    Science.gov (United States)

    Thomas, C.; Lark, R. M.

    2013-12-01

    Numerical coastline morphological evolution models require wave climate properties to drive morphological change through time. Wave climate properties (typically wave height, period and direction) may be temporally fixed, culled from real wave buoy data, or allowed to vary in some way defined by a Gaussian or other pdf. However, to examine sensitivity of coastline morphologies to wave climate change, it seems desirable to be able to modify wave climate time series from a current to some new state along a trajectory, but in a way consistent with, or initially conditioned by, the properties of existing data, or to generate fully synthetic data sets with realistic time series properties. For example, mean or significant wave height time series may have underlying periodicities, as revealed in numerous analyses of wave data. Our motivation is to develop a simple methodology to generate synthetic wave climate time series that can change in some stochastic way through time. We wish to use such time series in a coastline evolution model to test sensitivities of coastal landforms to changes in wave climate over decadal and centennial scales. We have worked initially on time series of significant wave height, based on data from a Waverider III buoy located off the coast of Yorkshire, England. The statistical framework for the simulation is the linear mixed model. The target variable, perhaps after transformation (Box-Cox), is modelled as a multivariate Gaussian, the mean modelled as a function of a fixed effect, and two random components, one of which is independently and identically distributed (iid) and the second of which is temporally correlated. The model was fitted to the data by likelihood methods. We considered the option of a periodic mean, the period either fixed (e.g. at 12 months) or estimated from the data. We considered two possible correlation structures for the second random effect. In one the correlation decays exponentially with time. In the second

  2. 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.

  3. Modeling elastic wave propagation in kidney stones with application to shock wave lithotripsy.

    Science.gov (United States)

    Cleveland, Robin O; Sapozhnikov, Oleg A

    2005-10-01

    A time-domain finite-difference solution to the equations of linear elasticity was used to model the propagation of lithotripsy waves in kidney stones. The model was used to determine the loading on the stone (principal stresses and strains and maximum shear stresses and strains) due to the impact of lithotripsy shock waves. The simulations show that the peak loading induced in kidney stones is generated by constructive interference from shear waves launched from the outer edge of the stone with other waves in the stone. Notably the shear wave induced loads were significantly larger than the loads generated by the classic Hopkinson or spall effect. For simulations where the diameter of the focal spot of the lithotripter was smaller than that of the stone the loading decreased by more than 50%. The constructive interference was also sensitive to shock rise time and it was found that the peak tensile stress reduced by 30% as rise time increased from 25 to 150 ns. These results demonstrate that shear waves likely play a critical role in stone comminution and that lithotripters with large focal widths and short rise times should be effective at generating high stresses inside kidney stones.

  4. Density-based global sensitivity analysis of sheet-flow travel time: Kinematic wave-based formulations

    Science.gov (United States)

    Hosseini, Seiyed Mossa; Ataie-Ashtiani, Behzad; Simmons, Craig T.

    2018-04-01

    Despite advancements in developing physics-based formulations to estimate the sheet-flow travel time (tSHF), the quantification of the relative impacts of influential parameters on tSHF has not previously been considered. In this study, a brief review of the physics-based formulations to estimate tSHF including kinematic wave (K-W) theory in combination with Manning's roughness (K-M) and with Darcy-Weisbach friction formula (K-D) over single and multiple planes is provided. Then, the relative significance of input parameters to the developed approaches is quantified by a density-based global sensitivity analysis (GSA). The performance of K-M considering zero-upstream and uniform flow depth (so-called K-M1 and K-M2), and K-D formulae to estimate the tSHF over single plane surface were assessed using several sets of experimental data collected from the previous studies. The compatibility of the developed models to estimate tSHF over multiple planes considering temporal rainfall distributions of Natural Resources Conservation Service, NRCS (I, Ia, II, and III) are scrutinized by several real-world examples. The results obtained demonstrated that the main controlling parameters of tSHF through K-D and K-M formulae are the length of surface plane (mean sensitivity index T̂i = 0.72) and flow resistance (mean T̂i = 0.52), respectively. Conversely, the flow temperature and initial abstraction ratio of rainfall have the lowest influence on tSHF (mean T̂i is 0.11 and 0.12, respectively). The significant role of the flow regime on the estimation of tSHF over a single and a cascade of planes are also demonstrated. Results reveal that the K-D formulation provides more precise tSHF over the single plane surface with an average percentage of error, APE equal to 9.23% (the APE for K-M1 and K-M2 formulae were 13.8%, and 36.33%, respectively). The superiority of Manning-jointed formulae in estimation of tSHF is due to the incorporation of effects from different flow regimes as

  5. Integration of coastal inundation modeling from storm tides to individual waves

    Science.gov (United States)

    Li, Ning; Roeber, Volker; Yamazaki, Yoshiki; Heitmann, Troy W.; Bai, Yefei; Cheung, Kwok Fai

    2014-11-01

    Modeling of storm-induced coastal inundation has primarily focused on the surge generated by atmospheric pressure and surface winds with phase-averaged effects of the waves as setup. Through an interoperable model package, we investigate the role of phase-resolving wave processes in simulation of coastal flood hazards. A spectral ocean wave model describes generation and propagation of storm waves from deep to intermediate water, while a non-hydrostatic storm-tide model has the option to couple with a spectral coastal wave model for computation of phase-averaged processes in a near-shore region. The ocean wave and storm-tide models can alternatively provide the wave spectrum and the surface elevation as the boundary and initial conditions for a nested Boussinesq model. Additional surface-gradient terms in the Boussinesq equations maintain the quasi-steady, non-uniform storm tide for modeling of phase-resolving surf and swash-zone processes as well as combined tide, surge, and wave inundation. The two nesting schemes are demonstrated through a case study of Hurricane Iniki, which made landfall on the Hawaiian Island of Kauai in 1992. With input from a parametric hurricane model and global reanalysis and tidal datasets, the two approaches produce comparable significant wave heights and phase-averaged surface elevations in the surf zone. The nesting of the Boussinesq model provides a seamless approach to augment the inundation due to the individual waves in matching the recorded debris line along the coast.

  6. 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.

  7. Antiferromagnetism and d-wave superconductivity in the Hubbard model

    Energy Technology Data Exchange (ETDEWEB)

    Krahl, H.C.

    2007-07-25

    The two-dimensional Hubbard model is a promising effective model for the electronic degrees of freedom in the copper-oxide planes of high temperature superconductors. We present a functional renormalization group approach to this model with focus on antiferromagnetism and d-wave superconductivity. In order to make the relevant degrees of freedom more explicitly accessible on all length scales, we introduce composite bosonic fields mediating the interaction between the fermions. Spontaneous symmetry breaking is reflected in a non-vanishing expectation value of a bosonic field. The emergence of a coupling in the d-wave pairing channel triggered by spin wave fluctuations is demonstrated. Furthermore, the highest temperature at which the interaction strength for the electrons diverges in the renormalization flow is calculated for both antiferromagnetism and d-wave superconductivity over a wide range of doping. This ''pseudo-critical'' temperature signals the onset of local ordering. Moreover, the temperature dependence of d-wave superconducting order is studied within a simplified model characterized by a single coupling in the d-wave pairing channel. The phase transition within this model is found to be of the Kosterlitz-Thouless type. (orig.)

  8. Proton relativistic model; Modelo relativistico do proton

    Energy Technology Data Exchange (ETDEWEB)

    Araujo, Wilson Roberto Barbosa de

    1996-12-31

    In this dissertation, we present a model for the nucleon, which is composed by three relativistic quarks interacting through a contract force. The nucleon wave-function was obtained from the Faddeev equation in the null-plane. The covariance of the model under kinematical null-plane boots is discussed. The electric proton form-factor, calculated from the Faddeev wave-function, was in agreement with the data for low-momentum transfers and described qualitatively the asymptotic region for momentum transfers around 2 GeV. (author) 42 refs., 22 figs., 1 tab.

  9. Eikonal approximation in AdS/CFT: Conformal partial waves and finite N four-point functions

    International Nuclear Information System (INIS)

    Cornalba, Lorenzo; Costa, Miguel S.; Penedones, Joao; Schiappa, Ricardo

    2007-01-01

    We introduce the impact parameter representation for conformal field theory correlators of the form A∼ 1 O 2 O 1 O 2 >. This representation is appropriate in the eikonal kinematical regime, and approximates the conformal partial wave decomposition in the limit of large spin and dimension of the exchanged primary. Using recent results on the two-point function 1 O 1 > shock in the presence of a shock wave in anti-de Sitter, and its relation to the discontinuity of the four-point amplitude A across a kinematical branch cut, we find the high spin and dimension conformal partial wave decomposition of all tree-level anti-de Sitter Witten diagrams. We show that, as in flat space, the eikonal kinematical regime is dominated by the T-channel exchange of the massless particle with highest spin (graviton dominance). We also compute the anomalous dimensions of the high spin O 1 O 2 composites. Finally, we conjecture a formula re-summing crossed-ladder Witten diagrams to all orders in the gravitational coupling

  10. 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...

  11. Analysis and Development of Walking Algorithm Kinematic Model for 5-Degree of Freedom Bipedal Robot

    Directory of Open Access Journals (Sweden)

    Gerald Wahyudi Setiono

    2012-12-01

    Full Text Available A design of walking diagram and the calculation of a bipedal robot have been developed. The bipedal robot was designed and constructed with several kinds of servo bracket for the legs, two feet and a hip. Each of the bipedal robot leg was 5-degrees of freedom, three pitches (hip joint, knee joint and ankle joint and two rolls (hip joint and ankle joint. The walking algorithm of this bipedal robot was based on the triangle formulation of cosine law to get the angle value at each joint. The hip height, height of the swinging leg and the step distance are derived based on linear equation. This paper discussed the kinematic model analysis and the development of the walking diagram of the bipedal robot. Kinematics equations were derived, the joint angles were simulated and coded into Arduino board to be executed to the robot.

  12. Stochastic Models for the Kinematics of Moisture Transport and Condensation in Homogeneous Turbulent Flows

    OpenAIRE

    O'Gorman, Paul A.; Schneider, Tapio

    2006-01-01

    The transport of a condensing passive scalar is studied as a prototype model for the kinematics of moisture transport on isentropic surfaces. Condensation occurs whenever the scalar concentration exceeds a specified local saturation value. Since condensation rates are strongly nonlinear functions of moisture content, the mean moisture flux is generally not diffusive. To relate the mean moisture content, mean condensation rate, and mean moisture flux to statistics of the advecting velocity fie...

  13. 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

  14. Global sensitivity analysis of the joint kinematics during gait to the parameters of a lower limb multi-body model.

    Science.gov (United States)

    El Habachi, Aimad; Moissenet, Florent; Duprey, Sonia; Cheze, Laurence; Dumas, Raphaël

    2015-07-01

    Sensitivity analysis is a typical part of biomechanical models evaluation. For lower limb multi-body models, sensitivity analyses have been mainly performed on musculoskeletal parameters, more rarely on the parameters of the joint models. This study deals with a global sensitivity analysis achieved on a lower limb multi-body model that introduces anatomical constraints at the ankle, tibiofemoral, and patellofemoral joints. The aim of the study was to take into account the uncertainty of parameters (e.g. 2.5 cm on the positions of the skin markers embedded in the segments, 5° on the orientation of hinge axis, 2.5 mm on the origin and insertion of ligaments) using statistical distributions and propagate it through a multi-body optimisation method used for the computation of joint kinematics from skin markers during gait. This will allow us to identify the most influential parameters on the minimum of the objective function of the multi-body optimisation (i.e. the sum of the squared distances between measured and model-determined skin marker positions) and on the joint angles and displacements. To quantify this influence, a Fourier-based algorithm of global sensitivity analysis coupled with a Latin hypercube sampling is used. This sensitivity analysis shows that some parameters of the motor constraints, that is to say the distances between measured and model-determined skin marker positions, and the kinematic constraints are highly influencing the joint kinematics obtained from the lower limb multi-body model, for example, positions of the skin markers embedded in the shank and pelvis, parameters of the patellofemoral hinge axis, and parameters of the ankle and tibiofemoral ligaments. The resulting standard deviations on the joint angles and displacements reach 36° and 12 mm. Therefore, personalisation, customisation or identification of these most sensitive parameters of the lower limb multi-body models may be considered as essential.

  15. Vortex re-capturing and kinematics in human underwater undulatory swimming.

    Science.gov (United States)

    Hochstein, Stefan; Blickhan, Reinhard

    2011-10-01

    To maximize swimming speed athletes copy fish undulatory swimming during the underwater period after start and turn. The anatomical limitations may lead to deviations and may enforce compensating strategies. This has been investigated by analyzing the kinematics of two national female swimmers while swimming in a still water pool. Additionally, the flow around and behind the swimmers was measured with the aid of time-resolved particle image velocimetry (TR-2D-PIV). As compared to fish, the swimmers used undulatory waves characterized by much higher Strouhal numbers but very similar amplitude distributions along the body and Froude efficiencies. Vortices generated in the region of strongly flexing joints are suitable to be used pedally to enhance propulsion (vortex re-capturing). Complementing studies using numerical and technical modeling will help us to probe the efficiency of observed mechanisms and further improvements of the human strategy. Copyright © 2010 Elsevier B.V. All rights reserved.

  16. The Red Sea: A Natural Laboratory for Wind and Wave Modeling

    KAUST Repository

    Langodan, Sabique

    2014-12-01

    The Red Sea is a narrow, elongated basin that is more than 2000km long. This deceivingly simple structure offers very interesting challenges for wind and wave modeling, not easily, if ever, found elsewhere. Using standard meteorological products and local wind and wave models, this study explores how well the general and unusual wind and wave patterns of the Red Sea could be reproduced. The authors obtain the best results using two rather opposite approaches: the high-resolution Weather Research Forecasting (WRF) local model and the slightly enhanced surface winds from the global European Centre for Medium-Range Weather Forecasts model. The reasons why these two approaches produce the best results and the implications on wave modeling in the Red Sea are discussed. The unusual wind and wave patterns in the Red Sea suggest that the currently available wave model source functions may not properly represent the evolution of local fields. However, within limits, the WAVEWATCH III wave model, based on Janssen\\'s and also Ardhuin\\'s wave model physics, provides very reasonable results in many cases. The authors also discuss these findings and outline related future work.

  17. The Red Sea: A Natural Laboratory for Wind and Wave Modeling

    KAUST Repository

    Langodan, Sabique; Cavaleri, Luigi; Viswanadhapalli, Yesubabu; Hoteit, Ibrahim

    2014-01-01

    The Red Sea is a narrow, elongated basin that is more than 2000km long. This deceivingly simple structure offers very interesting challenges for wind and wave modeling, not easily, if ever, found elsewhere. Using standard meteorological products and local wind and wave models, this study explores how well the general and unusual wind and wave patterns of the Red Sea could be reproduced. The authors obtain the best results using two rather opposite approaches: the high-resolution Weather Research Forecasting (WRF) local model and the slightly enhanced surface winds from the global European Centre for Medium-Range Weather Forecasts model. The reasons why these two approaches produce the best results and the implications on wave modeling in the Red Sea are discussed. The unusual wind and wave patterns in the Red Sea suggest that the currently available wave model source functions may not properly represent the evolution of local fields. However, within limits, the WAVEWATCH III wave model, based on Janssen's and also Ardhuin's wave model physics, provides very reasonable results in many cases. The authors also discuss these findings and outline related future work.

  18. A Dirac sea pilot-wave model for quantum field theory

    International Nuclear Information System (INIS)

    Colin, S; Struyve, W

    2007-01-01

    We present a pilot-wave model for quantum field theory in which the Dirac sea is taken seriously. The model ascribes particle trajectories to all the fermions, including the fermions filling the Dirac sea. The model is deterministic and applies to the regime in which fermion number is superselected. This work is a further elaboration of work by Colin, in which a Dirac sea pilot-wave model is presented for quantum electrodynamics. We extend his work to non-electromagnetic interactions, we discuss a cut-off regularization of the pilot-wave model and study how it reproduces the standard quantum predictions. The Dirac sea pilot-wave model can be seen as a possible continuum generalization of a lattice model by Bell. It can also be seen as a development and generalization of the ideas by Bohm, Hiley and Kaloyerou, who also suggested the use of the Dirac sea for the development of a pilot-wave model for quantum electrodynamics

  19. Lactobacillus rhamnosus PB01 (DSM 14870 supplementation affects markers of sperm kinematic parameters in a diet-induced obesity mice model.

    Directory of Open Access Journals (Sweden)

    Fereshteh Dardmeh

    Full Text Available Probiotics have been proposed as alternatives to pharmacological products in several medical conditions including the modulation of obesity, which is frequently associated with poor semen quality. However, effects of probiotics on male fertility have been less investigated. This study assessed the effect of Lactobacillus rhamnosus PB01 (DSM-14870 on sperm kinematic parameters in Normal-weight (NW and diet-induced obese (DIO models. NW and DIO C57BL/6NTac mice were divided into two subgroups with or without a single daily dose (1x109CFU of L. rhamnosus for four weeks. Sperm motility and kinematics together with blood lipid profiles and reproductive hormone levels were assessed using the sperm class analyzer system. Probiotic supplementation increased serum testosterone, LH and FSH levels in both NW and DIO groups resulting in significantly (P<0.05 higher velocity (VSL, VCL and VAP and percentages of progressively motile sperm and significantly lower percentages of immotile sperm. Other kinematic parameters (Lin, STR, ALH and BCF were also increased in both probiotic supplemented DIO and NW groups at the 10% level of significance. Probiotic supplemented DIO mice demonstrated significantly higher percentages of progressively motile sperm versus DIO controls. This study demonstrated the potential of L. rhamnosus PB01 as a regulatory agent with positive effects on weight loss and reproductive-hormones, significantly improving sperm motility and kinematic parameters in male DIO models.

  20. 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.

  1. Ocean wave characteristic in the Sunda Strait using Wave Spectrum Model

    Science.gov (United States)

    Rachmayani, R.; Ningsih, N. S.; Adiprabowo, S. R.; Nurfitri, S.

    2018-03-01

    The wave characteristics including significant wave height and direction, seas and swell in the Sunda Strait are analyzed seasonally to provide marine weather information. This is crucial for establishing secured marine activities between islands of Sumatera and Java. Ocean wave characteristics in the Sunda Strait are simulated for one year (July 1996–June 1977) by using SWAN numerical model. The ocean wave characteristics in the Sunda Strait are divided into three areas of interest; southern, centre and northern part of the Sunda Strait. Despite a weaker local wind, the maximum significant wave height is captured at the southern part with its height of 2.6 m in November compared to other seasonally months. This is associated with the dominated swell from the Indian Ocean contributes on wave energy toward the Sunda Strait. The 2D spectrum analysis exhibits the monthly wave characteristic at southern part that is dominated by seas along the year and swell propagating from the Indian Ocean to the Sunda Strait during December to February (northwest monsoon), May, and November. Seas and swell at northern part of the Sunda Strait are apprehended weaker compared to other parts of the Sunda Strait due to its location is farther from the Indian Ocean.

  2. Modelling offshore sand wave evolution

    NARCIS (Netherlands)

    Nemeth, Attila; Hulscher, Suzanne J.M.H.; van Damme, Rudolf M.J.

    2007-01-01

    We present a two-dimensional vertical (2DV) flow and morphological numerical model describing the behaviour of offshore sand waves. The model contains the 2DV shallow water equations, with a free water surface and a general bed load formula. The water movement is coupled to the sediment transport

  3. Holographic p-wave superconductor models with Weyl corrections

    Directory of Open Access Journals (Sweden)

    Lu Zhang

    2015-04-01

    Full Text Available We study the effect of the Weyl corrections on the holographic p-wave dual models in the backgrounds of AdS soliton and AdS black hole via a Maxwell complex vector field model by using the numerical and analytical methods. We find that, in the soliton background, the Weyl corrections do not influence the properties of the holographic p-wave insulator/superconductor phase transition, which is different from that of the Yang–Mills theory. However, in the black hole background, we observe that similarly to the Weyl correction effects in the Yang–Mills theory, the higher Weyl corrections make it easier for the p-wave metal/superconductor phase transition to be triggered, which shows that these two p-wave models with Weyl corrections share some similar features for the condensation of the vector operator.

  4. 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.

  5. Modeling and predicting low-speed vehicle emissions as a function of driving kinematics.

    Science.gov (United States)

    Hao, Lijun; Chen, Wei; Li, Lei; Tan, Jianwei; Wang, Xin; Yin, Hang; Ding, Yan; Ge, Yunshan

    2017-05-01

    An instantaneous emission model was developed to model and predict the real driving emissions of the low-speed vehicles. The emission database used in the model was measured by using portable emission measurement system (PEMS) under actual traffic conditions in the rural area, and the characteristics of the emission data were determined in relation to the driving kinematics (speed and acceleration) of the low-speed vehicle. The input of the emission model is driving cycle, and the model requires instantaneous vehicle speed and acceleration levels as input variables and uses them to interpolate the pollutant emission rate maps to calculate the transient pollutant emission rates, which will be accumulated to calculate the total emissions released during the whole driving cycle. And the vehicle fuel consumption was determined through the carbon balance method. The model predicted the emissions and fuel consumption of an in-use low-speed vehicle type model, which agreed well with the measured data. Copyright © 2016. Published by Elsevier B.V.

  6. Tropical cyclogenesis in a tropical wave critical layer: easterly waves

    Directory of Open Access Journals (Sweden)

    T. J. Dunkerton

    2009-08-01

    cyclonic vorticity and weak deformation by the resolved flow, (ii containment of moisture entrained by the developing gyre and/or lofted by deep convection therein, (iii confinement of mesoscale vortex aggregation, (iv a predominantly convective type of heating profile, and (v maintenance or enhancement of the parent wave until the vortex becomes a self-sustaining entity and emerges from the wave as a tropical depression. The entire sequence is likened to the development of a marsupial infant in its mother's pouch. These ideas are formulated in three new hypotheses describing the flow kinematics and dynamics, moist thermodynamics and wave/vortex interactions comprising the "marsupial paradigm". A survey of 55 named tropical storms in 1998–2001 reveals that actual critical layers sometimes resemble the ideal east-west train of cat's eyes, but are usually less regular, with one or more recirculation regions in the co-moving frame. It is shown that the kinematics of isolated proto-vortices carried by the wave also can be visualized in a frame of reference translating at or near the phase speed of the parent wave. The proper translation speeds for wave and vortex may vary with height owing to vertical shear and wave-vortex interaction. Some implications for entrainment/containment of vorticity and moisture in the cat's eye are discussed from this perspective, based on the observational survey.

  7. 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...

  8. Improved Wave-vessel Transfer Functions by Uncertainty Modelling

    DEFF Research Database (Denmark)

    Nielsen, Ulrik Dam; Fønss Bach, Kasper; Iseki, Toshio

    2016-01-01

    This paper deals with uncertainty modelling of wave-vessel transfer functions used to calculate or predict wave-induced responses of a ship in a seaway. Although transfer functions, in theory, can be calculated to exactly reflect the behaviour of the ship when exposed to waves, uncertainty in inp...

  9. 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...

  10. The kinematic advantage of electric cars

    Science.gov (United States)

    Meyn, Jan-Peter

    2015-11-01

    Acceleration of a common car with with a turbocharged diesel engine is compared to the same type with an electric motor in terms of kinematics. Starting from a state of rest, the electric car reaches a distant spot earlier than the diesel car, even though the latter has a better specification for engine power and average acceleration from 0 to 100 km h-1. A three phase model of acceleration as a function of time fits the data of the electric car accurately. The first phase is a quadratic growth of acceleration in time. It is shown that the tenfold higher coefficient for the first phase accounts for most of the kinematic advantage of the electric car.

  11. Measurement and study of amplitudes and velocities of void fraction waves in two-phase gas-liquid flow ranging from bubbly flow to slug flow

    International Nuclear Information System (INIS)

    Tournaire, Agnes

    1987-01-01

    The objective of this research thesis is to study the behaviour of waves at the vicinity of the bubble-slug transition, and to compare it with the one predicted by models. The author also addresses the bubbly regime, and particularly the evolution of wave amplitude whereas studies had been until then limited to the study of wave speed. The first part of the thesis reports the development of a system of vacuum rate measurements in cylindrical duct. The second part proposes the description of the experimental installation, and the third part reports experimental results and discusses them. Finally, the author compares these results with those predicted by using a kinematic modelling [fr

  12. Nuclear reaction studies using inverse kinematics

    International Nuclear Information System (INIS)

    Shapira, D.

    1985-01-01

    Reaction studies with reversed kinematics refer to studies of nuclear reactions induced by a heavy projectile colliding with lighter target nuclei. The technique of using reversed kinematics is costly in terms of the available center-of-mass energy. Most of the projectile's energy goes into forward motion of the reaction products in the laboratory system. Examples are presented where the use of reversed kinematics techniques has provided new information on certain reaction processes. A list of kinematic properties and advantages they may afford is shown. Clearly the possible studies listed can be done without using reversed kinematics but because of the difficulty associated with some of these studies they were never performed until more energetic heavier beams have become available and the reversed kinematics technique was utilized

  13. Computer modeling of inelastic wave propagation in porous rock

    International Nuclear Information System (INIS)

    Cheney, J.A.; Schatz, J.F.; Snell, C.

    1979-01-01

    Computer modeling of wave propagation in porous rock has several important applications. Among them are prediction of fragmentation and permeability changes to be caused by chemical explosions used for in situ resource recovery, and the understanding of nuclear explosion effects such as seismic wave generation, containment, and site hardness. Of interest in all these applications are the distance from the source to which inelastic effects persist and the amount of porosity change within the inelastic region. In order to study phenomena related to these applications, the Cam Clay family of models developed at Cambridge University was used to develop a similar model that is applicable to wave propagation in porous rock. That model was incorporated into a finite-difference wave propagation computer code SOC. 10 figures, 1 table

  14. Differences in foot kinematics between young and older adults during walking.

    Science.gov (United States)

    Arnold, John B; Mackintosh, Shylie; Jones, Sara; Thewlis, Dominic

    2014-02-01

    Our understanding of age-related changes to foot function during walking has mainly been based on plantar pressure measurements, with little information on differences in foot kinematics between young and older adults. The purpose of this study was to investigate the differences in foot kinematics between young and older adults during walking using a multi-segment foot model. Joint kinematics of the foot and ankle for 20 young (mean age 23.2 years, standard deviation (SD) 3.0) and 20 older adults (mean age 73.2 years, SD 5.1) were quantified during walking with a 12 camera Vicon motion analysis system using a five segment kinematic model. Differences in kinematics were compared between older adults and young adults (preferred and slow walking speeds) using Student's t-tests or if indicated, Mann-Whitney U tests. Effect sizes (Cohen's d) for the differences were also computed. The older adults had a less plantarflexed calcaneus at toe-off (-9.6° vs. -16.1°, d = 1.0, p = range of motion (ROM) of the midfoot (11.9° vs. 14.8°, d = 1.3, p = young adults. Walking speed did not influence these differences, as they remained present when groups walked at comparable speeds. The findings of this study indicate that independent of walking speed, older adults exhibit significant differences in foot kinematics compared to younger adults, characterised by less propulsion and reduced mobility of multiple foot segments. Copyright © 2013 Elsevier B.V. All rights reserved.

  15. Kinematics of roller chain drives - Exact and approximate analysis

    DEFF Research Database (Denmark)

    Fuglede, Niels; Thomsen, Jon Juel

    2016-01-01

    An exact and approximate kinematic analysis of a roller chain drive modeled as a four-bar mechanism is presented. The span connects the sprockets such that they rotate in the same direction, and the sprocket size, number of teeth, and shaft center distance can be arbitrary. The driven sprocket...... to be very good agreement. All together this gives new insights into the characteristics of chain drive kinematics and the influence of main design parameters....

  16. Hybrid Modelling of a Traveling Wave Piezoelectric Motor

    DEFF Research Database (Denmark)

    El, Ghouti N.

    a theoretical model is derived. Since the dynamic characteristics of the real motor are difficult to capture in an analytical model, and the parameters of the motor are time varying and highly nonlinear, then some assumptions are required in order to simplify the modeling task and thus provide a suitable model......This thesis considers the modeling of the traveling wave piezoelectric motor (PEM). The rotary traveling wave ultrasonic motor "Shinsei type USR60" is the case study considered in this work. The traveling wave PEM has excellent performance and many useful features such as high holding torque, high....... Despite many attempts a lumped motor model of the PEM is unavailable so far. The dynamical characteristics of the PEM are complicated, highly nonlinear, and the motor parameters are time varying due to temperature rise and changes in motor drive operating conditions. Therefore it is difficult to predict...

  17. Uncertainty estimation and multi sensor fusion for kinematic laser tracker measurements

    Science.gov (United States)

    Ulrich, Thomas

    2013-08-01

    Laser trackers are widely used to measure kinematic tasks such as tracking robot movements. Common methods to evaluate the uncertainty in the kinematic measurement include approximations specified by the manufacturers, various analytical adjustment methods and the Kalman filter. In this paper a new, real-time technique is proposed, which estimates the 4D-path (3D-position + time) uncertainty of an arbitrary path in space. Here a hybrid system estimator is applied in conjunction with the kinematic measurement model. This method can be applied to processes, which include various types of kinematic behaviour, constant velocity, variable acceleration or variable turn rates. The new approach is compared with the Kalman filter and a manufacturer's approximations. The comparison was made using data obtained by tracking an industrial robot's tool centre point with a Leica laser tracker AT901 and a Leica laser tracker LTD500. It shows that the new approach is more appropriate to analysing kinematic processes than the Kalman filter, as it reduces overshoots and decreases the estimated variance. In comparison with the manufacturer's approximations, the new approach takes account of kinematic behaviour with an improved description of the real measurement process and a reduction in estimated variance. This approach is therefore well suited to the analysis of kinematic processes with unknown changes in kinematic behaviour as well as the fusion among laser trackers.

  18. A kinematic study of pulsation in the dorsal blood vessel of the blackworm, Lumbriculus variegatus

    Directory of Open Access Journals (Sweden)

    Kameko Halfmann

    2011-01-01

    Full Text Available The aquatic oligochaete Lumbriculus variegatus has a segmented, dorsal blood vessel (DBV that acts as a peristaltic pump to move blood through the animal's closed circulatory system. We conducted a kinematic study using videography and computational modeling as a first step toward understanding the control of DBV pulsation. Results suggested that pulse rates were highest in the posterior segments, while interpulse intervals and intersegmental delays were longest in the midbody segments. Differences in the interpulse interval distributions across regions suggest that some peristaltic waves initiated in the posterior segments do not propagate all the way to the anterior segments. A simple model consisting of a chain of excitable neuromuscular units replicated these kinetics. This model may be useful in future research aimed at understanding the modulatory effect of biogenic amines on peristalsis of the DBV. Moreover, research into the mechanisms of peristalsis of the DBV may lead to insights into disorders of peristalsis in human and veterinary medicine

  19. A biorobotic model of the suction-feeding system in largemouth bass: the roles of motor program speed and hyoid kinematics.

    Science.gov (United States)

    Kenaley, Christopher P; Lauder, George V

    2016-07-01

    The vast majority of ray-finned fishes capture prey through suction feeding. The basis of this behavior is the generation of subambient pressure through rapid expansion of a highly kinetic skull. Over the last four decades, results from in vivo experiments have elucidated the general relationships between morphological parameters and subambient pressure generation. Until now, however, researchers have been unable to tease apart the discrete contributions of, and complex relationships among, the musculoskeletal elements that support buccal expansion. Fortunately, over the last decade, biorobotic models have gained a foothold in comparative research and show great promise in addressing long-standing questions in vertebrate biomechanics. In this paper, we present BassBot, a biorobotic model of the head of the largemouth bass (Micropterus salmoides). BassBot incorporates a 3D acrylic plastic armature of the neurocranium, maxillary apparatus, lower jaw, hyoid, suspensorium and opercular apparatus. Programming of linear motors permits precise reproduction of live kinematic behaviors including hyoid depression and rotation, premaxillary protrusion, and lateral expansion of the suspensoria. BassBot reproduced faithful kinematic and pressure dynamics relative to live bass. We show that motor program speed has a direct relationship to subambient pressure generation. Like vertebrate muscle, the linear motors that powered kinematics were able to produce larger magnitudes of force at slower velocities and, thus, were able to accelerate linkages more quickly and generate larger magnitudes of subambient pressure. In addition, we demonstrate that disrupting the kinematic behavior of the hyoid interferes with the anterior-to-posterior expansion gradient. This resulted in a significant reduction in subambient pressure generation and pressure impulse of 51% and 64%, respectively. These results reveal the promise biorobotic models have for isolating individual parameters and assessing

  20. Simulation of detonation cell kinematics using two-dimensional reactive blast waves

    Science.gov (United States)

    Thomas, G. O.; Edwards, D. H.

    1983-10-01

    A method of generating a cylindrical blast wave is developed which overcomes the disadvantages inherent in the converging-diverging nozzle technique used by Edwards et al., 1981. It is demonstrated than an exploding wire placed at the apex of a two-dimensional sector provides a satisfactory source of the generation of blast waves in reactive systems. The velocity profiles of the blast waves are found to simulate those in freely propagating detonations very well, and this method does not suffer from the disadvantage of having the mass flow at the throat as in the nozzle method. The density decay parameter is determined to have a constant value of 4 in the systems investigated, and it is suggested that this may be a universal value. It is proposed that suitable wedges could be used to create artificial Mach stems in the same manner as Strehlow and Barthel (1971) without the attendant disadvantages of the nozzle method.

  1. GNSS Wave Glider: First results from Loch Ness and demonstration of its suitability for determining the marine geoid

    Science.gov (United States)

    Penna, N. T.; Morales Maqueda, M.; Williams, S. D.; Foden, P.; Martin, I.; Pugh, J.

    2013-12-01

    We report on a first deployment of a GNSS Wave Glider designed for precise, unmanned, autonomous, mobile self-propelled sea level and sea state measurement in the open ocean. The Wave Glider, equipped with a dual frequency GPS+GLONASS receiver, was deployed in Loch Ness, Scotland, autonomously travelling 32 km in a north-easterly direction along the length of the loch in 26 hours, propelled by energy generated from waves of typical amplitude only 100-150 mm and frequency on the order 0.5-1 Hz. The Wave Glider GNSS data were analysed using a post-processed kinematic GPS+GLONASS precise point positioning (PPP) approach, which were quality controlled using double difference GPS kinematic processing with respect to onshore reference stations at either end of the loch. The PPP heights of the loch's surface revealed a clear geoid gradient of about 30 mm/km (i.e. just under 1 m over the whole length of the loch), very similar to both the EGM2008 and OSGM02 geoid models, demonstrating the potential use of a GNSS Wave Glider for marine geoid determination. After applying a low pass filter, the GNSS heights showed local deviations from both EGM2008 and OSGM02, potentially caused by omission errors or a lack of gravity data over Loch Ness. In addition to dual frequency GNSS data, the Wave Glider also recorded inclinometer data, bathymetry, and surface currents, which, in combination with tide gauge and wind data, were used to further control and interpret the GNSS time series.

  2. Driver kinematic and muscle responses in braking events with standard and reversible pre-tensioned restraints: validation data for human models.

    Science.gov (United States)

    Osth, Jonas; Olafsdóttir, Jóna Marín; Davidsson, Johan; Brolin, Karin

    2013-11-01

    The objectives of this study are to generate validation data for human models intended for simulation of occupant kinematics in a pre-crash phase, and to evaluate the effect of an integrated safety system on driver kinematics and muscle responses. Eleven male and nine female volunteers, driving a passenger car on ordinary roads, performed maximum voluntary braking; they were also subjected to autonomous braking events with both standard and reversible pre-tensioned restraints. Kinematic data was acquired through film analysis, and surface electromyography (EMG) was recorded bilaterally for muscles in the neck, the upper extremities, and lumbar region. Maximum voluntary contractions (MVCs) were carried out in a driving posture for normalization of the EMG. Seat belt positions, interaction forces, and seat indentions were measured. During normal driving, all muscle activity was below 5% of MVC for females and 9% for males. The range of activity during steady state braking for males and females was 13-44% in the cervical and lumbar extensors, while antagonistic muscles showed a co-contraction of 2.3-19%. Seat belt pre-tension affects both the kinematic and muscle responses of drivers. In autonomous braking with standard restraints, muscle activation occurred in response to the inertial load. With pre-tensioned seat belts, EMG onset occurred earlier; between 71 ms and 176 ms after belt pre-tension. The EMG onset times decreased with repeated trials and were shorter for females than for males. With the results from this study, further improvement and validation of human models that incorporate active musculature will be made possible.

  3. Model simulations of flood and debris flow timing in steep catchments after wildfire

    Science.gov (United States)

    Rengers, Francis K.; McGuire, Luke; Kean, Jason W.; Staley, Dennis M.; Hobley, D.E.J

    2016-01-01

    Debris flows are a typical hazard on steep slopes after wildfire, but unlike debris flows that mobilize from landslides, most post-wildfire debris flows are generated from water runoff. The majority of existing debris-flow modeling has focused on landslide-triggered debris flows. In this study we explore the potential for using process-based rainfall-runoff models to simulate the timing of water flow and runoff-generated debris flows in recently burned areas. Two different spatially distributed hydrologic models with differing levels of complexity were used: the full shallow water equations and the kinematic wave approximation. Model parameter values were calibrated in two different watersheds, spanning two orders of magnitude in drainage area. These watersheds were affected by the 2009 Station Fire in the San Gabriel Mountains, CA, USA. Input data for the numerical models were constrained by time series of soil moisture, flow stage, and rainfall collected at field sites, as well as high-resolution lidar-derived digital elevation models. The calibrated parameters were used to model a third watershed in the burn area, and the results show a good match with observed timing of flow peaks. The calibrated roughness parameter (Manning's $n$) was generally higher when using the kinematic wave approximation relative to the shallow water equations, and decreased with increasing spatial scale. The calibrated effective watershed hydraulic conductivity was low for both models, even for storms occurring several months after the fire, suggesting that wildfire-induced changes to soil-water infiltration were retained throughout that time. Overall the two model simulations were quite similar suggesting that a kinematic wave model, which is simpler and more computationally efficient, is a suitable approach for predicting flood and debris flow timing in steep, burned watersheds.

  4. Model simulations of flood and debris flow timing in steep catchments after wildfire

    Science.gov (United States)

    Rengers, F. K.; McGuire, L. A.; Kean, J. W.; Staley, D. M.; Hobley, D. E. J.

    2016-08-01

    Debris flows are a typical hazard on steep slopes after wildfire, but unlike debris flows that mobilize from landslides, most postwildfire debris flows are generated from water runoff. The majority of existing debris flow modeling has focused on landslide-triggered debris flows. In this study we explore the potential for using process-based rainfall-runoff models to simulate the timing of water flow and runoff-generated debris flows in recently burned areas. Two different spatially distributed hydrologic models with differing levels of complexity were used: the full shallow water equations and the kinematic wave approximation. Model parameter values were calibrated in two different watersheds, spanning two orders of magnitude in drainage area. These watersheds were affected by the 2009 Station Fire in the San Gabriel Mountains, CA, USA. Input data for the numerical models were constrained by time series of soil moisture, flow stage, and rainfall collected at field sites, as well as high-resolution lidar-derived digital elevation models. The calibrated parameters were used to model a third watershed in the burn area, and the results show a good match with observed timing of flow peaks. The calibrated roughness parameter (Manning's n) was generally higher when using the kinematic wave approximation relative to the shallow water equations, and decreased with increasing spatial scale. The calibrated effective watershed hydraulic conductivity was low for both models, even for storms occurring several months after the fire, suggesting that wildfire-induced changes to soil-water infiltration were retained throughout that time. Overall, the two model simulations were quite similar suggesting that a kinematic wave model, which is simpler and more computationally efficient, is a suitable approach for predicting flood and debris flow timing in steep, burned watersheds.

  5. The viscous lee wave problem and its implications for ocean modelling

    Science.gov (United States)

    Shakespeare, Callum J.; Hogg, Andrew McC.

    2017-05-01

    Ocean circulation models employ 'turbulent' viscosity and diffusivity to represent unresolved sub-gridscale processes such as breaking internal waves. Computational power has now advanced sufficiently to permit regional ocean circulation models to be run at sufficiently high (100 m-1 km) horizontal resolution to resolve a significant part of the internal wave spectrum. Here we develop theory for boundary generated internal waves in such models, and in particular, where the waves dissipate their energy. We focus specifically on the steady lee wave problem where stationary waves are generated by a large-scale flow acting across ocean bottom topography. We generalise the energy flux expressions of [Bell, T., 1975. Topographically generated internal waves in the open ocean. J. Geophys. Res. 80, 320-327] to include the effect of arbitrary viscosity and diffusivity. Applying these results for realistic parameter choices we show that in the present generation of models with O(1) m2s-1 horizontal viscosity/diffusivity boundary-generated waves will inevitably dissipate the majority of their energy within a few hundred metres of the boundary. This dissipation is a direct consequence of the artificially high viscosity/diffusivity, which is not always physically justified in numerical models. Hence, caution is necessary in comparing model results to ocean observations. Our theory further predicts that O(10-2) m2s-1 horizontal and O(10-4) m2s-1 vertical viscosity/diffusivity is required to achieve a qualitatively inviscid representation of internal wave dynamics in ocean models.

  6. Detailed modeling of mountain wave PSCs

    Directory of Open Access Journals (Sweden)

    S. Fueglistaler

    2003-01-01

    Full Text Available Polar stratospheric clouds (PSCs play a key role in polar ozone depletion. In the Arctic, PSCs can occur on the mesoscale due to orographically induced gravity waves. Here we present a detailed study of a mountain wave PSC event on 25-27 January 2000 over Scandinavia. The mountain wave PSCs were intensively observed by in-situ and remote-sensing techniques during the second phase of the SOLVE/THESEO-2000 Arctic campaign. We use these excellent data of PSC observations on 3 successive days to analyze the PSCs and to perform a detailed comparison with modeled clouds. We simulated the 3-dimensional PSC structure on all 3 days with a mesoscale numerical weather prediction (NWP model and a microphysical box model (using best available nucleation rates for ice and nitric acid trihydrate particles. We show that the combined mesoscale/microphysical model is capable of reproducing the PSC measurements within the uncertainty of data interpretation with respect to spatial dimensions, temporal development and microphysical properties, without manipulating temperatures or using other tuning parameters. In contrast, microphysical modeling based upon coarser scale global NWP data, e.g. current ECMWF analysis data, cannot reproduce observations, in particular the occurrence of ice and nitric acid trihydrate clouds. Combined mesoscale/microphysical modeling may be used for detailed a posteriori PSC analysis and for future Arctic campaign flight and mission planning. The fact that remote sensing alone cannot further constrain model results due to uncertainities in the interpretation of measurements, underlines the need for synchronous in-situ PSC observations in campaigns.

  7. Abnormal storm waves in the winter East/Japan Sea: generation process and hindcasting using an atmosphere-wind wave modelling system

    Directory of Open Access Journals (Sweden)

    H. S. Lee

    2010-04-01

    Full Text Available Abnormal storm waves cause coastal disasters along the coasts of Korean Peninsula and Japan in the East/Japan Sea (EJS in winter, arising due to developed low pressures during the East Asia winter monsoon. The generation of these abnormal storm waves during rough sea states were studied and hindcast using an atmosphere-wave coupled modelling system. Wind waves and swell due to developed low pressures were found to be the main components of abnormal storm waves. The meteorological conditions that generate these waves are classified into three patterns based on past literature that describes historical events as well as on numerical modelling. In hindcasting the abnormal storm waves, a bogussing scheme originally designed to simulate a tropical storm in a mesoscale meteorological model was introduced into the modelling system to enhance the resolution of developed low pressures. The modelling results with a bogussing scheme showed improvements in terms of resolved low pressure, surface wind field, and wave characteristics obtained with the wind field as an input.

  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)

  9. Dynamics of skyrmions and edge states in the resistive regime of mesoscopic p-wave superconductors

    Energy Technology Data Exchange (ETDEWEB)

    Fernández Becerra, V., E-mail: VictorLeonardo.FernandezBecerra@uantwerpen.be; Milošević, M.V., E-mail: milorad.milosevic@uantwerpen.be

    2017-02-15

    Highlights: • Voltage–current characterization of a mesoscopic p-wave superconducting sample. • Skyrmions and edge states are stabilized with an out-of-plane applied magnetic field. • In the resistive regime, moving skyrmions and the edge state behave distinctly different from the conventional kinematic vortices. - Abstract: In a mesoscopic sample of a chiral p-wave superconductor, novel states comprising skyrmions and edge states have been stabilized in out-of-plane applied magnetic field. Using the time-dependent Ginzburg–Landau equations we shed light on the dynamic response of such states to an external applied current. Three different regimes are obtained, namely, the superconducting (stationary), resistive (non-stationary) and normal regime, similarly to conventional s-wave superconductors. However, in the resistive regime and depending on the external current, we found that moving skyrmions and the edge state behave distinctly different from the conventional kinematic vortex, thereby providing new fingerprints for identification of p-wave superconductivity.

  10. Wave speeds in the macroscopic extended model for ultrarelativistic gases

    Energy Technology Data Exchange (ETDEWEB)

    Borghero, F., E-mail: borghero@unica.it [Dip. Matematica e Informatica, Università di Cagliari, Via Ospedale 72, 09124 Cagliari (Italy); Demontis, F., E-mail: fdemontis@unica.it [Dip. Matematica, Università di Cagliari, Viale Merello 92, 09123 Cagliari (Italy); Pennisi, S., E-mail: spennisi@unica.it [Dip. Matematica, Università di Cagliari, Via Ospedale 72, 09124 Cagliari (Italy)

    2013-11-15

    Equations determining wave speeds for a model of ultrarelativistic gases are investigated. This model is already present in literature; it deals with an arbitrary number of moments and it was proposed in the context of exact macroscopic approaches in Extended Thermodynamics. We find these results: the whole system for the determination of the wave speeds can be divided into independent subsystems which are expressed by linear combinations, through scalar coefficients, of tensors all of the same order; some wave speeds, but not all of them, are expressed by square roots of rational numbers; finally, we prove that these wave speeds for the macroscopic model are the same of those furnished by the kinetic model.

  11. Kinematics of reflections in subsurface offset and angle-domain image gathers

    Science.gov (United States)

    Dafni, Raanan; Symes, William W.

    2018-05-01

    Seismic migration in the angle-domain generates multiple images of the earth's interior in which reflection takes place at different scattering-angles. Mechanically, the angle-dependent reflection is restricted to happen instantaneously and at a fixed point in space: Incident wave hits a discontinuity in the subsurface media and instantly generates a scattered wave at the same common point of interaction. Alternatively, the angle-domain image may be associated with space-shift (regarded as subsurface offset) extended migration that artificially splits the reflection geometry. Meaning that, incident and scattered waves interact at some offset distance. The geometric differences between the two approaches amount to a contradictory angle-domain behaviour, and unlike kinematic description. We present a phase space depiction of migration methods extended by the peculiar subsurface offset split and stress its profound dissimilarity. In spite of being in radical contradiction with the general physics, the subsurface offset reveals a link to some valuable angle-domain quantities, via post-migration transformations. The angle quantities are indicated by the direction normal to the subsurface offset extended image. They specifically define the local dip and scattering angles if the velocity at the split reflection coordinates is the same for incident and scattered wave pairs. Otherwise, the reflector normal is not a bisector of the opening angle, but of the corresponding slowness vectors. This evidence, together with the distinguished geometry configuration, fundamentally differentiates the angle-domain decomposition based on the subsurface offset split from the conventional decomposition at a common reflection point. An asymptotic simulation of angle-domain moveout curves in layered media exposes the notion of split versus common reflection point geometry. Traveltime inversion methods that involve the subsurface offset extended migration must accommodate the split geometry

  12. DLCQ and plane wave matrix Big Bang models

    Science.gov (United States)

    Blau, Matthias; O'Loughlin, Martin

    2008-09-01

    We study the generalisations of the Craps-Sethi-Verlinde matrix big bang model to curved, in particular plane wave, space-times, beginning with a careful discussion of the DLCQ procedure. Singular homogeneous plane waves are ideal toy-models of realistic space-time singularities since they have been shown to arise universally as their Penrose limits, and we emphasise the role played by the symmetries of these plane waves in implementing the flat space Seiberg-Sen DLCQ prescription for these curved backgrounds. We then analyse various aspects of the resulting matrix string Yang-Mills theories, such as the relation between strong coupling space-time singularities and world-sheet tachyonic mass terms. In order to have concrete examples at hand, in an appendix we determine and analyse the IIA singular homogeneous plane wave - null dilaton backgrounds.

  13. DLCQ and plane wave matrix Big Bang models

    International Nuclear Information System (INIS)

    Blau, Matthias; O'Loughlin, Martin

    2008-01-01

    We study the generalisations of the Craps-Sethi-Verlinde matrix big bang model to curved, in particular plane wave, space-times, beginning with a careful discussion of the DLCQ procedure. Singular homogeneous plane waves are ideal toy-models of realistic space-time singularities since they have been shown to arise universally as their Penrose limits, and we emphasise the role played by the symmetries of these plane waves in implementing the flat space Seiberg-Sen DLCQ prescription for these curved backgrounds. We then analyse various aspects of the resulting matrix string Yang-Mills theories, such as the relation between strong coupling space-time singularities and world-sheet tachyonic mass terms. In order to have concrete examples at hand, in an appendix we determine and analyse the IIA singular homogeneous plane wave - null dilaton backgrounds.

  14. A three-dimensional kinematic model for the dissolution of crystals

    Science.gov (United States)

    Tellier, C. R.

    1989-06-01

    The two-dimensional kinematic theory developed by Frank is extended into three dimensions. It is shown that the theoretical equations for the propagation vector associated with the displacement of a moving surface element can be directly derived from the polar equation of the slowness surface.

  15. 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.

  16. Inverse Kinematics using Quaternions

    DEFF Research Database (Denmark)

    Henriksen, Knud; Erleben, Kenny; Engell-Nørregård, Morten

    In this project I describe the status of inverse kinematics research, with the focus firmly on the methods that solve the core problem. An overview of the different methods are presented Three common methods used in inverse kinematics computation have been chosen as subject for closer inspection....

  17. High energy production of gluons in a quasi-multi-Regge kinematics

    International Nuclear Information System (INIS)

    Fadin, V.S.; Lipatov, L.N.

    1989-01-01

    Inelastic gluon-gluon scattering amplitudes in the Born approximation for the quasi-multi-Regge kinematics are calculated, starting with the Veneziano-type expression for the inelastic amplitude of the gluon-tachyon scattering with its subsequent simplification in the region of large energies and the Regge slope α'→0. Results obtained allow one to determine the high order corrections to the gluon Regge trajectory, the reggeon-particle vertices and to the integral kernel of the Bethe-Salpeter equation for the vacuum t-channel partial waves. 10 refs.; 7 figs

  18. Modelling of Performance of Caisson Type Breakwaters under Extreme Waves

    Science.gov (United States)

    Güney Doǧan, Gözde; Özyurt Tarakcıoǧlu, Gülizar; Baykal, Cüneyt

    2016-04-01

    Many coastal structures are designed without considering loads of tsunami-like waves or long waves although they are constructed in areas prone to encounter these waves. Performance of caisson type breakwaters under extreme swells is tested in Middle East Technical University (METU) Coastal and Ocean Engineering Laboratory. This paper presents the comparison of pressure measurements taken along the surface of caisson type breakwaters and obtained from numerical modelling of them using IH2VOF as well as damage behavior of the breakwater under the same extreme swells tested in a wave flume at METU. Experiments are conducted in the 1.5 m wide wave flume, which is divided into two parallel sections (0.74 m wide each). A piston type of wave maker is used to generate the long wave conditions located at one end of the wave basin. Water depth is determined as 0.4m and kept constant during the experiments. A caisson type breakwater is constructed to one side of the divided flume. The model scale, based on the Froude similitude law, is chosen as 1:50. 7 different wave conditions are applied in the tests as the wave period ranging from 14.6 s to 34.7 s, wave heights from 3.5 m to 7.5 m and steepness from 0.002 to 0.015 in prototype scale. The design wave parameters for the breakwater were 5m wave height and 9.5s wave period in prototype. To determine the damage of the breakwater which were designed according to this wave but tested under swell waves, video and photo analysis as well as breakwater profile measurements before and after each test are performed. Further investigations are carried out about the acting wave forces on the concrete blocks of the caisson structures via pressure measurements on the surfaces of these structures where the structures are fixed to the channel bottom minimizing. Finally, these pressure measurements will be compared with the results obtained from the numerical study using IH2VOF which is one of the RANS models that can be applied to simulate

  19. Traveling waves in an optimal velocity model of freeway traffic

    Science.gov (United States)

    Berg, Peter; Woods, Andrew

    2001-03-01

    Car-following models provide both a tool to describe traffic flow and algorithms for autonomous cruise control systems. Recently developed optimal velocity models contain a relaxation term that assigns a desirable speed to each headway and a response time over which drivers adjust to optimal velocity conditions. These models predict traffic breakdown phenomena analogous to real traffic instabilities. In order to deepen our understanding of these models, in this paper, we examine the transition from a linear stable stream of cars of one headway into a linear stable stream of a second headway. Numerical results of the governing equations identify a range of transition phenomena, including monotonic and oscillating travelling waves and a time- dependent dispersive adjustment wave. However, for certain conditions, we find that the adjustment takes the form of a nonlinear traveling wave from the upstream headway to a third, intermediate headway, followed by either another traveling wave or a dispersive wave further downstream matching the downstream headway. This intermediate value of the headway is selected such that the nonlinear traveling wave is the fastest stable traveling wave which is observed to develop in the numerical calculations. The development of these nonlinear waves, connecting linear stable flows of two different headways, is somewhat reminiscent of stop-start waves in congested flow on freeways. The different types of adjustments are classified in a phase diagram depending on the upstream and downstream headway and the response time of the model. The results have profound consequences for autonomous cruise control systems. For an autocade of both identical and different vehicles, the control system itself may trigger formations of nonlinear, steep wave transitions. Further information is available [Y. Sugiyama, Traffic and Granular Flow (World Scientific, Singapore, 1995), p. 137].

  20. Low-frequency dilatational wave propagation through unsaturated porous media containing two immiscible fluids

    Energy Technology Data Exchange (ETDEWEB)

    Lo, W.-C.; Sposito, G.; Majer, E.

    2007-02-01

    An analytical theory is presented for the low-frequency behavior of dilatational waves propagating through a homogeneous elastic porous medium containing two immiscible fluids. The theory is based on the Berryman-Thigpen-Chin (BTC) model, in which capillary pressure effects are neglected. We show that the BTC model equations in the frequency domain can be transformed, at sufficiently low frequencies, into a dissipative wave equation (telegraph equation) and a propagating wave equation in the time domain. These partial differential equations describe two independent modes of dilatational wave motion that are analogous to the Biot fast and slow compressional waves in a single-fluid system. The equations can be solved analytically under a variety of initial and boundary conditions. The stipulation of 'low frequency' underlying the derivation of our equations in the time domain is shown to require that the excitation frequency of wave motions be much smaller than a critical frequency. This frequency is shown to be the inverse of an intrinsic time scale that depends on an effective kinematic shear viscosity of the interstitial fluids and the intrinsic permeability of the porous medium. Numerical calculations indicate that the critical frequency in both unconsolidated and consolidated materials containing water and a nonaqueous phase liquid ranges typically from kHz to MHz. Thus engineering problems involving the dynamic response of an unsaturated porous medium to low excitation frequencies (e.g. seismic wave stimulation) should be accurately modeled by our equations after suitable initial and boundary conditions are imposed.

  1. Analytical and computational modelling for wave energy systems: the example of oscillating wave surge converters

    Science.gov (United States)

    Dias, Frédéric; Renzi, Emiliano; Gallagher, Sarah; Sarkar, Dripta; Wei, Yanji; Abadie, Thomas; Cummins, Cathal; Rafiee, Ashkan

    2017-08-01

    The development of new wave energy converters has shed light on a number of unanswered questions in fluid mechanics, but has also identified a number of new issues of importance for their future deployment. The main concerns relevant to the practical use of wave energy converters are sustainability, survivability, and maintainability. Of course, it is also necessary to maximize the capture per unit area of the structure as well as to minimize the cost. In this review, we consider some of the questions related to the topics of sustainability, survivability, and maintenance access, with respect to sea conditions, for generic wave energy converters with an emphasis on the oscillating wave surge converter. New analytical models that have been developed are a topic of particular discussion. It is also shown how existing numerical models have been pushed to their limits to provide answers to open questions relating to the operation and characteristics of wave energy converters.

  2. Analytical and computational modelling for wave energy systems: the example of oscillating wave surge converters.

    Science.gov (United States)

    Dias, Frédéric; Renzi, Emiliano; Gallagher, Sarah; Sarkar, Dripta; Wei, Yanji; Abadie, Thomas; Cummins, Cathal; Rafiee, Ashkan

    2017-01-01

    The development of new wave energy converters has shed light on a number of unanswered questions in fluid mechanics, but has also identified a number of new issues of importance for their future deployment. The main concerns relevant to the practical use of wave energy converters are sustainability, survivability, and maintainability. Of course, it is also necessary to maximize the capture per unit area of the structure as well as to minimize the cost. In this review, we consider some of the questions related to the topics of sustainability, survivability, and maintenance access, with respect to sea conditions, for generic wave energy converters with an emphasis on the oscillating wave surge converter. New analytical models that have been developed are a topic of particular discussion. It is also shown how existing numerical models have been pushed to their limits to provide answers to open questions relating to the operation and characteristics of wave energy converters.

  3. The influence of fully nonlinear wave forces on aero-hydro-elastic calculations of monopile wind turbines

    DEFF Research Database (Denmark)

    Schløer, Signe; Bredmose, Henrik; Bingham, Harry B.

    2016-01-01

    The response of an offshore wind turbine tower and its monopile foundation has been investigated when exposed to linear and fully nonlinear irregular waves on four different water depths. The investigation focuses on the consequences of including full nonlinearity in the wave kinematics. The line...

  4. Modelling of wave propagation over a submerged sand bar using SWASH

    Digital Repository Service at National Institute of Oceanography (India)

    Jishad, M.; Vu, T.T.T.; JayaKumar, S.

    cases The wave heights and wave induced velocities obtained from the model and the laboratory experimental resultsare compared The model without the morphology feedback provided good correlation with the measurements for case of low wave energy, whereas...

  5. STEREO OBSERVATIONS OF FAST MAGNETOSONIC WAVES IN THE EXTENDED SOLAR CORONA ASSOCIATED WITH EIT/EUV WAVES

    International Nuclear Information System (INIS)

    Kwon, Ryun-Young; Ofman, Leon; Kramar, Maxim; Olmedo, Oscar; Davila, Joseph M.; Thompson, Barbara J.; Cho, Kyung-Suk

    2013-01-01

    We report white-light observations of a fast magnetosonic wave associated with a coronal mass ejection observed by STEREO/SECCHI/COR1 inner coronagraphs on 2011 August 4. The wave front is observed in the form of density compression passing through various coronal regions such as quiet/active corona, coronal holes, and streamers. Together with measured electron densities determined with STEREO COR1 and Extreme UltraViolet Imager (EUVI) data, we use our kinematic measurements of the wave front to calculate coronal magnetic fields and find that the measured speeds are consistent with characteristic fast magnetosonic speeds in the corona. In addition, the wave front turns out to be the upper coronal counterpart of the EIT wave observed by STEREO EUVI traveling against the solar coronal disk; moreover, stationary fronts of the EIT wave are found to be located at the footpoints of deflected streamers and boundaries of coronal holes, after the wave front in the upper solar corona passes through open magnetic field lines in the streamers. Our findings suggest that the observed EIT wave should be in fact a fast magnetosonic shock/wave traveling in the inhomogeneous solar corona, as part of the fast magnetosonic wave propagating in the extended solar corona.

  6. N-body bound state relativistic wave equations

    International Nuclear Information System (INIS)

    Sazdjian, H.

    1988-06-01

    The manifestly covariant formalism with constraints is used for the construction of relativistic wave equations to describe the dynamics of N interacting spin 0 and/or spin 1/2 particles. The total and relative time evolutions of the system are completely determined by means of kinematic type wave equations. The internal dynamics of the system is 3 N-1 dimensional, besides the contribution of the spin degrees of freedom. It is governed by a single dynamical wave equation, that determines the eigenvalue of the total mass squared of the system. The interaction is introduced in a closed form by means of two-body potentials. The system satisfies an approximate form of separability

  7. CIMI simulations with newly developed multiparameter chorus and plasmaspheric hiss wave models

    Science.gov (United States)

    Aryan, Homayon; Sibeck, David G.; Kang, Suk-Bin; Balikhin, Michael A.; Fok, Mei-Ching; Agapitov, Oleksiy; Komar, Colin M.; Kanekal, Shrikanth G.; Nagai, Tsugunobu

    2017-09-01

    Numerical simulation studies of the Earth's radiation belts are important to understand the acceleration and loss of energetic electrons. The Comprehensive Inner Magnetosphere-Ionosphere (CIMI) model considers the effects of the ring current and plasmasphere on the radiation belts to obtain plausible results. The CIMI model incorporates pitch angle, energy, and cross diffusion of electrons, due to chorus and plasmaspheric hiss waves. These parameters are calculated using statistical wave distribution models of chorus and plasmaspheric hiss amplitudes. However, currently, these wave distribution models are based only on a single-parameter, geomagnetic index (AE) and could potentially underestimate the wave amplitudes. Here we incorporate recently developed multiparameter chorus and plasmaspheric hiss wave models based on geomagnetic index and solar wind parameters. We then perform CIMI simulations for two geomagnetic storms and compare the flux enhancement of MeV electrons with data from the Van Allen Probes and Akebono satellites. We show that the relativistic electron fluxes calculated with multiparameter wave models resemble the observations more accurately than the relativistic electron fluxes calculated with single-parameter wave models. This indicates that wave models based on a combination of geomagnetic index and solar wind parameters are more effective as inputs to radiation belt models.

  8. Shock waves and rarefaction waves in magnetohydrodynamics. Pt. 1: A model system

    International Nuclear Information System (INIS)

    Myong, R.S.; Roe, P.L.

    1997-01-01

    The present study consists of two parts. Here in Part I, a model set of conservation laws exactly preserving the MHD hyperbolic singularities is investigated to develop the general theory of the nonlinear evolution of MHD shock waves. Great emphasis is placed on shock admissibility conditions. By developing the viscosity admissibility condition, it is shown that the intermediate shocks are necessary to ensure that the planar Riemann problem is well-posed. In contrast, it turns out that the evolutionary condition is inappropriate for determining physically relevant MHD, shocks. In the general non-planar case, by studying canonical cases, we show that the solution of the Riemann problem is not necessarily unique - in particular, that it depends not only on reference states but also on the associated internal structure. Finally, the stability of intermediate shocks is discussed, and a theory of their nonlinear evolution is proposed. In Part 2, the theory of nonlinear waves developed for the model is applied to the MHD problem. It is shown that the topology of the MHD Hugoniot and wave curves is identical to that of the model problem. (Author)

  9. Modeling Stop-and-Go Waves in Pedestrian Dynamics

    OpenAIRE

    Portz, Andrea; Seyfried, Armin

    2010-01-01

    Several spatially continuous pedestrian dynamics models have been validated against empirical data. We try to reproduce the experimental fundamental diagram (velocity versus density) with simulations. In addition to this quantitative criterion, we tried to reproduce stop-and-go waves as a qualitative criterion. Stop-and-go waves are a characteristic phenomenon for the single file movement. Only one of three investigated models satisfies both criteria.

  10. Exploratory study of mechanical kinematic innovation design based on gene recombination operation

    Energy Technology Data Exchange (ETDEWEB)

    Feng, Yixiong; Gao, Yicong; Tan, Jianrong [Zhejiang University, Hangzhou (China); Hagiwara, Ichiro [Tokyo Institute of Technology, Tokyo (Korea, Republic of)

    2013-03-15

    This paper analyzes the influencing factor of motion output of the inspired mechanism under the premise that the motion input is invariant. These factors are respectively expressed as kinematic pair chromosome number, kinematic pair feature gene and distance relationship vector gene by virtue of several concepts and principles in genetics, and then they are encoded. Mechanism chromosome model is established, which is constituted by mechanism chromosome relationship graph and mechanism chromosome matrix. Three kinematic pair chromosome gene recombination operations on mechanism chromosome model (dominance, translocation and metastasis), are proposed by using meiosis and chromosome variance in genetics for reference. Finally the paper takes shaper as the original mechanism and acquires its inspired mechanism, which proves the convenience and practicality of the methods.

  11. Exploratory study of mechanical kinematic innovation design based on gene recombination operation

    International Nuclear Information System (INIS)

    Feng, Yixiong; Gao, Yicong; Tan, Jianrong; Hagiwara, Ichiro

    2013-01-01

    This paper analyzes the influencing factor of motion output of the inspired mechanism under the premise that the motion input is invariant. These factors are respectively expressed as kinematic pair chromosome number, kinematic pair feature gene and distance relationship vector gene by virtue of several concepts and principles in genetics, and then they are encoded. Mechanism chromosome model is established, which is constituted by mechanism chromosome relationship graph and mechanism chromosome matrix. Three kinematic pair chromosome gene recombination operations on mechanism chromosome model (dominance, translocation and metastasis), are proposed by using meiosis and chromosome variance in genetics for reference. Finally the paper takes shaper as the original mechanism and acquires its inspired mechanism, which proves the convenience and practicality of the methods.

  12. Coupling of WRF meteorological model to WAM spectral wave model through sea surface roughness at the Balearic Sea: impact on wind and wave forecasts

    Science.gov (United States)

    Tolosana-Delgado, R.; Soret, A.; Jorba, O.; Baldasano, J. M.; Sánchez-Arcilla, A.

    2012-04-01

    Meteorological models, like WRF, usually describe the earth surface characteristics by tables that are function of land-use. The roughness length (z0) is an example of such approach. However, over sea z0 is modeled by the Charnock (1955) relation, linking the surface friction velocity u*2 with the roughness length z0 of turbulent air flow, z0 = α-u2* g The Charnock coefficient α may be considered a measure of roughness. For the sea surface, WRF considers a constant roughness α = 0.0185. However, there is evidence that sea surface roughness should depend on wave energy (Donelan, 1982). Spectral wave models like WAM, model the evolution and propagation of wave energy as a function of wind, and include a richer sea surface roughness description. Coupling WRF and WAM is thus a common way to improve the sea surface roughness description of WRF. WAM is a third generation wave model, solving the equation of advection of wave energy subject to input/output terms of: wind growth, energy dissipation and resonant non-linear wave-wave interactions. Third generation models work on the spectral domain. WAM considers the Charnock coefficient α a complex yet known function of the total wind input term, which depends on the wind velocity and on the Charnock coefficient again. This is solved iteratively (Janssen et al., 1990). Coupling of meteorological and wave models through a common Charnock coefficient is operationally done in medium-range met forecasting systems (e.g., at ECMWF) though the impact of coupling for smaller domains is not yet clearly assessed (Warner et al, 2010). It is unclear to which extent the additional effort of coupling improves the local wind and wave fields, in comparison to the effects of other factors, like e.g. a better bathymetry and relief resolution, or a better circulation information which might have its influence on local-scale meteorological processes (local wind jets, local convection, daily marine wind regimes, etc.). This work, within the

  13. Effect of P T symmetry on nonlinear waves for three-wave interaction models in the quadratic nonlinear media

    Science.gov (United States)

    Shen, Yujia; Wen, Zichao; Yan, Zhenya; Hang, Chao

    2018-04-01

    We study the three-wave interaction that couples an electromagnetic pump wave to two frequency down-converted daughter waves in a quadratic optical crystal and P T -symmetric potentials. P T symmetric potentials are shown to modulate stably nonlinear modes in two kinds of three-wave interaction models. The first one is a spatially extended three-wave interaction system with odd gain-and-loss distribution in the channel. Modulated by the P T -symmetric single-well or multi-well Scarf-II potentials, the system is numerically shown to possess stable soliton solutions. Via adiabatical change of system parameters, numerical simulations for the excitation and evolution of nonlinear modes are also performed. The second one is a combination of P T -symmetric models which are coupled via three-wave interactions. Families of nonlinear modes are found with some particular choices of parameters. Stable and unstable nonlinear modes are shown in distinct families by means of numerical simulations. These results will be useful to further investigate nonlinear modes in three-wave interaction models.

  14. 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.

  15. The Red Sea: An Arena for Wind-Wave Modeling in Enclosed Seas

    KAUST Repository

    Langodan, Sabique

    2016-12-01

    Wind and waves play a major role in important ocean dynamical processes, such as the exchange of heat, momentum and gases between atmosphere and ocean, that greatly contributes to the earth climate and marine lives. Knowledge on wind and wave weather and climate is crucial for a wide range of applications, including oceanographic studies, maritime activities and ocean engineering. Despite being one of the important world shipping routes, the wind-wave characteristics in the Red Sea are yet to be fully explored. Because of the scarcity of waves data in the Red Sea, numerical models become crucial and provide very powerful tools to extrapolate wind and wave data in space, and backward and forward in time. Unlike open oceans, enclosed basins wave have different characteristics, mainly because of their local generation processes. The complex orography on both sides of the Red Sea makes the local wind, and consequently wave, modeling very challenging. This thesis considers the modeling of wind-wave characteristics in the Red Sea, including their climate variability and trends using state-of-the-art numerical models and all available observations. Different approaches are investigated to model and understand the general and unusual wind and wave conditions in the basin using standard global meteorological products and customised regional wind and wave models. After studying and identifying the main characteristics of the wind-wave variability in the Red Sea, we demonstrate the importance of generating accurate atmospheric forcing through data assimilation for reliable wave simulations. In particular, we show that the state-of-the-art physical formulation of wave models is not suitable to model the unique situation of the two opposing wind-waves systems in the Red Sea Convergence Zone, and propose and successfully test a modification to the input and white-capping source functions to address this problem. We further investigate the climate variability and trends of wind

  16. Kinematic segmentation of accretive wedges based on scaled sandbox experiments and their application to nature

    Science.gov (United States)

    Lohrmann, J.; Kukowski, N.; Oncken, O.

    2003-04-01

    Recording the incremental displacement field of scaled analogue simulations provides detailed data on wedge kinematics and timing of internal deformation. This is a very efficient tool to develop kinematic concepts and test mechanical theories, e.g. the critical-taper theory. Such models could not be validated until now by the available geological and geophysical data, since there was no information about the incremental displacement field. Recent GPS measurements and seismological investigations at convergent margins provide well-constrained strain-rates and kinematics of short-termed processes. These data allow the kinematic models that are based on analogue simulations to be tested against field observations. We investigate convergent accretive sand wedges in scaled analogue simulations. We define three kinematic segments based on distinctive wedge taper, displacement field and timing of deformation (recorded at a slow sampling rate, which represents the geological scale). Only one of these segments is in a critical state of stress, whereas the other segments are either in a sub-critical or stable state of stress. Such a kinematic segmentation is not predicted for ideally homogeneous wedge-shaped bodies by the critical-taper theory, but can be explained by the formation of localised weak shear zones, which preferentially accommodate deformation. These weak zones are formed in granular analogue materials, and also in natural rocks, since these materials show a strain-softening phase prior to the achievement of stable mechanical conditions. Therefore we suggest that the kinematic segmentation of convergent sand wedges should also be observed in natural settings, such as accretionary wedges, foreland fold-and-thrust belts and even entire orogens. To validate this hypothesis we compare strain rates from GPS measurements and kinematics deduced from focal mechanisms with the respective data from sandbox experiments. We present a strategy to compare strain rates and

  17. Forward modeling of space-borne gravitational wave detectors

    International Nuclear Information System (INIS)

    Rubbo, Louis J.; Cornish, Neil J.; Poujade, Olivier

    2004-01-01

    Planning is underway for several space-borne gravitational wave observatories to be built in the next 10 to 20 years. Realistic and efficient forward modeling will play a key role in the design and operation of these observatories. Space-borne interferometric gravitational wave detectors operate very differently from their ground-based counterparts. Complex orbital motion, virtual interferometry, and finite size effects complicate the description of space-based systems, while nonlinear control systems complicate the description of ground-based systems. Here we explore the forward modeling of space-based gravitational wave detectors and introduce an adiabatic approximation to the detector response that significantly extends the range of the standard low frequency approximation. The adiabatic approximation will aid in the development of data analysis techniques, and improve the modeling of astrophysical parameter extraction

  18. 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.

  19. An Incidence Loss Model for Wave Rotors with Axially Aligned Passages

    Science.gov (United States)

    Paxson, Daniel E.

    1998-01-01

    A simple mathematical model is described to account for the losses incurred when the flow in the duct (port) of a wave rotor is not aligned with the passages. The model, specifically for wave rotors with axially aligned passages, describes a loss mechanism which is sensitive to incident flow angle and Mach number. Implementation of the model in a one-dimensional CFD based wave rotor simulation is presented. Comparisons with limited experimental results are consistent with the model. Sensitivity studies are presented which highlight the significance of the incidence loss relative to other loss mechanisms in the wave rotor.

  20. A multi-modal geological investigation framework for subsurface modeling and kinematic monitoring of a slow-moving landslide complex in Colorado, United States

    Science.gov (United States)

    Lowry, B. W.; Zhou, W.; Smartgeo

    2010-12-01

    The Muddy Creek landslide complex is a large area of active and reactivating landslides that impact the operation of both a state highway and Paonia Reservoir in Gunnison County, Colorado, United States. Historically, the monitoring of this slide has been investigated using disparate techniques leading to protracted analysis and project knowledge attrition. We present an integrated, data-driven investigation framework that supports continued kinematic monitoring, document cataloging, and subsurface modeling of the landslide complex. A geospatial information system (GIS) was integrated with a visual programming based subsurface model to facilitate modular integration of monitoring data with borehole information. Subsurface modeling was organized by material type and activity state based on multiple sources of kinematic measurement. The framework is constructed to modularly integrate remotely sensed imagery and other spatial datasets such as ASTER, InSAR, and LiDAR derived elevation products as more precise datasets become available. The framework allows for terrestrial LiDAR survey error estimation, borehole siting, and placement of wireless sensor (GPS, accelerometers, geophysical ) networks for optimized spatial relevance and utility. Coordinated spatial referencing within the GIS facilitates geotechnical and hydrogeological modeling input generation and common display of modeling outputs. Kinematic data fusion techniques are accomplished with integration of instrumentation, surficial feature tracking, subsurface classification, and 3D interpolation. The framework includes dynamic decision support including landslide dam failure estimates, back-flooding scenario planning that can be accessed by multiple agencies and stakeholders.

  1. Identification of wind fields for wave modeling near Qatar

    Science.gov (United States)

    Nayak, Sashikant; Balan Sobhana, Sandeepan; Panchang, Vijay

    2016-04-01

    Due to the development of coastal and offshore infrastructure in and around the Arabian Gulf, a large semi-enclosed sea, knowledge of met-ocean factors like prevailing wind systems, wind generated waves, and currents etc. are of great importance. Primarily it is important to identify the wind fields that are used as forcing functions for wave and circulation models for hindcasting and forecasting purposes. The present study investigates the effects of using two sources of wind-fields on the modeling of wind-waves in the Arabian Gulf, in particular near the coastal regions of Qatar. Two wind sources are considered here, those obtained from ECMWF and those generated by us using the WRF model. The wave model SWAN was first forced with the 6 hourly ERA Interim daily winds (from ECMWF) having spatial resolution of 0.125°. For the second option, wind fields were generated by us using the mesoscale wind model (WRF) with a high spatial resolution (0.1°) at every 30 minute intervals. The simulations were carried out for a period of two months (7th October-7th December, 2015) during which measurements were available from two moored buoys (deployed and operated by the Qatar Meteorological Department), one in the north of Qatar ("Qatar North", in water depth of 58.7 m) and other in the south ("Shiraouh Island", in water depth of 16.64 m). This period included a high-sea event on 11-12th of October, recorded by the two buoys where the significant wave heights (Hs) reached as high as 2.9 m (i.e. max wave height H ~ 5.22 m) and 1.9 (max wave height H ~ 3.4 m) respectively. Model results were compared with the data for this period. The scatter index (SI) of the Hs simulated using the WRF wind fields and the observed Hs was found to be about 30% and 32% for the two buoys (total period). The observed Hs were generally reproduced but there was consistent underestimation. (Maximum 27% for the high-sea event). For the Hs obtained with ERA interim wind fields, the underestimation was

  2. Simple opdriftsbaserede modeller for Wave Star

    DEFF Research Database (Denmark)

    Kramer, Morten

    Wave Star modellen er udarbejdet i programmeringssproget Delphi. Modellerne er en videre udarbejdelse af tidligere anvendte Excel-modeller. I forhold til Excelmodellerne udmærker de nye Dephi-modeller sig ved at beregningerne udføres mange gange hurtigere og modellerne kan håndtere lange tidsserier...

  3. Towards the best approach for wind wave modelling in the Red Sea

    KAUST Repository

    Langodan, Sabique

    2015-04-01

    While wind and wave modelling is nowadays quite satisfactory in the open oceans, problems are still present in the enclosed seas. In general, the smaller the basin, the poorer the models perform, especially if the basin is surrounded by a complex orography. The Red Sea is an extreme example in this respect, especially because of its long and narrow shape. This deceivingly simple domain offers very interesting challenges for wind and wave modeling, not easily, if ever, found elsewhere. Depending on the season, opposite wind regimes, one directed to southeast, the other one to northwest, are present and may coexist in the most northerly and southerly parts of the Red Sea. Where the two regimes meet, the wave spectra can be rather complicated and, crucially dependent on small details of the driving wind fields. We explored how well we could reproduce the general and unusual wind and wave patterns of the Red Sea using different meteorological products. Best results were obtained using two rather opposite approaches: the high-resolution Weather Research Forecasting (WRF) regional model and the slightly enhanced surface winds from the global European Centre for Medium-Range Weather Forecasts (ECMWF) model. We discuss the reasons why these two approaches produce the best results and the implications on wave modeling in the Red Sea. The unusual wind and wave patterns in the Red Sea suggest that the currently available wave model source functions may not properly represent the evolution of local fields. However, within limits, the WAVEWATCH III wave model, based on Janssen\\'s and also Ardhuin\\'s wave model physics, provides in many cases very reasonable results. Because surface winds lead to important uncertainties in wave simulation, we also discuss the impact of data assimilation for simulating the most accurate winds, and consequently waves, over the Red Sea.

  4. Impact of surface waves in a Regional Climate Model

    DEFF Research Database (Denmark)

    Rutgersson, Anna; Sætra, Oyvind; Semedo, Alvaro

    2010-01-01

    A coupled regional atmosphere-wave model system is developed with the purpose of investigating the impact of climate changes on the wave field, as well as feed-back effects of the wave field on the atmospheric parameters. This study focuses on the effects of introducing a two-way atmosphere...

  5. Simulations of short-crested harbour waves with variational Boussinesq modelling

    NARCIS (Netherlands)

    Adytia, D.

    2014-01-01

    Waves propagating from the deep ocean to the coast show large changes in wave height, wave length and direction. The challenge to simulate the essential wave characteristics is in particular to model the speed and nonlinear interaction correctly. All these physical phenomena are present, but hidden,

  6. Analysis of foot kinematics wearing high heels using the Oxford foot model.

    Science.gov (United States)

    Wang, Meizi; Gu, Yaodong; Baker, Julien Steven

    2018-04-29

    Wearing high heels is thought to lead to various foot disorders and injuries such as metatarsal pain, Achilles tendon tension, plantar fasciitis and Haglund malformation. However, there is little available information explaining the specific mechanisms and reasons why wearing high heels causes foot deformity. Therefore, the purpose of this study was to investigate the foot kinematics of high heel wearers and compare any differences with barefoot individuals using the Oxford Foot Model (OFM). Fifteen healthy women aged 20-25 years were measured while walking barefoot and when wearing high heels. The peak value of angular motion for the hallux with respect to the forefoot, the forefoot with respect to the hind foot, and the hind foot with respect to the tibia were all analyzed. Compared to the barefoot, participants wearing high heels demonstrated larger hallux dorsiflexion (22.55∘± 1.62∘ VS 26.6∘± 2.33∘ for the barefoot; P= 0.001), and less hallux plantarflexion during the initial stance phase (-4.86∘± 2.32∘ VS -8.68∘± 1.13∘; Pfoot demonstrated a larger dorsiflexion in the horizontal plane (16.59∘± 1.69∘ VS 12.08∘± 0.9∘; Pfoot extension rotation (-5.49∘± 0.69∘ VS -10.73∘± 0.42∘; P= 0.001). These findings complement existing kinematic evidence that wearing high heels can lead to foot deformities and injuries.

  7. 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.

  8. A method for matching the refractive index and kinematic viscosity of a blood analog for flow visualization in hydraulic cardiovascular models.

    Science.gov (United States)

    Nguyen, T T; Biadillah, Y; Mongrain, R; Brunette, J; Tardif, J C; Bertrand, O F

    2004-08-01

    In this work, we propose a simple method to simultaneously match the refractive index and kinematic viscosity of a circulating blood analog in hydraulic models for optical flow measurement techniques (PIV, PMFV, LDA, and LIF). The method is based on the determination of the volumetric proportions and temperature at which two transparent miscible liquids should be mixed to reproduce the targeted fluid characteristics. The temperature dependence models are a linear relation for the refractive index and an Arrhenius relation for the dynamic viscosity of each liquid. Then the dynamic viscosity of the mixture is represented with a Grunberg-Nissan model of type 1. Experimental tests for acrylic and blood viscosity were found to be in very good agreement with the targeted values (measured refractive index of 1.486 and kinematic viscosity of 3.454 milli-m2/s with targeted values of 1.47 and 3.300 milli-m2/s).

  9. 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.

  10. Modeling Waves and Coastal Flooding along the Connecticut Coast

    Science.gov (United States)

    Cifuentes-Lorenzen, A.; Howard-Strobel, M. M.; Fake, T.; McCardell, G.; O'Donnell, J.; Asthita, M.

    2015-12-01

    We have used a hydrodynamic- wave coupled numerical model (FVCOM-SWAVE) to simulate flooding at the Connecticut coastline during severe storms. The model employed a one-way nesting scheme and an unstructured grid. The parent domain spanned most of the southern New England shelf and the fine resolution grid covered Long Island Sound (LIS) and extended across the Connecticut coast to the 10m elevation contour. The model results for sea level, current and wave statistics from the parent grid have been tested with data from several field campaigns at different locations spanning the western, central and eastern portions of LIS. Waves are fetch limited and improvements to the model-data comparison required modifications to spectral coefficients in the wave model. Finally, the nested results were validated with two field campaigns in shallow water environments (i.e. New Haven and Old Saybrook). To assess the spatial variability of storm wave characteristics the domain was forced with the hindcast winds obtained from meteorological models (NAM and WRF) for 13 severe weather events that affected LIS in the past 15 years. We have also forced the system with a simulation of Superstorm Sandy in a warmer climate to assess the impact a climate change on the character of flooding. The nested grid is currently being used to map flooding risks under severe weather events including the effects of precipitation on river flow and discharge.

  11. Improved bag models of P-wave baryons

    International Nuclear Information System (INIS)

    Wang Fan; Wong Chunwa

    1988-01-01

    Problems in two previous bag-model calculations of P-wave baryon states are pointed out. The two-body matrix elements used in one of these models, the Myhrer-Wroldsen bag model, have now been revised and corrected by Myhrer, Umino and Wroldsen. We use their corrected matrix elements to construct simple bag models in which baryon masses are stabilized against collapse by using a finite pion size. We find that baryon masses in both ground and excited states can be fitted with the same model parameters. Models with small-bag baryons of the type proposed by Brown and Rho are then obtained. Typical bag radii are 0.5 fm for N, 0.6 fm for Δ and 0.7 fm for P-wave nonstrange baryons. In these models, the mixing angles are still unsatisfactory, while inadequacy in the treatment of center-of-mass motion found in an earlier paper persists. These results are briefly discussed. especially in connection with skyrmion models. (orig.)

  12. Spectral analysis of surface waves method to assess shear wave velocity within centrifuge models

    OpenAIRE

    MURILLO, Carol Andrea; THOREL, Luc; CAICEDO, Bernardo

    2009-01-01

    The method of the spectral analysis of surface waves (SASW) is tested out on reduced scale centrifuge models, with a specific device, called the mini Falling Weight, developed for this purpose. Tests are performed on layered materials made of a mixture of sand and clay. The shear wave velocity VS determined within the models using the SASW is compared with the laboratory measurements carried out using the bender element test. The results show that the SASW technique applied to centrifuge test...

  13. Variational Boussinesq model for strongly nonlinear dispersive waves

    NARCIS (Netherlands)

    Lawrence, C.; Adytia, D.; van Groesen, E.

    2018-01-01

    For wave tank, coastal and oceanic applications, a fully nonlinear Variational Boussinesq model with optimized dispersion is derived and a simple Finite Element implementation is described. Improving a previous weakly nonlinear version, high waves over flat and varying bottom are shown to be

  14. Real time wave forecasting using wind time history and numerical model

    Science.gov (United States)

    Jain, Pooja; Deo, M. C.; Latha, G.; Rajendran, V.

    Operational activities in the ocean like planning for structural repairs or fishing expeditions require real time prediction of waves over typical time duration of say a few hours. Such predictions can be made by using a numerical model or a time series model employing continuously recorded waves. This paper presents another option to do so and it is based on a different time series approach in which the input is in the form of preceding wind speed and wind direction observations. This would be useful for those stations where the costly wave buoys are not deployed and instead only meteorological buoys measuring wind are moored. The technique employs alternative artificial intelligence approaches of an artificial neural network (ANN), genetic programming (GP) and model tree (MT) to carry out the time series modeling of wind to obtain waves. Wind observations at four offshore sites along the east coast of India were used. For calibration purpose the wave data was generated using a numerical model. The predicted waves obtained using the proposed time series models when compared with the numerically generated waves showed good resemblance in terms of the selected error criteria. Large differences across the chosen techniques of ANN, GP, MT were not noticed. Wave hindcasting at the same time step and the predictions over shorter lead times were better than the predictions over longer lead times. The proposed method is a cost effective and convenient option when a site-specific information is desired.

  15. The brown dwarf kinematics project

    Science.gov (United States)

    Faherty, Jackie K.

    2010-10-01

    Brown dwarfs are a recent addition to the plethora of objects studied in Astronomy. With theoretical masses between 13 and 75 MJupiter , they lack sustained stable Hydrogen burning so they never join the stellar main sequence. They have physical properties similar to both planets and low-mass stars so studies of their population inform on both. The distances and kinematics of brown dwarfs provide key statistical constraints on their ages, moving group membership, absolute brightnesses, evolutionary trends, and multiplicity. Yet, until my thesis, fundamental measurements of parallax and proper motion were made for only a relatively small fraction of the known population. To address this deficiency, I initiated the Brown Dwarf Kinematics (BDKP). Over the past four years I have re-imaged the majority of spectroscopically confirmed field brown dwarfs (or ultracool dwarfs---UCDs) and created the largest proper motion catalog for ultracool dwarfs to date. Using new astrometric information I examined population characteristics such as ages calculated from velocity dispersions and correlations between kinematics and colors. Using proper motions, I identified several new wide co-moving companions and investigated binding energy (and hence formation) limitations as well as the frequency of hierarchical companions. Concurrently over the past four years I have been conducting a parallax survey of 84 UCDs including those showing spectral signatures of youth, metal-poor brown dwarfs, and those within 20 pc of the Sun. Using absolute magnitude relations in J,H, and K, I identified overluminous binary candidates and investigated known flux-reversal binaries. Using current evolutionary models, I compared the MK vs J-K color magnitude diagram to model predictions and found that the low-surface gravity dwarfs are significantly red-ward and underluminous of predictions and a handful of late-type T dwarfs may require thicker clouds to account for their scatter.

  16. Modeling Hydrodynamics on the Wave Group Scale in Topographically Complex Reef Environments

    Science.gov (United States)

    Reyns, J.; Becker, J. M.; Merrifield, M. A.; Roelvink, J. A.

    2016-02-01

    The knowledge of the characteristics of waves and the associated wave-driven currents is important for sediment transport and morphodynamics, nutrient dynamics and larval dispersion within coral reef ecosystems. Reef-lined coasts differ from sandy beaches in that they have a steep offshore slope, that the non-sandy bottom topography is very rough, and that the distance between the point of maximum short wave dissipation and the actual coastline is usually large. At this short wave breakpoint, long waves are released, and these infragravity (IG) scale motions account for the bulk of the water level variance on the reef flat, the lagoon and eventually, the sandy beaches fronting the coast through run-up. These IG energy dominated water level motions are reinforced during extreme events such as cyclones or swells through larger incident band wave heights and low frequency wave resonance on the reef. Recently, a number of hydro(-morpho)dynamic models that have the capability to model these IG waves have successfully been applied to morphologically differing reef environments. One of these models is the XBeach model, which is curvilinear in nature. This poses serious problems when trying to model an entire atoll for example, as it is extremely difficult to build curvilinear grids that are optimal for the simulation of hydrodynamic processes, while maintaining the topology in the grid. One solution to remediate this problem of grid connectivity is the use of unstructured grids. We present an implementation of the wave action balance on the wave group scale with feedback to the flow momentum balance, which is the foundation of XBeach, within the framework of the unstructured Delft3D Flexible Mesh model. The model can be run in stationary as well as in instationary mode, and it can be forced by regular waves, time series or wave spectra. We show how the code is capable of modeling the wave generated flow at a number of topographically complex reef sites and for a number of

  17. Suppression of Spiral Wave in Modified Orengonator Model

    International Nuclear Information System (INIS)

    Ma Jun; Wang Chunni; Jin Wuyin; Yi Ming

    2008-01-01

    In this paper, a spatial perturbation scheme is proposed to suppress the spiral wave in the modified Orengonator model, which is used to describe the chemical reaction in the light-sensitive media. The controllable external illumination Φ is perturbed with a spatial linear function. In our numerical simulation, the scheme is investigated by imposing the external controllable illumination on the space continuously and/or intermittently. The numerical simulation results confirm that the stable rotating spiral wave still can be removed with the scheme proposed in this paper even if the controllable Φ changed vs. time and space synchronously. Then the scheme is also used to control the spiral wave and turbulence in the modified Fitzhugh-Nagumo model. It is found that the scheme is effective to remove the sable rotating and meandering spiral wave but it costs long transient period and intensity of the gradient parameter to eliminate the spiral turbulence

  18. Modelling performance of a small array of Wave Energy Converters: Comparison of Spectral and Boussinesq models

    International Nuclear Information System (INIS)

    Greenwood, Charles; Christie, David; Venugopal, Vengatesan; Morrison, James; Vogler, Arne

    2016-01-01

    This paper presents results from numerical simulations of three Oscillating Wave Surge Converters (OWSC) using two different computational models, Boussinesq wave (BW) and Spectral wave (SW) of the commercial software suite MIKE. The simulation of a shallow water wave farm applies alternative methods for implementing a frequency dependent absorption in both the BW and SW models, where energy extraction is based on experimental data from a scaled Oyster device. The effects of including wave diffraction within the SW model is tested by using diffraction smoothing steps and various directional wave conditions. The results of this study reveal important information on the models realms of validity that is heavily dependent on the incident sea state and the removal of diffraction for the SW model. This yields an increase in simulation accuracy for far-field disturbances when diffraction is entirely removed. This highlights specific conditions where the BW and SW model may thrive but also regions where reduced performance is observed. The results presented in this paper have not been validated with real sea site wave device array performance, however, the methodology described would be useful to device developers to arrive at preliminary decisions on array configurations and to minimise negative environmental impacts.

  19. Updated thermal model using simplified short-wave radiosity calculations

    International Nuclear Information System (INIS)

    Smith, J.A.; Goltz, S.M.

    1994-01-01

    An extension to a forest canopy thermal radiance model is described that computes the short-wave energy flux absorbed within the canopy by solving simplified radiosity equations describing flux transfers between canopy ensemble classes partitioned by vegetation layer and leaf slope. Integrated short-wave reflectance and transmittance-factors obtained from measured leaf optical properties were found to be nearly equal for the canopy studied. Short-wave view factor matrices were approximated by combining the average leaf scattering coefficient with the long-wave view factor matrices already incorporated in the model. Both the updated and original models were evaluated for a dense spruce fir forest study site in Central Maine. Canopy short-wave absorption coefficients estimated from detailed Monte Carlo ray tracing calculations were 0.60, 0.04, and 0.03 for the top, middle, and lower canopy layers corresponding to leaf area indices of 4.0, 1.05, and 0.25. The simplified radiosity technique yielded analogous absorption values of 0.55, 0.03, and 0.01. The resulting root mean square error in modeled versus measured canopy temperatures for all layers was less than 1°C with either technique. Maximum error in predicted temperature using the simplified radiosity technique was approximately 2°C during peak solar heating. (author)

  20. Updated thermal model using simplified short-wave radiosity calculations

    Energy Technology Data Exchange (ETDEWEB)

    Smith, J. A.; Goltz, S. M.

    1994-02-15

    An extension to a forest canopy thermal radiance model is described that computes the short-wave energy flux absorbed within the canopy by solving simplified radiosity equations describing flux transfers between canopy ensemble classes partitioned by vegetation layer and leaf slope. Integrated short-wave reflectance and transmittance-factors obtained from measured leaf optical properties were found to be nearly equal for the canopy studied. Short-wave view factor matrices were approximated by combining the average leaf scattering coefficient with the long-wave view factor matrices already incorporated in the model. Both the updated and original models were evaluated for a dense spruce fir forest study site in Central Maine. Canopy short-wave absorption coefficients estimated from detailed Monte Carlo ray tracing calculations were 0.60, 0.04, and 0.03 for the top, middle, and lower canopy layers corresponding to leaf area indices of 4.0, 1.05, and 0.25. The simplified radiosity technique yielded analogous absorption values of 0.55, 0.03, and 0.01. The resulting root mean square error in modeled versus measured canopy temperatures for all layers was less than 1°C with either technique. Maximum error in predicted temperature using the simplified radiosity technique was approximately 2°C during peak solar heating. (author)

  1. Validation of a Wave-Body Interaction Model by Experimental Tests

    DEFF Research Database (Denmark)

    Ferri, Francesco; Kramer, Morten; Pecher, Arthur

    2013-01-01

    Within the wave energy field, numerical simulation has recently acquired a worldwide consent as being a useful tool, besides physical model testing. The main goal of this work is the validation of a numerical model by experimental results. The numerical model is based on a linear wave-body intera...

  2. Model for small arms fire muzzle blast wave propagation in air

    Science.gov (United States)

    Aguilar, Juan R.; Desai, Sachi V.

    2011-11-01

    Accurate modeling of small firearms muzzle blast wave propagation in the far field is critical to predict sound pressure levels, impulse durations and rise times, as functions of propagation distance. Such a task being relevant to a number of military applications including the determination of human response to blast noise, gunfire detection and localization, and gun suppressor design. Herein, a time domain model to predict small arms fire muzzle blast wave propagation is introduced. The model implements a Friedlander wave with finite rise time which diverges spherically from the gun muzzle. Additionally, the effects in blast wave form of thermoviscous and molecular relaxational processes, which are associated with atmospheric absorption of sound were also incorporated in the model. Atmospheric absorption of blast waves is implemented using a time domain recursive formula obtained from numerical integration of corresponding differential equations using a Crank-Nicholson finite difference scheme. Theoretical predictions from our model were compared to previously recorded real world data of muzzle blast wave signatures obtained by shooting a set different sniper weapons of varying calibers. Recordings containing gunfire acoustical signatures were taken at distances between 100 and 600 meters from the gun muzzle. Results shows that predicted blast wave slope and exponential decay agrees well with measured data. Analysis also reveals the persistency of an oscillatory phenomenon after blast overpressure in the recorded wave forms.

  3. Computation of nonlinear water waves with a high-order Boussinesq model

    DEFF Research Database (Denmark)

    Fuhrman, David R.; Madsen, Per A.; Bingham, Harry

    2005-01-01

    Computational highlights from a recently developed high-order Boussinesq model are shown. The model is capable of treating fully nonlinear waves (up to the breaking point) out to dimensionless depths of (wavenumber times depth) kh \\approx 25. Cases considered include the study of short......-crested waves in shallow/deep water, resulting in hexagonal/rectangular surface patterns; crescent waves, resulting from unstable perturbations of plane progressive waves; and highly-nonlinear wave-structure interactions. The emphasis is on physically demanding problems, and in eachcase qualitative and (when...

  4. Null-strut calculus. I. Kinematics

    International Nuclear Information System (INIS)

    Kheyfets, A.; LaFave, N.J.; Miller, W.A.

    1990-01-01

    This paper describes the kinematics of null-strut calculus---a 3+1 Regge calculus approach to general relativity. We show how to model the geometry of spacetime with simplicial spacelike three-geometries (TET's) linked to ''earlier'' and ''later'' momentumlike lattice surfaces (TET * ) entirely by light rays or ''null struts.'' These three-layered lattice spacetime geometries are defined and analyzed using combinatorial formulas for the structure of polytopes. The following paper in this series describes how these three-layered spacetime lattices are used to model spacetimes in full conformity with Einstein's theory of gravity

  5. The biomechanics of upper extremity kinematic and kinetic modeling: applications to rehabilitation engineering.

    Science.gov (United States)

    Slavens, Brooke A; Harris, Gerald F

    2008-01-01

    Human motion analysis has evolved from the lower extremity to the upper extremity. Rehabilitation engineering is reliant upon three-dimensional biome-chanical models for a thorough understanding of upper body motions and forces in order to improve treatment methods, rehabilitation strategies and to prevent injury. Due to the complex nature of upper body movements, a standard biomechanical model does not exist. This paper reviews several kinematic and kinetic rehabilitation engineering models from the literature. These models may capture a single joint; multijoints such as the shoulder, elbow and wrist; or a combination of joints and an ambulatory aid, which serves as the extension of the upper arm. With advances in software and hardware, new models continuously arise due to the clinical questions at hand. When designing a biomechanical upper extremity model, several key components must be determined. These include deciding on the anatomic segments of the model, the number of markers and placement on bony landmarks, the definition of joint coordinate systems, and the description of the joint motions. It is critical to apply the proper model to further our understanding of pathologic populations.

  6. Nucleon-deuteron breakup quantities calculated with separable interactions including tensor forces and P-wave interactions

    International Nuclear Information System (INIS)

    Bruinsma, J.; Wageningen, R. van

    1977-01-01

    Nucleon-deuteron breakup calculations at a nucleon bombarding energy of 22.7 MeV have been performed with separable interactions including a tensor force and P-wave interactions. Differential cross sections and a selection of polarization quantities have been computed for special regions of the phase space. The influence of a tensor force and P-wave interactions on the differential cross section is of the order of 20%. Large discrepancies between theory and experiment occur for the vector analyzing powers, both for the kinematically complete and for the incomplete situation. The calculations show that there are kinematical situations in which the differential cross sections and the tensor analyzing powers are sufficiently large to make measurements feasible. (Auth.)

  7. Modeling of Rayleigh wave dispersion in Iberia

    Directory of Open Access Journals (Sweden)

    José Badal

    2011-01-01

    Full Text Available Phase and group velocities of 15–70 s Rayleigh waves propagating across the Iberian Peninsula have been transformed into local dispersion curves by linear inversion of travel times. The procedure permits that the waveform dispersion to be obtained as a continuous period-dependent velocity function at grid points belonging to the area probed by the waves, thus providing phase- and group-velocity contour maps for several periods within the interval of interest. The regionalization process rests on a homogeneous initial data set in which the number of observations remains almost constant for all periods of reference. Damped least-squares inversion of the local dispersion curves for shear-wave velocity structure is performed to obtain depth-dependent S-wave velocity profiles at the grid points covering the model region. The reliability of the results should improve significantly owing to the use of phase and group velocities simultaneously. On this basis, we have built horizontal depth sections that give an updated view of the seismic velocity structure of the peninsula at lithospheric and upper mantle depths (20–200 km. After averaging all the pure-path S-wave velocities previously determined at each grid point, the velocity-depth models so obtained for major tectonic units allow the comparison between the Hercynian basement and other areas of Mesozoic folding and Tertiary basins.

  8. Wave propagation in the Lorenz-96 model

    Science.gov (United States)

    van Kekem, Dirk L.; Sterk, Alef E.

    2018-04-01

    In this paper we study the spatiotemporal properties of waves in the Lorenz-96 model and their dependence on the dimension parameter n and the forcing parameter F. For F > 0 the first bifurcation is either a supercritical Hopf or a double-Hopf bifurcation and the periodic attractor born at these bifurcations represents a traveling wave. Its spatial wave number increases linearly with n, but its period tends to a finite limit as n → ∞. For F traveling wave also grows linearly with n. For F < 0 and even n, however, a Hopf bifurcation is preceded by either one or two pitchfork bifurcations, where the number of the latter bifurcations depends on whether n has remainder 2 or 0 upon division by 4. This bifurcation sequence leads to stationary waves and their spatiotemporal properties also depend on the remainder after dividing n by 4. Finally, we explain how the double-Hopf bifurcation can generate two or more stable waves with different spatiotemporal properties that coexist for the same parameter values n and F.

  9. 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 ...

  10. A Comparison Between Gravity Wave Momentum Fluxes in Observations and Climate Models

    Science.gov (United States)

    Geller, Marvin A.; Alexadner, M. Joan; Love, Peter T.; Bacmeister, Julio; Ern, Manfred; Hertzog, Albert; Manzini, Elisa; Preusse, Peter; Sato, Kaoru; Scaife, Adam A.; hide

    2013-01-01

    For the first time, a formal comparison is made between gravity wave momentum fluxes in models and those derived from observations. Although gravity waves occur over a wide range of spatial and temporal scales, the focus of this paper is on scales that are being parameterized in present climate models, sub-1000-km scales. Only observational methods that permit derivation of gravity wave momentum fluxes over large geographical areas are discussed, and these are from satellite temperature measurements, constant-density long-duration balloons, and high-vertical-resolution radiosonde data. The models discussed include two high-resolution models in which gravity waves are explicitly modeled, Kanto and the Community Atmosphere Model, version 5 (CAM5), and three climate models containing gravity wave parameterizations,MAECHAM5, Hadley Centre Global Environmental Model 3 (HadGEM3), and the Goddard Institute for Space Studies (GISS) model. Measurements generally show similar flux magnitudes as in models, except that the fluxes derived from satellite measurements fall off more rapidly with height. This is likely due to limitations on the observable range of wavelengths, although other factors may contribute. When one accounts for this more rapid fall off, the geographical distribution of the fluxes from observations and models compare reasonably well, except for certain features that depend on the specification of the nonorographic gravity wave source functions in the climate models. For instance, both the observed fluxes and those in the high-resolution models are very small at summer high latitudes, but this is not the case for some of the climate models. This comparison between gravity wave fluxes from climate models, high-resolution models, and fluxes derived from observations indicates that such efforts offer a promising path toward improving specifications of gravity wave sources in climate models.

  11. Element-by-element parallel spectral-element methods for 3-D teleseismic wave modeling

    KAUST Repository

    Liu, Shaolin

    2017-09-28

    The development of an efficient algorithm for teleseismic wave field modeling is valuable for calculating the gradients of the misfit function (termed misfit gradients) or Fréchet derivatives when the teleseismic waveform is used for adjoint tomography. Here, we introduce an element-by-element parallel spectral-element method (EBE-SEM) for the efficient modeling of teleseismic wave field propagation in a reduced geology model. Under the plane-wave assumption, the frequency-wavenumber (FK) technique is implemented to compute the boundary wave field used to construct the boundary condition of the teleseismic wave incidence. To reduce the memory required for the storage of the boundary wave field for the incidence boundary condition, a strategy is introduced to efficiently store the boundary wave field on the model boundary. The perfectly matched layers absorbing boundary condition (PML ABC) is formulated using the EBE-SEM to absorb the scattered wave field from the model interior. The misfit gradient can easily be constructed in each time step during the calculation of the adjoint wave field. Three synthetic examples demonstrate the validity of the EBE-SEM for use in teleseismic wave field modeling and the misfit gradient calculation.

  12. Kinematic Optimization in Birds, Bats and Ornithopters

    Science.gov (United States)

    Reichert, Todd

    Birds and bats employ a variety of advanced wing motions in the efficient production of thrust. The purpose of this thesis is to quantify the benefit of these advanced wing motions, determine the optimal theoretical wing kinematics for a given flight condition, and to develop a methodology for applying the results in the optimal design of flapping-wing aircraft (ornithopters). To this end, a medium-fidelity, combined aero-structural model has been developed that is capable of simulating the advanced kinematics seen in bird flight, as well as the highly non-linear structural deformations typical of high-aspect ratio wings. Five unique methods of thrust production observed in natural species have been isolated, quantified and thoroughly investigated for their dependence on Reynolds number, airfoil selection, frequency, amplitude and relative phasing. A gradient-based optimization algorithm has been employed to determined the wing kinematics that result in the minimum required power for a generalized aircraft or species in any given flight condition. In addition to the theoretical work, with the help of an extended team, the methodology was applied to the design and construction of the world's first successful human-powered ornithopter. The Snowbird Human-Powered Ornithopter, is used as an example aircraft to show how additional design constraints can pose limits on the optimal kinematics. The results show significant trends that give insight into the kinematic operation of natural species. The general result is that additional complexity, whether it be larger twisting deformations or advanced wing-folding mechanisms, allows for the possibility of more efficient flight. At its theoretical optimum, the efficiency of flapping-wings exceeds that of current rotors and propellers, although these efficiencies are quite difficult to achieve in practice.

  13. On use of radial evanescence remain term in kinematic hardening

    International Nuclear Information System (INIS)

    Geyer, P.

    1995-01-01

    This paper presents the interest which lies in non-linear kinematic hardening rule with radial evanescence remain term as proposed for modelling multiaxial ratchetting. From analytical calculations in the case of the tension/torsion test, this ratchetting is compared with that proposed by Armstrong and Frederick. A modification is then proposed for Chaboche's elastoplastic model with two non-linear kinematic variables, by coupling the two types of hardening by means of two scalar parameters. Identification of these two parameters returns to speculate on the directions of strain in order to adjust the ratchetting to experimental observations. Using biaxial ratchetting tests on stainless steel 316 L specimens at ambient temperature, it is shown that satisfactory modelling of multiaxial ratchetting is obtained. (author). 4 refs., 5 figs

  14. Can co-activation reduce kinematic variability? A simulation study.

    NARCIS (Netherlands)

    Selen, L.P.J.; Beek, P.J.; van Dieen, J.H.

    2005-01-01

    Impedance modulation has been suggested as a means to suppress the effects of internal 'noise' on movement kinematics. We investigated this hypothesis in a neuro-musculo-skeletal model. A prerequisite is that the muscle model produces realistic force variability. We found that standard Hill-type

  15. Stress Wave Propagation in Viscoelastic-Plastic Rock-Like Materials

    Directory of Open Access Journals (Sweden)

    Liu Lang

    2016-05-01

    Full Text Available Rock-like materials are composites that can be regarded as a mixture composed of elastic, plastic, and viscous components. They exhibit viscoelastic-plastic behavior under a high-strain-rate loading according to element model theory. This paper presents an analytical solution for stress wave propagation in viscoelastic-plastic rock-like materials under a high-strain-rate loading and verifies the solution through an experimental test. A constitutive equation of viscoelastic-plastic rock-like materials was first established, and then kinematic and kinetic equations were then solved to derive the analytic solution for stress wave propagation in viscoelastic-plastic rock-like materials. An experimental test using the SHPB (Split Hopkinson Pressure Bar for a concrete specimen was conducted to obtain a stress-strain curve under a high-strain-rate loading. Inverse analysis based on differential evolution was conducted to estimate undetermined variables for constitutive equations. Finally, the relationship between the attenuation factor and the strain rate in viscoelastic-plastic rock-like materials was investigated. According to the results, the frequency of the stress wave, viscosity coefficient, modulus of elasticity, and density play dominant roles in the attenuation of the stress wave. The attenuation decreases with increasing strain rate, demonstrating strongly strain-dependent attenuation in viscoelastic-plastic rock-like materials.

  16. D2 Delta Robot Structural Design and Kinematics Analysis

    Science.gov (United States)

    Yang, Xudong; wang, Song; Dong, Yu; Yang, Hai

    2017-12-01

    In this paper, a new type of Delta robot with only two degrees of freedom is proposed on the basis of multi - degree - of - freedom delta robot. In order to meet our application requirements, we have carried out structural design and analysis of the robot. Through SolidWorks modeling, combined with 3D printing technology to determine the final robot structure. In order to achieve the precise control of the robot, the kinematics analysis of the robot was carried out. The SimMechanics toolbox of MATLAB is used to establish the mechanism model, and the kinematics mathematical model is used to simulate the robot motion control in Matlab environment. Finally, according to the design mechanism, the working space of the robot is drawn by the graphic method, which lays the foundation for the motion control of the subsequent robot.

  17. A Category Based Threat Evaluation Model Using Platform Kinematics Data

    Directory of Open Access Journals (Sweden)

    Mustafa Çöçelli

    2017-08-01

    Full Text Available Command and control (C2 systems direct operators to make accurate decisions in the stressful atmosphere of the battlefield at the earliest. There are powerful tools that fuse various instant piece of information and brings summary of those in front of operators. Threat evaluation is one of the important fusion method that provides these assistance to military people. However, C2 systems could be deprived of valuable data source due to the absence of capable equipment. This situation has a bad unfavorable influence on the quality of tactical picture in front of C2 operators. In this paper, we study on the threat evaluation model that take into account these deficiencies. Our method extracts threat level of various targets mostly from their kinematics in two dimensional space. In the meantime, classification of entities around battlefield is unavailable. Only, category of targets are determined as a result of sensors process, which is the information of whether entities belong to air or surface environment. Hereby, threat evaluation model is consist of three fundamental steps that runs on entities belongs to different environment separately: the extraction of threat assessment cues, threat selection based on Bayesian Inference and the calculation of threat assessment rating. We have evaluated performance of proposed model by simulating a set of synthetic scenarios.

  18. Test particle modeling of wave-induced energetic electron precipitation

    International Nuclear Information System (INIS)

    Chang, H.C.; Inan, U.S.

    1985-01-01

    A test particle computer model of the precipitation of radiation belt electrons is extended to compute the dynamic energy spectrum of transient electron fluxes induced by short-duration VLF wave packets traveling along the geomagnetic field lines. The model is adapted to estimate the count rate and associated spectrum of precipitated electrons that would be observed by satellite-based particle detectors with given geometric factor and orientation with respect to the magnetic field. A constant-frequency wave pulse and a lightning-induced whistler wave packet are used as examples of the stimulating wave signals. The effects of asymmetry of particle mirror heights in the two hemispheres and the atmospheric backscatter of loss cone particles on the computed precipitated fluxes are discussed

  19. End-Effector Position Analysis Using Forward Kinematics For 5 Dof Pravak Robot Arm

    OpenAIRE

    Jolly Atit Shah; S.S. Rattan; B.C. Nakra

    2013-01-01

    Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H) model is used to m...

  20. A Three-Dimensional Kinematic and Kinetic Study of the College-Level Female Softball Swing

    Directory of Open Access Journals (Sweden)

    Monica Milanovich, Steven M. Nesbit

    2014-03-01

    Full Text Available This paper quantifies and discusses the three-dimensional kinematic and kinetic characteristics of the female softball swing as performed by fourteen female collegiate amateur subjects. The analyses were performed using a three-dimensional computer model. The model was driven kinematically from subject swings data that were recorded with a multi-camera motion analysis system. Each subject used two distinct bats with significantly different inertial properties. Model output included bat trajectories, subject/bat interaction forces and torques, work, and power. These data formed the basis for a detailed analysis and description of fundamental swing kinematic and kinetic quantities. The analyses revealed that the softball swing is a highly coordinated and individual three-dimensional motion and subject-to-subject variations were significant in all kinematic and kinetic quantities. In addition, the potential effects of bat properties on swing mechanics are discussed. The paths of the hands and the centre-of-curvature of the bat relative to the horizontal plane appear to be important trajectory characteristics of the swing. Descriptions of the swing mechanics and practical implications are offered based upon these findings.

  1. Wave Transformation Over Reefs: Evaluation of One-Dimensional Numerical Models

    National Research Council Canada - National Science Library

    Demirbilek, Zeki; Nwogu, Okey G; Ward, Donald L; Sanchez, Alejandro

    2009-01-01

    Three one-dimensional (1D) numerical wave models are evaluated for wave transformation over reefs and estimates of wave setup, runup, and ponding levels in an island setting where the beach is fronted by fringing reef and lagoons...

  2. Self-organized Criticality Model for Ocean Internal Waves

    International Nuclear Information System (INIS)

    Wang Gang; Hou Yijun; Lin Min; Qiao Fangli

    2009-01-01

    In this paper, we present a simple spring-block model for ocean internal waves based on the self-organized criticality (SOC). The oscillations of the water blocks in the model display power-law behavior with an exponent of -2 in the frequency domain, which is similar to the current and sea water temperature spectra in the actual ocean and the universal Garrett and Munk deep ocean internal wave model [Geophysical Fluid Dynamics 2 (1972) 225; J. Geophys. Res. 80 (1975) 291]. The influence of the ratio of the driving force to the spring coefficient to SOC behaviors in the model is also discussed. (general)

  3. Coupling Hydrodynamic and Wave Propagation Codes for Modeling of Seismic Waves recorded at the SPE Test.

    Science.gov (United States)

    Larmat, C. S.; Rougier, E.; Delorey, A.; Steedman, D. W.; Bradley, C. R.

    2016-12-01

    The goal of the Source Physics Experiment (SPE) is to bring empirical and theoretical advances to the problem of detection and identification of underground nuclear explosions. For this, the SPE program includes a strong modeling effort based on first principles calculations with the challenge to capture both the source and near-source processes and those taking place later in time as seismic waves propagate within complex 3D geologic environments. In this paper, we report on results of modeling that uses hydrodynamic simulation codes (Abaqus and CASH) coupled with a 3D full waveform propagation code, SPECFEM3D. For modeling the near source region, we employ a fully-coupled Euler-Lagrange (CEL) modeling capability with a new continuum-based visco-plastic fracture model for simulation of damage processes, called AZ_Frac. These capabilities produce high-fidelity models of various factors believed to be key in the generation of seismic waves: the explosion dynamics, a weak grout-filled borehole, the surrounding jointed rock, and damage creation and deformations happening around the source and the free surface. SPECFEM3D, based on the Spectral Element Method (SEM) is a direct numerical method for full wave modeling with mathematical accuracy. The coupling interface consists of a series of grid points of the SEM mesh situated inside of the hydrodynamic code's domain. Displacement time series at these points are computed using output data from CASH or Abaqus (by interpolation if needed) and fed into the time marching scheme of SPECFEM3D. We will present validation tests with the Sharpe's model and comparisons of waveforms modeled with Rg waves (2-8Hz) that were recorded up to 2 km for SPE. We especially show effects of the local topography, velocity structure and spallation. Our models predict smaller amplitudes of Rg waves for the first five SPE shots compared to pure elastic models such as Denny &Johnson (1991).

  4. Improved Modeling and Prediction of Surface Wave Amplitudes

    Science.gov (United States)

    2017-05-31

    AFRL-RV-PS- AFRL-RV-PS- TR-2017-0162 TR-2017-0162 IMPROVED MODELING AND PREDICTION OF SURFACE WAVE AMPLITUDES Jeffry L. Stevens, et al. Leidos...data does not license the holder or any other person or corporation; or convey any rights or permission to manufacture, use, or sell any patented...SUBTITLE Improved Modeling and Prediction of Surface Wave Amplitudes 5a. CONTRACT NUMBER FA9453-14-C-0225 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER

  5. Coupling of high-resolution meteorological and wave models over southern Italy

    Directory of Open Access Journals (Sweden)

    L. Bertotti

    2009-07-01

    Full Text Available In the framework of RISKMED project, three different high-resolution limited area meteorological models (BOLAM, MOLOCH and WRF have been run over southern Italy for the retrospective analysis of three case studies characterized by strong winds and severe wave conditions in the Ionian, southern Adriatic and southern Tyrrhenian seas. All the models were able to reproduce the main meteorological features of each event.

    The wind fields simulated by the meteorological models and those provided by the ECMWF analysis have been ingested into a wave model (WAM for the hindcast of the main wave parameters. The results have been compared with the observations of three buoys whose measurements were available in the area of interest.

    A remarkable improvement in the representation of the significant wave height came out using the limited area model data with respect to the simulations where the ECMWF analyses were used as forcing. Among the limited area models, the BOLAM-MOLOCH modelling system provided slightly better performances. From the limited set of simulations, the different model predictions came out closer to each other and more skilful in areas where the waves approach the coastline perpendicularly from the open sea.

  6. Wind Profiles and Wave Spectra for Potential Wind Farms in South China Sea. Part II: Wave Spectrum Model

    Directory of Open Access Journals (Sweden)

    Yichao Liu

    2017-01-01

    Full Text Available Along with the commercialization of offshore wind energy in China, the South China Sea has been identified as ideal for constructing offshore wind farms, especially for farms consisting of floating wind turbines over deep waters. Since the wind profiles and wave spectra are somewhat primitive for the design of an offshore wind turbine, engineering models describing the wind and wave characteristics in the South China Sea area are necessary for the offshore wind energy exploitation given the meteorological, hydrological, and geographical differences between the South China Sea and the North/Norwegian Sea, where the commonly used wind profile and wave spectrum models were designated. In the present study; a series of numerical simulations were conducted to reveal the wave characteristics in the South China Sea under both typhoon and non-typhoon conditions. By analyzing the simulation results; the applicability of the Joint North Sea Wave Project (JONSWAP spectrum model; in terms of characterizing the wind-induced wave fields in the South China Sea; was discussed. In detail; the key parameters of the JONSWAP spectrum model; such as the Phillips constant; spectral width parameter; peak-enhancement factor, and high frequency tail decay; were investigated in the context of finding suitable values.

  7. Kinematical and dynamical aspects of higher-spin bound-state equations in holographic QCD

    Energy Technology Data Exchange (ETDEWEB)

    de Téramond, Guy F.; Dosch, Hans Günter; Brodsky, Stanley J.

    2013-04-01

    In this paper we derive holographic wave equations for hadrons with arbitrary spin starting from an effective action in a higher-dimensional space asymptotic to anti–de Sitter (AdS) space. Our procedure takes advantage of the local tangent frame, and it applies to all spins, including half-integer spins. An essential element is the mapping of the higher-dimensional equations of motion to the light-front Hamiltonian, thus allowing a clear distinction between the kinematical and dynamical aspects of the holographic approach to hadron physics. Accordingly, the nontrivial geometry of pure AdS space encodes the kinematics, and the additional deformations of AdS space encode the dynamics, including confinement. It thus becomes possible to identify the features of holographic QCD, which are independent of the specific mechanisms of conformal symmetry breaking. In particular, we account for some aspects of the striking similarities and differences observed in the systematics of the meson and baryon spectra.

  8. Spectral analysis of surface waves method to assess shear wave velocity within centrifuge models

    Science.gov (United States)

    Murillo, Carol Andrea; Thorel, Luc; Caicedo, Bernardo

    2009-06-01

    The method of the spectral analysis of surface waves (SASW) is tested out on reduced scale centrifuge models, with a specific device, called the mini Falling Weight, developed for this purpose. Tests are performed on layered materials made of a mixture of sand and clay. The shear wave velocity VS determined within the models using the SASW is compared with the laboratory measurements carried out using the bender element test. The results show that the SASW technique applied to centrifuge testing is a relevant method to characterize VS near the surface.

  9. Global sensitivity analysis in the identification of cohesive models using full-field kinematic data

    KAUST Repository

    Alfano, Marco; Lubineau, Gilles; Paulino, Glá ucio Hermogenes

    2015-01-01

    Failure of adhesive bonded structures often occurs concurrent with the formation of a non-negligible fracture process zone in front of a macroscopic crack. For this reason, the analysis of damage and fracture is effectively carried out using the cohesive zone model (CZM). The crucial aspect of the CZM approach is the precise determination of the traction-separation relation. Yet it is usually determined empirically, by using calibration procedures combining experimental data, such as load-displacement or crack length data, with finite element simulation of fracture. Thanks to the recent progress in image processing, and the availability of low-cost CCD cameras, it is nowadays relatively easy to access surface displacements across the fracture process zone using for instance Digital Image Correlation (DIC). The rich information provided by correlation techniques prompted the development of versatile inverse parameter identification procedures combining finite element (FE) simulations and full field kinematic data. The focus of the present paper is to assess the effectiveness of these methods in the identification of cohesive zone models. In particular, the analysis is developed in the framework of the variance based global sensitivity analysis. The sensitivity of kinematic data to the sought cohesive properties is explored through the computation of the so-called Sobol sensitivity indexes. The results show that the global sensitivity analysis can help to ascertain the most influential cohesive parameters which need to be incorporated in the identification process. In addition, it is shown that suitable displacement sampling in time and space can lead to optimized measurements for identification purposes.

  10. Global sensitivity analysis in the identification of cohesive models using full-field kinematic data

    KAUST Repository

    Alfano, Marco

    2015-03-01

    Failure of adhesive bonded structures often occurs concurrent with the formation of a non-negligible fracture process zone in front of a macroscopic crack. For this reason, the analysis of damage and fracture is effectively carried out using the cohesive zone model (CZM). The crucial aspect of the CZM approach is the precise determination of the traction-separation relation. Yet it is usually determined empirically, by using calibration procedures combining experimental data, such as load-displacement or crack length data, with finite element simulation of fracture. Thanks to the recent progress in image processing, and the availability of low-cost CCD cameras, it is nowadays relatively easy to access surface displacements across the fracture process zone using for instance Digital Image Correlation (DIC). The rich information provided by correlation techniques prompted the development of versatile inverse parameter identification procedures combining finite element (FE) simulations and full field kinematic data. The focus of the present paper is to assess the effectiveness of these methods in the identification of cohesive zone models. In particular, the analysis is developed in the framework of the variance based global sensitivity analysis. The sensitivity of kinematic data to the sought cohesive properties is explored through the computation of the so-called Sobol sensitivity indexes. The results show that the global sensitivity analysis can help to ascertain the most influential cohesive parameters which need to be incorporated in the identification process. In addition, it is shown that suitable displacement sampling in time and space can lead to optimized measurements for identification purposes.

  11. A parametric costing model for wave energy technology

    International Nuclear Information System (INIS)

    1992-01-01

    This document describes the philosophy and technical approach to a parametric cost model for offshore wave energy systems. Consideration is given both to existing known devices and other devices yet to be conceptualised. The report is complementary to a spreadsheet based cost estimating model. The latter permits users to derive capital cost estimates using either inherent default data or user provided data, if a particular scheme provides sufficient design definition for more accurate estimation. The model relies on design default data obtained from wave energy device designs and a set of specifically collected cost data. (author)

  12. Influence of second-order random wave kinematics on the design loads of offshore wind turbine support structures

    DEFF Research Database (Denmark)

    Natarajan, Anand

    2014-01-01

    . The second-order nonlinear water kinematics is developed based on a Gram Charlier series expansion using the first four stochasticmoments of thewave process. Thewave surface velocities and accelerations are expressed using a Taylor series expansion about themean sea level, which satisfies to the second...

  13. 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.

  14. A Full-wave Model for Wave Propagation and Dissipation in the Inner Magnetosphere Using the Finite Element Method

    International Nuclear Information System (INIS)

    Valeo, Ernest; Johnson, Jay R.; Kim, Eun-Hwa; Phillips, Cynthia

    2012-01-01

    A wide variety of plasma waves play an important role in the energization and loss of particles in the inner magnetosphere. Our ability to understand and model wave-particle interactions in this region requires improved knowledge of the spatial distribution and properties of these waves as well as improved understanding of how the waves depend on changes in solar wind forcing and/or geomagnetic activity. To this end, we have developed a two-dimensional, finite element code that solves the full wave equations in global magnetospheric geometry. The code describes three-dimensional wave structure including mode conversion when ULF, EMIC, and whistler waves are launched in a two-dimensional axisymmetric background plasma with general magnetic field topology. We illustrate the capabilities of the code by examining the role of plasmaspheric plumes on magnetosonic wave propagation; mode conversion at the ion-ion and Alfven resonances resulting from external, solar wind compressions; and wave structure and mode conversion of electromagnetic ion cyclotron waves launched in the equatorial magnetosphere, which propagate along the magnetic field lines toward the ionosphere. We also discuss advantages of the finite element method for resolving resonant structures, and how the model may be adapted to include nonlocal kinetic effects.

  15. Is Active Tectonics on Madagascar Consistent with Somalian Plate Kinematics?

    Science.gov (United States)

    Stamps, D. S.; Kreemer, C.; Rajaonarison, T. A.

    2017-12-01

    The East African Rift System (EARS) actively breaks apart the Nubian and Somalian tectonic plates. Madagascar finds itself at the easternmost boundary of the EARS, between the Rovuma block, Lwandle plate, and the Somalian plate. Earthquake focal mechanisms and N-S oriented fault structures on the continental island suggest that Madagascar is experiencing east-west oriented extension. However, some previous plate kinematic studies indicate minor compressional strains across Madagascar. This inconsistency may be due to uncertainties in Somalian plate rotation. Past estimates of the rotation of the Somalian plate suffered from a poor coverage of GPS stations, but some important new stations are now available for a re-evaluation. In this work, we revise the kinematics of the Somalian plate. We first calculate a new GPS velocity solution and perform block kinematic modeling to evaluate the Somalian plate rotation. We then estimate new Somalia-Rovuma and Somalia-Lwandle relative motions across Madagascar and evaluate whether they are consistent with GPS measurements made on the island itself, as well as with other kinematic indicators.

  16. 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.

  17. Alfven-wave particle interaction in finite-dimensional self-consistent field model

    International Nuclear Information System (INIS)

    Padhye, N.; Horton, W.

    1998-01-01

    A low-dimensional Hamiltonian model is derived for the acceleration of ions in finite amplitude Alfven waves in a finite pressure plasma sheet. The reduced low-dimensional wave-particle Hamiltonian is useful for describing the reaction of the accelerated ions on the wave amplitudes and phases through the self-consistent fields within the envelope approximation. As an example, the authors show for a single Alfven wave in the central plasma sheet of the Earth's geotail, modeled by the linear pinch geometry called the Harris sheet, the time variation of the wave amplitude during the acceleration of fast protons

  18. Wind waves modelling on the water body with coupled WRF and WAVEWATCH III models

    Science.gov (United States)

    Kuznetsova, Alexandra; Troitskaya, Yuliya; Kandaurov, Alexander; Baydakov, Georgy; Vdovin, Maxim; Papko, Vladislav; Sergeev, Daniil

    2015-04-01

    Simulation of ocean and sea waves is an accepted instrument for the improvement of the weather forecasts. Wave modelling, coupled models modelling is applied to open seas [1] and is less developed for moderate and small inland water reservoirs and lakes, though being of considerable interest for inland navigation. Our goal is to tune the WAVEWATCH III model to the conditions of the inland reservoir and to carry out the simulations of surface wind waves with coupled WRF (Weather Research and Forecasting) and WAVEWATCH III models. Gorky Reservoir, an artificial lake in the central part of the Volga River formed by a hydroelectric dam, was considered as an example of inland reservoir. Comparing to [2] where moderate constant winds (u10 is up to 9 m/s) of different directions blowing steadily all over the surface of the reservoir were considered, here we apply atmospheric model WRF to get wind input to WAVEWATCH III. WRF computations were held on the Yellowstone supercomputer for 4 nested domains with minimum scale of 1 km. WAVEWATCH III model was tuned for the conditions of the Gorky Reservoir. Satellite topographic data on altitudes ranged from 56,6° N to 57,5° N and from 42.9° E to 43.5° E with increments 0,00833 ° in both directions was used. 31 frequencies ranged from 0,2 Hz to 4 Hz and 30 directions were considered. The minimal significant wave height was changed to the lower one. The waves in the model were developing from some initial seeding spectral distribution (Gaussian in frequency and space, cosine in direction). The range of the observed significant wave height in the numerical experiment was from less than 1 cm up to 30 cm. The field experiments were carried out in the south part of the Gorky reservoir from the boat [2, 3]. 1-D spectra of the field experiment were compared with those obtained in the numerical experiments with different parameterizations of flux provided in WAVEWATCH III both with constant wind input and WRF wind input. For all the

  19. Sensitivity of a numerical wave model on wind re-analysis datasets

    Science.gov (United States)

    Lavidas, George; Venugopal, Vengatesan; Friedrich, Daniel

    2017-03-01

    Wind is the dominant process for wave generation. Detailed evaluation of metocean conditions strengthens our understanding of issues concerning potential offshore applications. However, the scarcity of buoys and high cost of monitoring systems pose a barrier to properly defining offshore conditions. Through use of numerical wave models, metocean conditions can be hindcasted and forecasted providing reliable characterisations. This study reports the sensitivity of wind inputs on a numerical wave model for the Scottish region. Two re-analysis wind datasets with different spatio-temporal characteristics are used, the ERA-Interim Re-Analysis and the CFSR-NCEP Re-Analysis dataset. Different wind products alter results, affecting the accuracy obtained. The scope of this study is to assess different available wind databases and provide information concerning the most appropriate wind dataset for the specific region, based on temporal, spatial and geographic terms for wave modelling and offshore applications. Both wind input datasets delivered results from the numerical wave model with good correlation. Wave results by the 1-h dataset have higher peaks and lower biases, in expense of a high scatter index. On the other hand, the 6-h dataset has lower scatter but higher biases. The study shows how wind dataset affects the numerical wave modelling performance, and that depending on location and study needs, different wind inputs should be considered.

  20. Atypical biological motion kinematics are represented by complementary lower-level and top-down processes during imitation learning.

    Science.gov (United States)

    Hayes, Spencer J; Dutoy, Chris A; Elliott, Digby; Gowen, Emma; Bennett, Simon J

    2016-01-01

    Learning a novel movement requires a new set of kinematics to be represented by the sensorimotor system. This is often accomplished through imitation learning where lower-level sensorimotor processes are suggested to represent the biological motion kinematics associated with an observed movement. Top-down factors have the potential to influence this process based on the social context, attention and salience, and the goal of the movement. In order to further examine the potential interaction between lower-level and top-down processes in imitation learning, the aim of this study was to systematically control the mediating effects during an imitation of biological motion protocol. In this protocol, we used non-human agent models that displayed different novel atypical biological motion kinematics, as well as a control model that displayed constant velocity. Importantly the three models had the same movement amplitude and movement time. Also, the motion kinematics were displayed in the presence, or absence, of end-state-targets. Kinematic analyses showed atypical biological motion kinematics were imitated, and that this performance was different from the constant velocity control condition. Although the imitation of atypical biological motion kinematics was not modulated by the end-state-targets, movement time was more accurate in the absence, compared to the presence, of an end-state-target. The fact that end-state targets modulated movement time accuracy, but not biological motion kinematics, indicates imitation learning involves top-down attentional, and lower-level sensorimotor systems, which operate as complementary processes mediated by the environmental context. Copyright © 2015 Elsevier B.V. All rights reserved.

  1. 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.

  2. TWO-DIMENSIONAL MODELLING OF ACCIDENTAL FLOOD WAVES PROPAGATION

    OpenAIRE

    Lorand Catalin STOENESCU

    2011-01-01

    The study presented in this article describes a modern modeling methodology of the propagation of accidental flood waves in case a dam break; this methodology is applied in Romania for the first time for the pilot project „Breaking scenarios of Poiana Uzului dam”. The calculation programs used help us obtain a bidimensional calculation (2D) of the propagation of flood waves, taking into consideration the diminishing of the flood wave on a normal direction to the main direction; this diminishi...

  3. The use of a wave boundary layer model in SWAN

    DEFF Research Database (Denmark)

    Du, Jianting; Bolaños, Rodolfo; Larsén, Xiaoli Guo

    2017-01-01

    A Wave Boundary Layer Model (WBLM) is implemented in the third-generation ocean wave model SWAN to improve the wind-input source function under idealized, fetch-limited condition. Accordingly, the white capping dissipation parameters are re-calibrated to fit the new wind-input source function...

  4. Consistent three-equation model for thin films

    Science.gov (United States)

    Richard, Gael; Gisclon, Marguerite; Ruyer-Quil, Christian; Vila, Jean-Paul

    2017-11-01

    Numerical simulations of thin films of newtonian fluids down an inclined plane use reduced models for computational cost reasons. These models are usually derived by averaging over the fluid depth the physical equations of fluid mechanics with an asymptotic method in the long-wave limit. Two-equation models are based on the mass conservation equation and either on the momentum balance equation or on the work-energy theorem. We show that there is no two-equation model that is both consistent and theoretically coherent and that a third variable and a three-equation model are required to solve all theoretical contradictions. The linear and nonlinear properties of two and three-equation models are tested on various practical problems. We present a new consistent three-equation model with a simple mathematical structure which allows an easy and reliable numerical resolution. The numerical calculations agree fairly well with experimental measurements or with direct numerical resolutions for neutral stability curves, speed of kinematic waves and of solitary waves and depth profiles of wavy films. The model can also predict the flow reversal at the first capillary trough ahead of the main wave hump.

  5. About the kinematics of spinning particles

    International Nuclear Information System (INIS)

    Salesi, G.; Recami, E.; Istituto Nazionale di Fisica Nucleare, Milan; Campinas State Univ., SP

    1995-06-01

    Inserting the correct Lorentz factor into the definition of the 4-velocity vμ for spinning particles entails new kinematical properties for v 2 . The well-know constraint (identically true for scalar particles, but entering also the Dirac theory, and assumed a priori in all spinning particle models) P μ v μ =m is here derived in a self-consistent way

  6. Statistics of peak overpressure and shock steepness for linear and nonlinear N-wave propagation in a kinematic turbulence.

    Science.gov (United States)

    Yuldashev, Petr V; Ollivier, Sébastien; Karzova, Maria M; Khokhlova, Vera A; Blanc-Benon, Philippe

    2017-12-01

    Linear and nonlinear propagation of high amplitude acoustic pulses through a turbulent layer in air is investigated using a two-dimensional KZK-type (Khokhlov-Zabolotskaya-Kuznetsov) equation. Initial waves are symmetrical N-waves with shock fronts of finite width. A modified von Kármán spectrum model is used to generate random wind velocity fluctuations associated with the turbulence. Physical parameters in simulations correspond to previous laboratory scale experiments where N-waves with 1.4 cm wavelength propagated through a turbulence layer with the outer scale of about 16 cm. Mean value and standard deviation of peak overpressure and shock steepness, as well as cumulative probabilities to observe amplified peak overpressure and shock steepness, are analyzed. Nonlinear propagation effects are shown to enhance pressure level in random foci for moderate initial amplitudes of N-waves thus increasing the probability to observe highly peaked waveforms. Saturation of the pressure level is observed for stronger nonlinear effects. It is shown that in the linear propagation regime, the turbulence mainly leads to the smearing of shock fronts, thus decreasing the probability to observe high values of steepness, whereas nonlinear effects dramatically increase the probability to observe steep shocks.

  7. Influence of Bundle Diameter and Attachment Point on Kinematic Behavior in Double Bundle Anterior Cruciate Ligament Reconstruction Using Computational Model

    Directory of Open Access Journals (Sweden)

    Oh Soo Kwon

    2014-01-01

    Full Text Available A protocol to choose the graft diameter attachment point of each bundle has not yet been determined since they are usually dependent on a surgeon’s preference. Therefore, the influence of bundle diameters and attachment points on the kinematics of the knee joint needs to be quantitatively analyzed. A three-dimensional knee model was reconstructed with computed tomography images of a 26-year-old man. Based on the model, models of double bundle anterior cruciate ligament (ACL reconstruction were developed. The anterior tibial translations for the anterior drawer test and the internal tibial rotation for the pivot shift test were investigated according to variation of bundle diameters and attachment points. For the model in this study, the knee kinematics after the double bundle ACL reconstruction were dependent on the attachment point and not much influenced by the bundle diameter although larger sized anterior-medial bundles provided increased stability in the knee joint. Therefore, in the clinical setting, the bundle attachment point needs to be considered prior to the bundle diameter, and the current selection method of graft diameters for both bundles appears justified.

  8. Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Ikhsan Eka Prasetia

    2015-03-01

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

  9. Improved spin wave theory: An application to the spin-1/2 antiferromagnetic Heisenberg model on a square lattice

    International Nuclear Information System (INIS)

    Tao, Ruibao.

    1991-09-01

    A method is developed to make a Bose transformation which is restricted in proper space. A self-consistent independent spin wave representation (SCISWR) is found for two dimensional isotropic antiferromagnet of Heisenberg square lattices. In the SCISWR, we have successfully done the renormalization from both the dynamic and kinematic interaction and calculated the corrections from the correlations of the nearest neighbour and next nearest neighbour sites. An anisotropic excitation energy of spin wave in improper space is found self-consistently and has a gap. The difficulty of divergence appearing from higher order perturbation terms in the conventional spin wave theory has been overcome and the convergence in our approach seems quite good. We find the energy of ground state E approx. -0.659 in low order approximation and the magnetization of sublattice M z = 0.430 x (N/2) for system with spin 1/2. It is also proved that a physical spin excitation restricted in proper space is still isotropic and has no gap. (author). 17 refs

  10. Alfven Wave Reflection Model of Field-Aligned Currents at Mercury

    Science.gov (United States)

    Lyatsky, Wladislaw; Khazanov, George V.; Slavin, James

    2010-01-01

    An Alfven Wave Reflection (AWR) model is proposed that provides closure for strong field-aligned currents (FACs) driven by the magnetopause reconnection in the magnetospheres of planets having no significant ionospheric and surface electrical conductance. The model is based on properties of the Alfven waves, generated at high altitudes and reflected from the low-conductivity surface of the planet. When magnetospheric convection is very slow, the incident and reflected Alfven waves propagate along approximately the same path. In this case, the net field-aligned currents will be small. However, as the convection speed increases. the reflected wave is displaced relatively to the incident wave so that the incident and reflected waves no longer compensate each other. In this case, the net field-aligned current may be large despite the lack of significant ionospheric and surface conductivity. Our estimate shows that for typical solar wind conditions at Mercury, the magnitude of Region 1-type FACs in Mercury's magnetosphere may reach hundreds of kilo-Amperes. This AWR model of field-aligned currents may provide a solution to the long-standing problem of the closure of FACs in the Mercury's magnetosphere. c2009 Elsevier Inc. All rights reserved.

  11. Inverse Kinematics

    Directory of Open Access Journals (Sweden)

    Joel Sereno

    2010-01-01

    Full Text Available Inverse kinematics is the process of converting a Cartesian point in space into a set of joint angles to more efficiently move the end effector of a robot to a desired orientation. This project investigates the inverse kinematics of a robotic hand with fingers under various scenarios. Assuming the parameters of a provided robot, a general equation for the end effector point was calculated and used to plot the region of space that it can reach. Further, the benefits obtained from the addition of a prismatic joint versus an extra variable angle joint were considered. The results confirmed that having more movable parts, such as prismatic points and changing angles, increases the effective reach of a robotic hand.

  12. Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator

    OpenAIRE

    Ikhsan Eka Prasetia; Trihastuti Agustinah

    2015-01-01

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

  13. Coupled wave and surge modelling for the eastern Irish Sea and implications for model wind-stress

    Science.gov (United States)

    Brown, Jennifer M.; Wolf, Judith

    2009-05-01

    We revisit the surge of November 1977, a storm event which caused damage on the Sefton coast in NW England. A hindcast has been made with a coupled surge-tide-wave model, to investigate whether a wave-dependent surface drag is necessary for accurate surge prediction, and also if this can be represented by an optimised Charnock parameter. The Proudman Oceanographic Laboratory Coastal Modelling System-Wave Model (POLCOMS-WAM) has been used to model combined tides, surges, waves and wave-current interaction in the Irish Sea on a 1.85 km grid. This period has been previously thoroughly studied, e.g. Jones and Davies [Jones, J.E., Davies, A.M., 1998. Storm surge computations for the Irish Sea using a three-dimensional numerical model including wave-current interaction. Continental Shelf Research 18(2), 201-251] and we build upon this previous work to validate the POLCOMS-WAM model to test the accuracy of surge elevation predictions in the study area. A one-way nested approach has been set up from larger scale models to the Irish Sea model. It was demonstrated that (as expected) swell from the North Atlantic does not have a significant impact in the eastern Irish Sea. To capture the external surge generated outside of the Irish Sea a (1/9° by 1/6°) model extending beyond the continental shelf edge was run using the POLCOMS model for tide and surge. The model results were compared with tide gauge observations around the eastern Irish Sea. The model was tested with different wind-stress formulations including Smith and Banke [Smith, S.D., Banke, E.G., 1975. Variation of the surface drag coefficient with wind speed. Quarterly Journal of the Royal Meteorology Society, 101(429), 665-673] and Charnock [Charnock, H., 1955. Wind-stress on a water surface. Quarterly Journal of the Royal Meteorological Society, 81(350), 639-640]. In order to get a single parameterisation that works with wave-coupling, the wave-derived surface roughness length has been imposed in the surge model

  14. Validation of Hydrodynamic Numerical Model of a Pitching Wave Energy Converter

    DEFF Research Database (Denmark)

    López, Maria del Pilar Heras; Thomas, Sarah; Kramer, Morten Mejlhede

    2017-01-01

    Validation of numerical model is essential in the development of new technologies. Commercial software and codes available simulating wave energy converters (WECs) have not been proved to work for all the available and upcoming technologies yet. The present paper presents the first stages...... of the validation process of a hydrodynamic numerical model for a pitching wave energy converter. The development of dry tests, wave flume and wave basin experiments are going to be explained, lessons learned shared and results presented....

  15. Wave-particle duality in a quark model

    International Nuclear Information System (INIS)

    Gudder, S.P.

    1984-01-01

    A quark model based on finite-dimensional quantum mechanics is presented. Observables associated with color, flavor, charge, and spin are considered. Using these observables, quark and baryon Hamiltonians are constructed. Wave-particle dualities in this model are pointed out. (Auth.)

  16. Revisiting the difference between traveling-wave and standing-wave thermoacoustic engines - A simple analytical model for the standing-wave one

    Science.gov (United States)

    Yasui, Kyuichi; Kozuka, Teruyuki; Yasuoka, Masaki; Kato, Kazumi

    2015-11-01

    There are two major categories in a thermoacoustic prime-mover. One is the traveling-wave type and the other is the standing-wave type. A simple analytical model of a standing-wave thermoacoustic prime-mover is proposed at relatively low heat-flux for a stack much shorter than the acoustic wavelength, which approximately describes the Brayton cycle. Numerical simulations of Rott's equations have revealed that the work flow (acoustic power) increases by increasing of the amplitude of the particle velocity (| U|) for the traveling-wave type and by increasing cosΦ for the standing-wave type, where Φ is the phase difference between the particle velocity and the acoustic pressure. In other words, the standing-wave type is a phase-dominant type while the traveling-wave type is an amplitude-dominant one. The ratio of the absolute value of the traveling-wave component (| U|cosΦ) to that of the standing-wave component (| U|sinΦ) of any thermoacoustic engine roughly equals the ratio of the absolute value of the increasing rate of | U| to that of cosΦ. The different mechanism between the traveling-wave and the standing-wave type is discussed regarding the dependence of the energy efficiency on the acoustic impedance of a stack as well as that on ωτα, where ω is the angular frequency of an acoustic wave and τα is the thermal relaxation time. While the energy efficiency of the traveling-wave type at the optimal ωτα is much higher than that of the standing-wave type, the energy efficiency of the standing-wave type is higher than that of the traveling-wave type at much higher ωτα under a fixed temperature difference between the cold and the hot ends of the stack.

  17. Numerical modelling of extreme waves by Smoothed Particle Hydrodynamics

    Directory of Open Access Journals (Sweden)

    M. H. Dao

    2011-02-01

    Full Text Available The impact of extreme/rogue waves can lead to serious damage of vessels as well as marine and coastal structures. Such extreme waves in deep water are characterized by steep wave fronts and an energetic wave crest. The process of wave breaking is highly complex and, apart from the general knowledge that impact loadings are highly impulsive, the dynamics of the breaking and impact are still poorly understood. Using an advanced numerical method, the Smoothed Particle Hydrodynamics enhanced with parallel computing is able to reproduce well the extreme waves and their breaking process. Once the waves and their breaking process are modelled successfully, the dynamics of the breaking and the characteristics of their impact on offshore structures could be studied. The computational methodology and numerical results are presented in this paper.

  18. Modelling Acoustic Wave Propagation in Axisymmetric Varying-Radius Waveguides

    DEFF Research Database (Denmark)

    Bæk, David; Willatzen, Morten

    2008-01-01

    A computationally fast and accurate model (a set of coupled ordinary differential equations) for fluid sound-wave propagation in infinite axisymmetric waveguides of varying radius is proposed. The model accounts for fluid heat conduction and fluid irrotational viscosity. The model problem is solved...... by expanding solutions in terms of cross-sectional eigenfunctions following Stevenson’s method. A transfer matrix can be easily constructed from simple model responses of a given waveguide and later used in computing the response to any complex wave input. Energy losses due to heat conduction and viscous...

  19. Modelling of Wave Attenuation Induced by Multi-Purpose Floating Structures

    DEFF Research Database (Denmark)

    Stratigaki, Vasiliki; Troch, Peter; Stallard, Tim

    2014-01-01

    , polychromatic, long- and short-crested irregular waves), WEC response and modification of the wave field have been measured to provide data for the understanding of WEC farm interactions and for the evaluation of farm interaction numerical models. A first extensive wave farm database is established...

  20. Modelling of Resonantly Forced Density Waves in Dense Planetary Rings

    Science.gov (United States)

    Lehmann, M.; Schmidt, J.; Salo, H.

    2014-04-01

    Density wave theory, originally proposed to explain the spiral structure of galactic disks, has been applied to explain parts of the complex sub-structure in Saturn's rings, such as the wavetrains excited at the inner Lindblad resonances (ILR) of various satellites. The linear theory for the excitation and damping of density waves in Saturn's rings is fairly well developed (e.g. Goldreich & Tremaine [1979]; Shu [1984]). However, it fails to describe certain aspects of the observed waves. The non-applicability of the linear theory is already indicated by the "cusplike" shape of many of the observed wave profiles. This is a typical nonlinear feature which is also present in overstability wavetrains (Schmidt & Salo [2003]; Latter & Ogilvie [2010]). In particular, it turns out that the detailed damping mechanism, as well as the role of different nonlinear effects on the propagation of density waves remain intransparent. First attemps are being made to investigate the excitation and propagation of nonlinear density waves within a hydrodynamical formalism, which is also the natural formalism for describing linear density waves. A simple weakly nonlinear model, derived from a multiple-scale expansion of the hydrodynamic equations, is presented. This model describes the damping of "free" spiral density waves in a vertically integrated fluid disk with density dependent transport coefficients, where the effects of the hydrodynamic nonlinearities are included. The model predicts that density waves are linearly unstable in a ring region where the conditions for viscous overstability are met, which translates to a steep dependence of the shear viscosity with respect to the disk's surface density. The possibility that this dependence could lead to a growth of density waves with increasing distance from the resonance, was already mentioned in Goldreich & Tremaine [1978]. Sufficiently far away from the ILR, the surface density perturbation caused by the wave, is predicted to

  1. Resonant parametric interference effect in spontaneous bremsstrahlung of an electron in the field of a nucleus and two pulsed laser waves

    Science.gov (United States)

    Lebed', A. A.; Padusenko, E. A.; Roshchupkin, S. P.; Dubov, V. V.

    2018-04-01

    Electron-nucleus bremsstrahlung in the field of two moderately strong pulsed laser waves in the case of incommensurate frequencies is theoretically studied under resonant conditions. The process is studied in detail in a special kinematic region, where stimulated processes with correlated emission and absorption of photons of the first and second waves become predominant (parametric interference effect). The availability of this region is caused by interference of the first and second laser waves. The correspondence between the emission angle and the final-electron energy is established in this interference kinematic. In this case, the cross-sectional properties are determined by the multiphoton quantum interference parameter, which is proportional to the product of intensities of the first and second waves. The resonant differential cross section of electron-nucleus spontaneous bremsstrahlung with simultaneous registration of both emission angles of the spontaneous photon and the scattered electron can exceed by four or five orders of magnitude the corresponding cross section in the absence of an external field. It was shown for nonrelativistic electrons that the resonant cross section of the studied process in the field of two pulsed laser waves within the interference region in two order of magnitude may exceed corresponding cross sections at other scattering kinematics. The obtained results may be experimentally verified, for example, by scientific facilities at sources of pulsed laser radiation (such as SLAC, FAIR, XFEL, ELI).

  2. Wave propagation model of heat conduction and group speed

    Science.gov (United States)

    Zhang, Long; Zhang, Xiaomin; Peng, Song

    2018-03-01

    In view of the finite relaxation model of non-Fourier's law, the Cattaneo and Vernotte (CV) model and Fourier's law are presented in this work for comparing wave propagation modes. Independent variable translation is applied to solve the partial differential equation. Results show that the general form of the time spatial distribution of temperature for the three media comprises two solutions: those corresponding to the positive and negative logarithmic heating rates. The former shows that a group of heat waves whose spatial distribution follows the exponential function law propagates at a group speed; the speed of propagation is related to the logarithmic heating rate. The total speed of all the possible heat waves can be combined to form the group speed of the wave propagation. The latter indicates that the spatial distribution of temperature, which follows the exponential function law, decays with time. These features show that propagation accelerates when heated and decelerates when cooled. For the model media that follow Fourier's law and correspond to the positive heat rate of heat conduction, the propagation mode is also considered the propagation of a group of heat waves because the group speed has no upper bound. For the finite relaxation model with non-Fourier media, the interval of group speed is bounded and the maximum speed can be obtained when the logarithmic heating rate is exactly the reciprocal of relaxation time. And for the CV model with a non-Fourier medium, the interval of group speed is also bounded and the maximum value can be obtained when the logarithmic heating rate is infinite.

  3. A search for the Δ- wave-function component in light nuclei

    International Nuclear Information System (INIS)

    Morris, C.L.; Zumbro, J.D.; Boudrie, R.L.

    1996-01-01

    We have studied the (π + , π ± p) reactions on 3 He, 4 He, 6 Li, and 7 Li at incident energy 500 MeV in quasi-free kinematics. A signature attributable to pre-existing Δ components of the ground state wave function is observed

  4. A delay differential equation model of follicle waves in women.

    Science.gov (United States)

    Panza, Nicole M; Wright, Andrew A; Selgrade, James F

    2016-01-01

    This article presents a mathematical model for hormonal regulation of the menstrual cycle which predicts the occurrence of follicle waves in normally cycling women. Several follicles of ovulatory size that develop sequentially during one menstrual cycle are referred to as follicle waves. The model consists of 13 nonlinear, delay differential equations with 51 parameters. Model simulations exhibit a unique stable periodic cycle and this menstrual cycle accurately approximates blood levels of ovarian and pituitary hormones found in the biological literature. Numerical experiments illustrate that the number of follicle waves corresponds to the number of rises in pituitary follicle stimulating hormone. Modifications of the model equations result in simulations which predict the possibility of two ovulations at different times during the same menstrual cycle and, hence, the occurrence of dizygotic twins via a phenomenon referred to as superfecundation. Sensitive parameters are identified and bifurcations in model behaviour with respect to parameter changes are discussed. Studying follicle waves may be helpful for improving female fertility and for understanding some aspects of female reproductive ageing.

  5. 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.

  6. Slope wavenumber spectrum models of capillary and capillary-gravity waves

    Institute of Scientific and Technical Information of China (English)

    贾永君; 张杰; 王岩峰

    2010-01-01

    Capillary and capillary-gravity waves possess a random character, and the slope wavenumber spectra of them can be used to represent mean distributions of wave energy with respect to spatial scale of variability. But simple and practical models of the slope wavenumber spectra have not been put forward so far. In this article, we address the accurate definition of the slope wavenumber spectra of water surface capillary and capillary-gravity waves. By combining the existing slope wavenumber models and using th...

  7. A novel mechanism for emulating insect wing kinematics

    International Nuclear Information System (INIS)

    Seshadri, Pranay; Benedict, Moble; Chopra, Inderjit

    2012-01-01

    A novel dual-differential four-bar flapping mechanism that can accurately emulate insect wing kinematics in all three degrees of freedom (translation, rotation and stroke plane deviation) is developed. The mechanism is specifically designed to be simple and scalable such that it can be utilized on an insect-based flapping wing micro air vehicle. Kinematic formulations for the wing stroke position, pitch angle and coning angle for this model are derived from first principles and compared with a 3D simulation. A benchtop flapping mechanism based on this model was designed and built, which was also equipped with a balance for force measurements. 3D motion capture tests were conducted on this setup to demonstrate the capability of generating complex figure-of-eight flapping motions along with dynamic pitching. The dual-differential four-bar mechanism was implemented on a light-weight vehicle that demonstrated tethered hover. (paper)

  8. Mathematical modelling of sand wave migration and the interaction with pipelines

    NARCIS (Netherlands)

    Morelissen, Robin; Hulscher, Suzanne J.M.H.; Knaapen, Michiel; Nemeth, Attila; Bijker, Romke

    2003-01-01

    A new method is presented for identifying potential pipeline problems, such as hazardous exposures. This method comprises a newly developed sand wave amplitude and migration model, and an existing pipeline–seabed interaction model. The sand wave migration model is based on physical principles and

  9. Experimental validation of a mathematical model for seabed liquefaction in waves

    DEFF Research Database (Denmark)

    Sumer, B. Mutlu; Kirca, Özgür; Fredsøe, Jørgen

    2011-01-01

    This paper summarizes the results of an experimental study directed towards the validation of a mathematical model for the buildup of pore water pressure and resulting liquefaction of marine soils under progressive waves. Experiments were conducted under controlled conditions with silt ( d50 = 0.......070 mm) in a wave flume with a soil pit. Waves with wave heights in the range 7.7-18 cm with the water depth 55 cm and the wave period 1.6 s enabled us to study both the liquefaction and no-liquefaction regime pore water pressure buildup. The experimental data was used to validate the model. A numerical...

  10. Boussinesq Modeling of Wave Propagation and Runup over Fringing Coral Reefs, Model Evaluation Report

    National Research Council Canada - National Science Library

    Demirbilek, Zeki; Nwogu, Okey G

    2007-01-01

    ..., for waves propagating over fringing reefs. The model evaluation had two goals: (a) investigate differences between laboratory and field characteristics of wave transformation processes over reefs, and (b...

  11. Virtual prototype simulation of hydraulic shovel kinematics for spatial characterization in surface mining operations

    Energy Technology Data Exchange (ETDEWEB)

    S. Frimpong; Y. Li [University of Missouri-Rolla, Rolla, MO (United States). Department of Mining and Nuclear Engineering

    2005-12-15

    Hydraulic shovels are large-capacity equipment for excavating and loading dump trucks in constrained surface mining environments. Kinematics simulation of such equipment allows mine planning engineers to plan, design and control their spatial environments to achieve operating safety and efficiency. In this study, a hydraulic shovel was modelled as a mechanical manipulator with five degrees of freedom comprising the crawler, upper, boom, stick, bucket and bucket door components. The model was captured in a schematic diagram consisting of a six-bar linkage using the symbolic notation of Denavit and Hartenberg (Ho and Sriwattanathmma 1989). Homogeneous transformation matrices were used to capture the spatial configuration between adjacent links. The forward kinematics method was used to formulate the kinematics equations by attaching Cartesian coordinates to the schematic shovel diagram. Based on the kinematics model, a 3D virtual prototype of the hydraulic shovel was built in the Automatic Dynamic Analysis of Mechanical Systems (ADAMS) environment to simulate the motions of the hydraulic shovel with selected time steps. The simulator was validated using real-world data with animation and numerical analysis of the digging, swinging and dumping motions of the shovel machinery. The superimposed display of the deployment of the hydraulic shovel in three phases allows a detailed motion examination of the system. The numerical results of linear and angular displacements of the bucket tip and bucket door can be used to analyse the kinematics motion of the hydraulic shovel for its optimization. This simulator provides a solid foundation for further dynamics modelling and dynamic hydraulic shovel performance studies.

  12. Implementation of viscoelastic mud-induced energy attenuation in the third-generation wave model, SWAN

    Science.gov (United States)

    Beyramzade, Mostafa; Siadatmousavi, Seyed Mostafa

    2018-01-01

    The interaction of waves with fluid mud can dissipate the wave energy significantly over few wavelengths. In this study, the third-generation wave model, SWAN, was advanced to include attenuation of wave energy due to interaction with a viscoelastic fluid mud layer. The performances of implemented viscoelastic models were verified against an analytical solution and viscous formulations for simple one-dimensional propagation cases. Stationary and non-stationary test cases in the Surinam coast and the Atchafalaya Shelf showed that the inclusion of the mud-wave interaction term in the third-generation wave model enhances the model performance in real applications. A high value of mud viscosity (of the order of 0.1 m2/s) was required in both field cases to remedy model overestimation at high frequency ranges of the wave spectrum. The use of frequency-dependent mud viscosity value improved the performance of model, especially in the frequency range of 0.2-0.35 Hz in the wave spectrum. In addition, the mud-wave interaction might affect the high frequency part of the spectrum, and this part of the wave spectrum is also affected by energy transfer from wind to waves, even for the fetch lengths of the order of 10 km. It is shown that exclusion of the wind input term in such cases might result in different values for parameters of mud layer when inverse modeling procedure was employed. Unlike viscous models for wave-mud interaction, the inverse modeling results to a set of mud parameters with the same performance when the viscoelastic model is used. It provides an opportunity to select realistic mud parameters which are in more agreement with in situ measurements.

  13. The key kinematic determinants of undulatory underwater swimming at maximal velocity.

    Science.gov (United States)

    Connaboy, Chris; Naemi, Roozbeh; Brown, Susan; Psycharakis, Stelios; McCabe, Carla; Coleman, Simon; Sanders, Ross

    2016-01-01

    The optimisation of undulatory underwater swimming is highly important in competitive swimming performance. Nineteen kinematic variables were identified from previous research undertaken to assess undulatory underwater swimming performance. The purpose of the present study was to determine which kinematic variables were key to the production of maximal undulatory underwater swimming velocity. Kinematic data at maximal undulatory underwater swimming velocity were collected from 17 skilled swimmers. A series of separate backward-elimination analysis of covariance models was produced with cycle frequency and cycle length as dependent variables (DVs) and participant as a fixed factor, as including cycle frequency and cycle length would explain 100% of the maximal swimming velocity variance. The covariates identified in the cycle-frequency and cycle-length models were used to form the saturated model for maximal swimming velocity. The final parsimonious model identified three covariates (maximal knee joint angular velocity, maximal ankle angular velocity and knee range of movement) as determinants of the variance in maximal swimming velocity (adjusted-r2 = 0.929). However, when participant was removed as a fixed factor there was a large reduction in explained variance (adjusted r2 = 0.397) and only maximal knee joint angular velocity continued to contribute significantly, highlighting its importance to the production of maximal swimming velocity. The reduction in explained variance suggests an emphasis on inter-individual differences in undulatory underwater swimming technique and/or anthropometry. Future research should examine the efficacy of other anthropometric, kinematic and coordination variables to better understand the production of maximal swimming velocity and consider the importance of individual undulatory underwater swimming techniques when interpreting the data.

  14. Models of wave memory

    CERN Document Server

    Kashchenko, Serguey

    2015-01-01

    This monograph examines in detail models of neural systems described by delay-differential equations. Each element of the medium (neuron) is an oscillator that generates, in standalone mode, short impulses also known as spikes. The book discusses models of synaptic interaction between neurons, which lead to complex oscillatory modes in the system. In addition, it presents a solution to the problem of choosing the parameters of interaction in order to obtain attractors with predetermined structure. These attractors are represented as images encoded in the form of autowaves (wave memory). The target audience primarily comprises researchers and experts in the field, but it will also be beneficial for graduate students.

  15. Dynamic model of the octopus arm. II. Control of reaching movements.

    Science.gov (United States)

    Yekutieli, Yoram; Sagiv-Zohar, Roni; Hochner, Binyamin; Flash, Tamar

    2005-08-01

    The dynamic model of the octopus arm described in the first paper of this 2-part series was used here to investigate the neural strategies used for controlling the reaching movements of the octopus arm. These are stereotypical extension movements used to reach toward an object. In the dynamic model, sending a simple propagating neural activation signal to contract all muscles along the arm produced an arm extension with kinematic properties similar to those of natural movements. Control of only 2 parameters fully specified the extension movement: the amplitude of the activation signal (leading to the generation of muscle force) and the activation traveling time (the time the activation wave takes to travel along the arm). We found that the same kinematics could be achieved by applying activation signals with different activation amplitudes all exceeding some minimal level. This suggests that the octopus arm could use minimal amplitudes of activation to generate the minimal muscle forces required for the production of the desired kinematics. Larger-amplitude signals would generate larger forces that increase the arm's stability against perturbations without changing the kinematic characteristics. The robustness of this phenomenon was demonstrated by examining activation signals with either a constant or a bell-shaped velocity profile. Our modeling suggests that the octopus arm biomechanics may allow independent control of kinematics and resistance to perturbation during arm extension movements.

  16. A Hybrid Neural Network Approach for Kinematic Modeling of a Novel 6-UPS Parallel Human-Like Mastication Robot

    Directory of Open Access Journals (Sweden)

    Hadi Kalani

    2016-04-01

    Full Text Available Introduction we aimed to introduce a 6-universal-prismatic-spherical (UPS parallel mechanism for the human jaw motion and theoretically evaluate its kinematic problem. We proposed a strategy to provide a fast and accurate solution to the kinematic problem. The proposed strategy could accelerate the process of solution-finding for the direct kinematic problem by reducing the number of required iterations in order to reach the desired accuracy level. Materials and Methods To overcome the direct kinematic problem, an artificial neural network and third-order Newton-Raphson algorithm were combined to provide an improved hybrid method. In this method, approximate solution was presented for the direct kinematic problem by the neural network. This solution could be considered as the initial guess for the third-order Newton-Raphson algorithm to provide an answer with the desired level of accuracy. Results The results showed that the proposed combination could help find a approximate solution and reduce the execution time for the direct kinematic problem, The results showed that muscular actuations showed periodic behaviors, and the maximum length variation of temporalis muscle was larger than that of masseter and pterygoid muscles. By reducing the processing time for solving the direct kinematic problem, more time could be devoted to control calculations.. In this method, for relatively high levels of accuracy, the number of iterations and computational time decreased by 90% and 34%, respectively, compared to the conventional Newton method. Conclusion The present analysis could allow researchers to characterize and study the mastication process by specifying different chewing patterns (e.g., muscle displacements.

  17. Distal hindlimb kinematics of galloping Thoroughbred racehorses on dirt and synthetic racetrack surfaces.

    Science.gov (United States)

    Symons, J E; Garcia, T C; Stover, S M

    2014-03-01

    The effect of racetrack surface (dirt or synthetic) on distal hindlimb kinematics of racehorses running at competition speeds is not known. To compare distal hindlimb and hoof kinematics during stance of breezing (unrestrained gallop) racehorses between dirt and synthetic surfaces. Two-dimensional kinematic video analysis of 5 Thoroughbred racehorses galloping at high speeds (12-17 m/s) on a dirt racetrack and a synthetic racetrack. The positions of kinematic markers applied to the left hindlimb were recorded at 500 Hz. Position, velocity and acceleration of joint angles and hoof translation during stance were calculated in the sagittal plane. Peak translational and angular kinematic values were compared between the dirt and synthetic race surfaces using mixed model analyses of covariance. Maximum and heel-strike metatarsophalangeal (fetlock) angles were greater (Pdirt surface than on the synthetic surface. Maximum fetlock angle occurred earlier during stance on the dirt surface (Pdirt surface (Pdirt surface than on a synthetic surface. Synthetic race surfaces may mitigate risk of injury to hindlimb fetlock structures by reducing fetlock hyperextension and associated strains in fetlock support structures. Differences in hoof slide may contribute to different distal hindlimb kinematics between surfaces. © 2013 EVJ Ltd.

  18. Algebraic Traveling Wave Solutions of a Non-local Hydrodynamic-type Model

    International Nuclear Information System (INIS)

    Chen, Aiyong; Zhu, Wenjing; Qiao, Zhijun; Huang, Wentao

    2014-01-01

    In this paper we consider the algebraic traveling wave solutions of a non-local hydrodynamic-type model. It is shown that algebraic traveling wave solutions exist if and only if an associated first order ordinary differential system has invariant algebraic curve. The dynamical behavior of the associated ordinary differential system is analyzed. Phase portraits of the associated ordinary differential system is provided under various parameter conditions. Moreover, we classify algebraic traveling wave solutions of the model. Some explicit formulas of smooth solitary wave and cuspon solutions are obtained

  19. Quantifying meniscal kinematics in dogs.

    Science.gov (United States)

    Park, Brian H; Banks, Scott A; Pozzi, Antonio

    2017-11-06

    The dog has been used extensively as an experimental model to study meniscal treatments such as meniscectomy, meniscal repair, transplantation, and regeneration. However, there is very little information on meniscal kinematics in the dog. This study used MR imaging to quantify in vitro meniscal kinematics in loaded dog knees in four distinct poses: extension, flexion, internal, and external rotation. A new method was used to track the meniscal poses along the convex and posteriorly tilted tibial plateau. Meniscal displacements were large, displacing 13.5 and 13.7 mm posteriorly on average for the lateral and medial menisci during flexion (p = 0.90). The medial anterior horn and lateral posterior horns were the most mobile structures, showing average translations of 15.9 and 15.1 mm, respectively. Canine menisci are highly mobile and exhibit movements that correlate closely with the relative tibiofemoral positions. © 2017 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res. © 2017 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.

  20. Kinematic Measures of Imitation Fidelity in Primary School Children

    Science.gov (United States)

    Williams, Justin H. G.; Casey, Jackie M.; Braadbaart, Lieke; Culmer, Peter R.; Mon-Williams, Mark

    2014-01-01

    We sought to develop a method for measuring imitation accuracy objectively in primary school children. Children imitated a model drawing shapes on the same computer-tablet interface they saw used in video clips, allowing kinematics of model and observers' actions to be directly compared. Imitation accuracy was reported as a correlation reflecting…