Plasma electron hole kinematics. I. Momentum conservation

Energy Technology Data Exchange (ETDEWEB)

Hutchinson, I. H.; Zhou, C. [Plasma Science and Fusion Center, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139 (United States)

2016-08-15

We analyse the kinematic properties of a plasma electron hole: a non-linear self-sustained localized positive electric potential perturbation, trapping electrons, which behaves as a coherent entity. When a hole accelerates or grows in depth, ion and electron plasma momentum is changed both within the hole and outside, by an energization process we call jetting. We present a comprehensive analytic calculation of the momentum changes of an isolated general one-dimensional hole. The conservation of the total momentum gives the hole's kinematics, determining its velocity evolution. Our results explain many features of the behavior of hole speed observed in numerical simulations, including self-acceleration at formation, and hole pushing and trapping by ion streams.

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

SDSS-IV MaNGA: properties of galaxies with kinematically decoupled stellar and gaseous components

Science.gov (United States)

Jin, Yifei; Chen, Yanmei; Shi, Yong; Tremonti, C. A.; Bershady, M. A.; Merrifield, M.; Emsellem, E.; Fu, Hai; Wake, D.; Bundy, K.; Lin, Lihwai; Argudo-Fernandez, M.; Huang, Song; Stark, D. V.; Storchi-Bergmann, T.; Bizyaev, D.; Brownstein, J.; Chisholm, J.; Guo, Qi; Hao, Lei; Hu, Jian; Li, Cheng; Li, Ran; Masters, K. L.; Malanushenko, E.; Pan, Kaike; Riffel, R. A.; Roman-Lopes, A.; Simmons, A.; Thomas, D.; Wang, Lan; Westfall, K.; Yan, Renbin

2016-11-01

We study the properties of 66 galaxies with kinematically misaligned gas and stars from MaNGA survey. The fraction of kinematically misaligned galaxies varies with galaxy physical parameters, I.e. M*, SFR and sSFR. According to their sSFR, we further classify these 66 galaxies into three categories, 10 star-forming, 26 `Green Valley' and 30 quiescent ones. The properties of different types of kinematically misaligned galaxies are different in that the star-forming ones have positive gradient in Dn4000 and higher gas-phase metallicity, while the green valley/quiescent ones have negative Dn4000 gradients and lower gas-phase metallicity on average. There is evidence that all types of the kinematically misaligned galaxies tend to live in more isolated environment. Based on all these observational results, we propose a scenario for the formation of star-forming galaxies with kinematically misaligned gas and stars - the progenitor accretes misaligned gas from a gas-rich dwarf or cosmic web, the cancellation of angular momentum from gas-gas collisions between the pre-existing gas and the accreted gas largely accelerates gas inflow, leading to fast centrally concentrated star formation. The higher metallicity is due to enrichment from this star formation. For the kinematically misaligned green valley and quiescent galaxies, they might be formed through gas-poor progenitors accreting kinematically misaligned gas from satellites which are smaller in mass.

The phylogeny of swimming kinematics: The environment controls flagellar waveforms in sperm motility

Science.gov (United States)

Guasto, Jeffrey; Burton, Lisa; Zimmer, Richard; Hosoi, Anette; Stocker, Roman

2013-11-01

In recent years, phylogenetic and molecular analyses have dominated the study of ecology and evolution. However, physical interactions between organisms and their environment, a fundamental determinant of organism ecology and evolution, are mediated by organism form and function, highlighting the need to understand the mechanics of basic survival strategies, including locomotion. Focusing on spermatozoa, we combined high-speed video microscopy and singular value decomposition analysis to quantitatively compare the flagellar waveforms of eight species, ranging from marine invertebrates to humans. We found striking similarities in sperm swimming kinematics between genetically dissimilar organisms, which could not be uncovered by phylogenetic analysis. The emergence of dominant waveform patterns across species are suggestive of biological optimization for flagellar locomotion and point toward environmental cues as drivers of this convergence. These results reinforce the power of quantitative kinematic analysis to understand the physical drivers of evolution and as an approach to uncover new solutions for engineering applications, such as micro-robotics.

THE EVOLUTION OF THE KINEMATICS OF NEBULAR SHELLS IN PLANETARY NEBULAE IN THE MILKY WAY BULGE

International Nuclear Information System (INIS)

Richer, Michael G.; Lopez, Jose Alberto; Garcia-Diaz, Maria Teresa; Clark, David M.; Pereyra, Margarita; Diaz-Mendez, Enrique

2010-01-01

We study the line widths in the [O III]λ5007 and Hα lines for two groups of planetary nebulae in the Milky Way bulge based upon spectroscopy obtained at the Observatorio Astronomico Nacional in the Sierra San Pedro Martir (OAN-SPM) using the Manchester Echelle Spectrograph. The first sample includes objects early in their evolution, having high Hβ luminosities, but [O III]λ5007/Hβ 0.5. These planetary nebulae represent evolutionary phases preceding and following those of the objects studied by Richer et al. in 2008. Our sample of planetary nebulae with weak [O III]λ5007 has a line width distribution similar to that of the expansion velocities of the envelopes of asymptotic giant branch stars and shifted to systematically lower values as compared to the less evolved objects studied by Richer et al. The sample with strong He II λ4686 has a line width distribution indistinguishable from that of the more evolved objects from Richer et al., but a distribution in angular size that is systematically larger and so they are clearly more evolved. These data and those of Richer et al. form a homogeneous sample from a single Galactic population of planetary nebulae, from the earliest evolutionary stages until the cessation of nuclear burning in the central star. They confirm the long-standing predictions of hydrodynamical models of planetary nebulae, where the kinematics of the nebular shell are driven by the evolution of the central star.

Decoherence and discrete symmetries in deformed relativistic kinematics

Science.gov (United States)

Arzano, Michele

2018-01-01

Models of deformed Poincaré symmetries based on group valued momenta have long been studied as effective modifications of relativistic kinematics possibly capturing quantum gravity effects. In this contribution we show how they naturally lead to a generalized quantum time evolution of the type proposed to model fundamental decoherence for quantum systems in the presence of an evaporating black hole. The same structures which determine such generalized evolution also lead to a modification of the action of discrete symmetries and of the CPT operator. These features can in principle be used to put phenomenological constraints on models of deformed relativistic symmetries using precision measurements of neutral kaons.

Primate Anatomy, Kinematics, and Principles for Humanoid Design

Science.gov (United States)

Ambrose, Robert O.; Ambrose, Catherine G.

2004-01-01

The primate order of animals is investigated for clues in the design of Humanoid Robots. The pursuit is directed with a theory that kinematics, musculature, perception, and cognition can be optimized for specific tasks by varying the proportions of limbs, and in particular, the points of branching in kinematic trees such as the primate skeleton. Called the Bifurcated Chain Hypothesis, the theory is that the branching proportions found in humans may be superior to other animals and primates for the tasks of dexterous manipulation and other human specialties. The primate taxa are defined, contemporary primate evolution hypotheses are critiqued, and variations within the order are noted. The kinematic branching points of the torso, limbs and fingers are studied for differences in proportions across the order, and associated with family and genus capabilities and behaviors. The human configuration of a long waist, long neck, and short arms is graded using a kinematic workspace analysis and a set of design axioms for mobile manipulation robots. It scores well. The re emergence of the human waist, seen in early Prosimians and Monkeys for arboreal balance, but lost in the terrestrial Pongidae, is postulated as benefiting human dexterity. The human combination of an articulated waist and neck will be shown to enable the use of smaller arms, achieving greater regions of workspace dexterity than the larger limbs of Gorillas and other Hominoidea.

Evolution of upper limb kinematics four years after subacute robot-assisted rehabilitation in stroke patients.

Science.gov (United States)

Pila, Ophélie; Duret, Christophe; Gracies, Jean-Michel; Francisco, Gerard E; Bayle, Nicolas; Hutin, Émilie

2018-04-25

To assess functional status and robot-based kinematic measures four years after subacute robot-assisted rehabilitation in hemiparesis. Twenty-two patients with stroke-induced hemiparesis underwent a ≥3-month upper limb combined program of robot-assisted and occupational therapy from two months post-stroke, and received community-based therapy after discharge. Four years later, 19 (86%) participated in this follow-up study. Assessments 2, 5 and 54 months post-stroke included Fugl-Meyer (FM), Modified Frenchay Scale (MFS, at Month 54) and robot-based kinematic measures of targeting tasks in three directions, north, paretic and non-paretic: distance covered, velocity, accuracy (root mean square (RMS) error from straight line) and smoothness (number of velocity peaks; upward changes in accuracy and smoothness represent worsening). Analysis was stratified by FM score at two months: ≥17 (Group 1) or Kinematic changes (three directions pooled) were: distance -1[-17;2]% (ns); velocity, -8[-32;28]% (ns); accuracy, +6[-13;98]% (ns); smoothness, +44[-6;126]% (p robot-assisted upper limb training during subacute post-stroke phase, movement kinematics deteriorated despite community-based therapy, especially in more severely impaired patients. EudraCT 2016-005121-36. Registration: 2016-12-20. Date of enrolment of the first participant to the trial: 2009-11-24.

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

Paleomagnetic constraints on the Cenozoic kinematic evolution of the Pamir plateau from the Western Kunlun Shan foreland

Science.gov (United States)

Li, Zhenyu; Ding, Lin; Lippert, Peter C.; Wei, Honghong

2013-09-01

Thick Cenozoic marine and terrestrial sediments are widely distributed along the perimeter of the Pamir plateau and provide valuable information on the kinematic evolution of the region. Here, we report new biostratigraphic and paleomagnetic results from the piedmont of the Western Kunlun Shan to constrain the magnitude and timing of vertical-axis rotations along the eastern margin of the Pamir. Sampling sites were selected by rock formations and ages, which are based on previous field mapping and on litholostratigraphic and biostratigraphic work presented here. Thermomagnetic analysis, step-wise thermal demagnetization behavior, and positive field tests all suggest that the characteristic remanent magnetization (ChRM) directions most probably have a primary detrital and chemical origin. Our results indicate variable, minor, but in some intervals significant vertical axis rotations with respect to a stable Asian reference frame. This pattern of rotations is similar to paleomagnetic data reported in previously published studies from the Eastern Pamir foreland. In contrast, published paleomagnetic data from the Western Pamir foreland consistently indicate significant CCW rotations within that region. Collectively, these results challenge simple oroclinal bending models for the origin of the Pamir salient, and instead are more consistent with an asymmetric "half-orocline" kinematic model in which the curvature of the Western Pamir is the product of a combination of lithospheric bending of an originally quasi-linear mountain belt and radial thrusting, and the subdued curvature of the eastern edge of the plateau is the result of lateral translation of the Pamir plateau northward past Tibet and Tarim along the Kashgar-Yecheng transfer system. Our results are consistent with activity on the Kashgar-Yecheng transfer system in the Early Miocene.

Kinematic evolution of the southwestern Arabian continental margin: implications for the origin of the Red Sea

Science.gov (United States)

Voggenreiter, W.; Hötzl, H.

The tectonic and magnetic evolution of the Jizan coastal plain (Tihama Asir) in southwest Arabia was dominated by SW-NE lithospheric extension related to the development of the Red Sea Rift. A well-exposed, isotopically-dated succession of magmatic rocks (Jizan Group volcanics, Tihama Asir Magmatic Complex) allows a kinematic analysis for this part of the Arabian Red Sea margin. A mafic dyke swarm and several generations of roughly NW-trending normal faults characterized the continental rift stage from Oligocene to early Miocene time. Major uplift of the Arabian graben shoulder probably began about 14 Ma ago. By this time, extension and magmatism ceased in the Jizan area and were followed by an approximately 10 Ma interval of tectonic and magmatic quiescence. A second phase of extension began in the Pliocene and facilitated a vast outpouring of alkaliolivine basalts on the coastal plain. The geometry of faulting in the Jizan area supports a Wernicke-type simple-shear mechanism of continental rifting for the southern Arabian continental margin of the Red Sea.

Simulating cosmic metal enrichment by the first galaxies

NARCIS (Netherlands)

Pallottini, A.; Ferrara, A.; Gallerani, S.; Salvadori, S.; D'Odorico, V.

We study cosmic metal enrichment via adaptive mesh refinement hydrodynamical simulations in a (10 Mpc h-1)3 volume following the Population III (PopIII)-PopII transition and for different PopIII initial mass function (IMFs). We have analysed the joint evolution of metal enrichment on galactic and

THE KMOS3D SURVEY: DESIGN, FIRST RESULTS, AND THE EVOLUTION OF GALAXY KINEMATICS FROM 0.7 ≤ z ≤ 2.7

International Nuclear Information System (INIS)

Wisnioski, E.; Förster Schreiber, N. M.; Wuyts, S.; Wuyts, E.; Bandara, K.; Genzel, R.; Bender, R.; Davies, R.; Lang, P.; Mendel, J. T.; Beifiori, A.; Chan, J.; Fabricius, M.; Fudamoto, Y.; Kulkarni, S.; Kurk, J.; Lutz, D.; Wilman, D.; Fossati, M.; Brammer, G.

2015-01-01

We present the KMOS 3D survey, a new integral field survey of over 600 galaxies at 0.7 < z < 2.7 using KMOS at the Very Large Telescope. The KMOS 3D survey utilizes synergies with multi-wavelength ground- and space-based surveys to trace the evolution of spatially resolved kinematics and star formation from a homogeneous sample over 5 Gyr of cosmic history. Targets, drawn from a mass-selected parent sample from the 3D-HST survey, cover the star formation-stellar mass (M * ) and rest-frame (U – V) – M * planes uniformly. We describe the selection of targets, the observations, and the data reduction. In the first-year of data we detect Hα emission in 191 M * = 3 × 10 9 -7 × 10 11 M ☉  galaxies at z = 0.7-1.1 and z = 1.9-2.7. In the current sample 83% of the resolved galaxies are rotation dominated, determined from a continuous velocity gradient and v rot /σ 0 > 1, implying that the star-forming ''main sequence'' is primarily composed of rotating galaxies at both redshift regimes. When considering additional stricter criteria, the Hα kinematic maps indicate that at least ∼70% of the resolved galaxies are disk-like systems. Our high-quality KMOS data confirm the elevated velocity dispersions reported in previous integral field spectroscopy studies at z ≳ 0.7. For rotation-dominated disks, the average intrinsic velocity dispersion decreases by a factor of two from 50 km s –1 at z ∼ 2.3 to 25 km s –1 at z ∼ 0.9. Combined with existing results spanning z ∼ 0-3, we show that disk velocity dispersions follow an evolution that is consistent with the dependence of velocity dispersion on gas fractions predicted by marginally stable disk theory

ANALYSIS OF CORONAL RAIN OBSERVED BY IRIS , HINODE /SOT, AND SDO /AIA: TRANSVERSE OSCILLATIONS, KINEMATICS, AND THERMAL EVOLUTION

Energy Technology Data Exchange (ETDEWEB)

Kohutova, P.; Verwichte, E., E-mail: p.kohutova@warwick.ac.uk [Centre for Fusion, Space and Astrophysics, Department of Physics, University of Warwick, Coventry CV4 7AL (United Kingdom)

2016-08-10

Coronal rain composed of cool plasma condensations falling from coronal heights along magnetic field lines is a phenomenon occurring mainly in active region coronal loops. Recent high-resolution observations have shown that coronal rain is much more common than previously thought, suggesting its important role in the chromosphere-corona mass cycle. We present the analysis of MHD oscillations and kinematics of the coronal rain observed in chromospheric and transition region lines by the Interface Region Imaging Spectrograph (IRIS) , the Hinode Solar Optical Telescope (SOT), and the Solar Dynamics Observatory ( SDO) Atmospheric Imaging Assembly (AIA). Two different regimes of transverse oscillations traced by the rain are detected: small-scale persistent oscillations driven by a continuously operating process and localized large-scale oscillations excited by a transient mechanism. The plasma condensations are found to move with speeds ranging from few km s{sup −1} up to 180 km s{sup −1} and with accelerations largely below the free-fall rate, likely explained by pressure effects and the ponderomotive force resulting from the loop oscillations. The observed evolution of the emission in individual SDO /AIA bandpasses is found to exhibit clear signatures of a gradual cooling of the plasma at the loop top. We determine the temperature evolution of the coronal loop plasma using regularized inversion to recover the differential emission measure (DEM) and by forward modeling the emission intensities in the SDO /AIA bandpasses using a two-component synthetic DEM model. The inferred evolution of the temperature and density of the plasma near the apex is consistent with the limit cycle model and suggests the loop is going through a sequence of periodically repeating heating-condensation cycles.

Mining MaNGA for Merging Galaxies: A New Imaging and Kinematic Technique from Hydrodynamical Simulations

Science.gov (United States)

Nevin, Becky; Comerford, Julia M.; Blecha, Laura

2018-06-01

Merging galaxies play a key role in galaxy evolution, and progress in our understanding of galaxy evolution is slowed by the difficulty of making accurate galaxy merger identifications. Mergers are typically identified using imaging alone, which has its limitations and biases. With the growing popularity of integral field spectroscopy (IFS), it is now possible to use kinematic signatures to improve galaxy merger identifications. I use GADGET-3 hydrodynamical simulations of merging galaxies with the radiative transfer code SUNRISE, the later of which enables me to apply the same analysis to simulations and observations. From the simulated galaxies, I have developed the first merging galaxy classification scheme that is based on kinematics and imaging. Utilizing a Linear Discriminant Analysis tool, I have determined which kinematic and imaging predictors are most useful for identifying mergers of various merger parameters (such as orientation, mass ratio, gas fraction, and merger stage). I will discuss the strengths and limitations of the classification technique and then my initial results for applying the classification to the >10,000 observed galaxies in the MaNGA (Mapping Nearby Galaxies at Apache Point) IFS survey. Through accurate identification of merging galaxies in the MaNGA survey, I will advance our understanding of supermassive black hole growth in galaxy mergers and other open questions related to galaxy evolution.

Stellar dynamics and galactic evolution

International Nuclear Information System (INIS)

Gilmore, G.; Kuijken, K.; Wyse, R.F.G.

1989-01-01

Solar neighbourhood observations have the unique capability of providing detailed study of the consequences of the early evolution of the Galaxy. Important examples of this capability include determination of the distribution of luminous and unseen mass in the Galaxy, and deduction of the rate of star formation and chemical evolution in the proto-Galaxy. We describe a new method to determine the distribution of mass in the Galactic disk. We reinvestigate determinations of the local volume mass density (the Oort limit) and show there to be serious internal inconsistencies in the available data. The most likely value for the local volume mass density, based on old stars and with kinematic models consistent with the age structure of the local disk is ∼ 0.1 solar mass pc -3 , though this value is still poorly determined. Thus, there is no significant evidence for any missing mass associated with the Galactic disk. We also reinvestigate observational data on the chemical abundances and kinematics of old stars in the Galaxy. The (Intermediate Population II) thick disk stars are most likely as old as the globular clusters, and kinematically distinct from the old disk. This favours models of thick disk origin involving a discrete disruptive event, such as the accretion of a satellite of the Galaxy early in the evolution of the Galactic disk. (author)

Simulating Isotope Enrichment by Gaseous Diffusion

Science.gov (United States)

Reed, Cameron

2015-04-01

A desktop-computer simulation of isotope enrichment by gaseous diffusion has been developed. The simulation incorporates two non-interacting point-mass species whose members pass through a cascade of cells containing porous membranes and retain constant speeds as they reflect off the walls of the cells and the spaces between holes in the membranes. A particular feature is periodic forward recycling of enriched material to cells further along the cascade along with simultaneous return of depleted material to preceding cells. The number of particles, the mass ratio, the initial fractional abundance of the lighter species, and the time between recycling operations can be chosen by the user. The simulation is simple enough to be understood on the basis of two-dimensional kinematics, and demonstrates that the fractional abundance of the lighter-isotope species increases along the cascade. The logic of the simulation will be described and results of some typical runs will be presented and discussed.

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.

Fission of highly excited nuclei investigated in complete kinematic measurements

International Nuclear Information System (INIS)

Rodriguez-Sanchez, J. L.; Benlliure, J.; Taieb, J.; Avarez-Pol, H.; Audouin, L.; Ayyad, Y.; Belier, G.; Boutoux, G.; Casarejos, E.; Chatillon, A.; Cortina-Gil, D.; Gorbinet, T.; Heinz, A.; Kelic-Heil, A.; Kurz, N.; Laurent, B.; Martin, J. F.; Paradela, C.; Pellereau, E.; Pietras, B.; Prochazka, A.; Ramos, D.; Rodriguez-Tajes, C.; Rossi, D.; Simon, H.; Tassan-Got, L.; Vargas, J.; Voss, B.

2013-01-01

Fission is an extremely complex mechanism that requires a dynamical approach to describe the evolution of the process in terms of intrinsic and collective excitations of the nuclear constituents. In order to determine these effects a complex experimental setup was mounted at GSI, which allowed us for the first time the full identification in charge and mass of all fission fragments thanks to a magnetic separation and the use of the inverse kinematic technique. Moreover, we also measured the neutron multiplicities and the light-charged particles emitted in coincidence with fission. These complete kinematic measurements will be used to define sensitive observables to dissipative and transient effects in fission. In this manuscript we present the first results for the total fission cross sections. (authors)

Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy

Energy Technology Data Exchange (ETDEWEB)

Qu, Haibo; Guo, Sheng [Beijing Jiaotong University, Beijing (China)

2017-04-15

In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations.

Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy

International Nuclear Information System (INIS)

Qu, Haibo; Guo, Sheng

2017-01-01

In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations

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.

Ionised gas kinematics in bipolar H II regions

Science.gov (United States)

Dalgleish, Hannah S.; Longmore, Steven N.; Peters, Thomas; Henshaw, Jonathan D.; Veitch-Michaelis, Joshua L.; Urquhart, James S.

2018-05-01

Stellar feedback plays a fundamental role in shaping the evolution of galaxies. Here we explore the use of ionised gas kinematics in young, bipolar H II regions as a probe of early feedback in these star-forming environments. We have undertaken a multi-wavelength study of a young, bipolar H II region in the Galactic disc, G316.81-0.06, which lies at the centre of a massive (˜103 M⊙) infrared-dark cloud filament. It is still accreting molecular gas as well as driving a ˜0.2 pc ionised gas outflow perpendicular to the filament. Intriguingly, we observe a large velocity gradient (47.81 ± 3.21 km s-1 pc-1) across the ionised gas in a direction perpendicular to the outflow. This kinematic signature of the ionised gas shows a reasonable correspondence with the simulations of young H II regions. Based on a qualitative comparison between our observations and these simulations, we put forward a possible explanation for the velocity gradients observed in G316.81-0.06. If the velocity gradient perpendicular to the outflow is caused by rotation of the ionised gas, then we infer that this rotation is a direct result of the initial net angular momentum in the natal molecular cloud. If this explanation is correct, this kinematic signature should be common in other young (bipolar) H II regions. We suggest that further quantitative analysis of the ionised gas kinematics of young H II regions, combined with additional simulations, should improve our understanding of feedback at these early stages.

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 ...

INSIGHTS INTO PRE-ENRICHMENT OF STAR CLUSTERS AND SELF-ENRICHMENT OF DWARF GALAXIES FROM THEIR INTRINSIC METALLICITY DISPERSIONS

International Nuclear Information System (INIS)

Leaman, Ryan

2012-01-01

Star clusters are known to have smaller intrinsic metallicity spreads than dwarf galaxies due to their shorter star formation timescales. Here we use individual spectroscopic [Fe/H] measurements of stars in 19 Local Group dwarf galaxies, 13 Galactic open clusters, and 49 globular clusters to show that star cluster and dwarf galaxy linear metallicity distributions are binomial in form, with all objects showing strong correlations between their mean linear metallicity Z-bar and intrinsic spread in metallicity σ(Z) 2 . A plot of σ(Z) 2 versus Z-bar shows that the correlated relationships are offset for the dwarf galaxies from the star clusters. The common binomial nature of these linear metallicity distributions can be explained with a simple inhomogeneous chemical evolution model, where the star cluster and dwarf galaxy behavior in the σ(Z) 2 - Z-bar diagram is reproduced in terms of the number of enrichment events, covering fraction, and intrinsic size of the enriched regions. The inhomogeneity of the self-enrichment sets the slope for the observed dwarf galaxy σ(Z) 2 - Z-bar correlation. The offset of the star cluster sequence from that of the dwarf galaxies is due to pre-enrichment, and the slope of the star cluster sequence represents the remnant signature of the self-enriched history of their host galaxies. The offset can be used to separate star clusters from dwarf galaxies without a priori knowledge of their luminosity or dynamical mass. The application of the inhomogeneous model to the σ(Z) 2 - Z-bar relationship provides a numerical formalism to connect the self-enrichment and pre-enrichment between star clusters and dwarf galaxies using physically motivated chemical enrichment parameters. Therefore we suggest that the σ(Z) 2 - Z-bar relationship can provide insight into what drives the efficiency of star formation and chemical evolution in galaxies, and is an important prediction for galaxy simulation models to reproduce.

Chemical composition of stars in kinematical substructures of the galactic disk

Directory of Open Access Journals (Sweden)

Gorbaneva T.I.

2012-02-01

Full Text Available The Y, Zr, La, Ce, Nd , Sm and Eu abundances were found in LTE approach, and the abundance of Ba was computed in NLTE approximation for 280 FGK dwarfs in the region of metallicity of − 1<[Fe]< + 0.3. The selection of stars belonging to thin and thick disks and the stream Hercules was made on kinematic criteria. The analysis of enrichment of the different substructures of the Galaxy with α-element (Mg, Si, the iron peak (Ni and neutron-capture elements was carried out.

Flow Kinematics and Particle Orientations during Composite Processing

International Nuclear Information System (INIS)

Chiba, Kunji

2007-01-01

The mechanism of orientation of fibers or thin micro-particles in various flows involving the processing of composite materials has not been fully understood although it is much significant to obtain the knowledge of the processing operations of particle reinforced composites as well as to improve the properties of the advanced composites. The objective of this paper is to introduce and well understand the evolution of the particle orientation in a suspension flow and flow kinematics induced by suspended particles by means of our two research work

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.

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.

Evolution of gluon TMDs from small to moderate x

Energy Technology Data Exchange (ETDEWEB)

Tarasov, Andrey [Thomas Jefferson National Accelerator Facility (TJNAF), Newport News, VA (United States)

2016-05-01

Recently we obtained an evolution equation of gluon TMDs, which addresses a problem of unification of different kinematic regimes. It describes evolution in the whole range of Bjorken $x_B$ and the whole range of transverse momentum $k_\\perp$. In this notes I study different limits of this evolution equation and show how it yields several well-known and some previously unknown results.

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.

Linear vs non-linear QCD evolution: from HERA data to LHC phenomenology

CERN Document Server

Albacete, J L; Quiroga-Arias, P; Rojo, J

2012-01-01

The very precise combined HERA data provides a testing ground in which the relevance of novel QCD regimes, other than the successful linear DGLAP evolution, in small-x inclusive DIS data can be ascertained. We present a study of the dependence of the AAMQS fits, based on the running coupling BK non-linear evolution equations (rcBK), on the fitted dataset. This allows for the identification of the kinematical region where rcBK accurately describes the data, and thus for the determination of its applicability boundary. We compare the rcBK results with NNLO DGLAP fits, obtained with the NNPDF methodology with analogous kinematical cuts. Further, we explore the impact on LHC phenomenology of applying stringent kinematical cuts to the low-x HERA data in a DGLAP fit.

THE KMOS{sup 3D} SURVEY: DESIGN, FIRST RESULTS, AND THE EVOLUTION OF GALAXY KINEMATICS FROM 0.7 ≤ z ≤ 2.7

Energy Technology Data Exchange (ETDEWEB)

Wisnioski, E.; Förster Schreiber, N. M.; Wuyts, S.; Wuyts, E.; Bandara, K.; Genzel, R.; Bender, R.; Davies, R.; Lang, P.; Mendel, J. T.; Beifiori, A.; Chan, J.; Fabricius, M.; Fudamoto, Y.; Kulkarni, S.; Kurk, J.; Lutz, D. [Max-Planck-Institut für extraterrestrische Physik (MPE), Giessenbachstr. 1, D-85748 Garching (Germany); Wilman, D.; Fossati, M. [Universitäts-Sternwarte, Ludwig-Maximilians-Universität, Scheinerstrasse 1, D-81679 München (Germany); Brammer, G., E-mail: emily@mpe.mpg.de [Space Telescope Science Institute, 3700 San Martin Drive, Baltimore, MD 21218 (United States); and others

2015-02-01

We present the KMOS{sup 3D} survey, a new integral field survey of over 600 galaxies at 0.7 < z < 2.7 using KMOS at the Very Large Telescope. The KMOS{sup 3D} survey utilizes synergies with multi-wavelength ground- and space-based surveys to trace the evolution of spatially resolved kinematics and star formation from a homogeneous sample over 5 Gyr of cosmic history. Targets, drawn from a mass-selected parent sample from the 3D-HST survey, cover the star formation-stellar mass (M {sub *}) and rest-frame (U – V) – M {sub *} planes uniformly. We describe the selection of targets, the observations, and the data reduction. In the first-year of data we detect Hα emission in 191 M {sub *} = 3 × 10{sup 9}-7 × 10{sup 11} M {sub ☉} galaxies at z = 0.7-1.1 and z = 1.9-2.7. In the current sample 83% of the resolved galaxies are rotation dominated, determined from a continuous velocity gradient and v {sub rot}/σ{sub 0} > 1, implying that the star-forming ''main sequence'' is primarily composed of rotating galaxies at both redshift regimes. When considering additional stricter criteria, the Hα kinematic maps indicate that at least ∼70% of the resolved galaxies are disk-like systems. Our high-quality KMOS data confirm the elevated velocity dispersions reported in previous integral field spectroscopy studies at z ≳ 0.7. For rotation-dominated disks, the average intrinsic velocity dispersion decreases by a factor of two from 50 km s{sup –1}at z ∼ 2.3 to 25 km s{sup –1}at z ∼ 0.9. Combined with existing results spanning z ∼ 0-3, we show that disk velocity dispersions follow an evolution that is consistent with the dependence of velocity dispersion on gas fractions predicted by marginally stable disk theory.

DOE enrichment plants-safeguards means business

International Nuclear Information System (INIS)

Donnelly, R.

1987-01-01

The Portsmouth Gaseous Diffusion Plant, owned by the US Department of Energy (DOE) and operated by Martin Marietta Energy Systems, Inc., is a full service enrichment plant. Its long enriching cascade can process uranium hexafluoride (UF 6 ) feeds at almost any 235 U level and can produce UF 6 over the complete spectrum from depleted to very highly enriched uranium. The DOE uranium enrichment program is a government-owned enterprise operating as a business. The operating concerns of the DOE uranium enrichment plants and their safeguards programs have evolved together over the past three decades, and that evolution will likely continue. As the risk associated with possession, processing, and shipment of strategic nuclear material increased, the protection and control of it increased; as the value of the product grew with time, better ways were found to measure and conserve it. In each of these areas, safeguards objectives and the business requirements of the plant are complementary, and the progress made in one area has been reflected by progress in the other. The plant's material control and accountability program has become crucial to such business requirements as quantifying the enriched uranium (separative work units) produced in each monthly period and convincing financial auditors that the multibillion dollar enriched uranium assets located at the Portsmouth plant are properly stated

Assuaging Nuclear Energy Risks: The Angarsk International Uranium Enrichment Center

International Nuclear Information System (INIS)

Myers, Astasia

2011-01-01

The recent nuclear renaissance has motivated many countries, especially developing nations, to plan and build nuclear power reactors. However, domestic low enriched uranium demands may trigger nations to construct indigenous enrichment facilities, which could be redirected to fabricate high enriched uranium for nuclear weapons. The potential advantages of establishing multinational uranium enrichment sites are numerous including increased low enrichment uranium access with decreased nuclear proliferation risks. While multinational nuclear initiatives have been discussed, Russia is the first nation to actualize this concept with their Angarsk International Uranium Enrichment Center (IUEC). This paper provides an overview of the historical and modern context of the multinational nuclear fuel cycle as well as the evolution of Russia's IUEC, which exemplifies how international fuel cycle cooperation is an alternative to domestic facilities.

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.

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.)

Nonlinear smooth orthogonal decomposition of kinematic features of sawing reconstructs muscle fatigue evolution as indicated by electromyography.

Science.gov (United States)

Segala, David B; Gates, Deanna H; Dingwell, Jonathan B; Chelidze, David

2011-03-01

Tracking or predicting physiological fatigue is important for developing more robust training protocols and better energy supplements and/or reducing muscle injuries. Current methodologies are usually impractical and/or invasive and may not be realizable outside of laboratory settings. It was recently demonstrated that smooth orthogonal decomposition (SOD) of phase space warping (PSW) features of motion kinematics can identify fatigue in individual muscle groups. We hypothesize that a nonlinear extension of SOD will identify more optimal fatigue coordinates and provide a lower-dimensional reconstruction of local fatigue dynamics than the linear SOD. Both linear and nonlinear SODs were applied to PSW features estimated from measured kinematics to reconstruct muscle fatigue dynamics in subjects performing a sawing motion. Ten healthy young right-handed subjects pushed a weighted handle back and forth until voluntary exhaustion. Three sets of joint kinematic angles were measured from the right upper extremity in addition to surface electromyography (EMG) recordings. The SOD coordinates of kinematic PSW features were compared against independently measured fatigue markers (i.e., mean and median EMG spectrum frequencies of individual muscle groups). This comparison was based on a least-squares linear fit of a fixed number of the dominant SOD coordinates to the appropriate local fatigue markers. Between subject variability showed that at most four to five nonlinear SOD coordinates were needed to reconstruct fatigue in local muscle groups, while on average 15 coordinates were needed for the linear SOD. Thus, the nonlinear coordinates provided a one-order-of-magnitude improvement over the linear ones.

Chemical evolution coefficients for the study of galactic evolution

International Nuclear Information System (INIS)

Mallik, D.C.V.

1980-01-01

A new evaluation of chemical evolution coefficients has been made using recent stellar evolution and nucleosynthesis data. The role of the low and intermediate mass stars in galactic nuclosynthesis has been emphasized. A significant amount of 4 He, 12 C and neutron-rich species is found to be contributed by these stars. Comparison with observed abundances suggests a primary origin of 14 N. The simple model of galactic evolution with the new coefficients has been used to derive the ratio of helium to heavy element enrichment in the Galaxy. The new stellar evolution data do not explain the large value of this ratio that has been determined observationally. (orig.)

Chemical evolution coefficients for the study of galactic evolution

Energy Technology Data Exchange (ETDEWEB)

Mallik, D C.V. [Indian Inst. of Astrophysics, Bangalore

1980-05-01

A new evaluation of chemical evolution coefficients has been made using recent stellar evolution and nucleosynthesis data. The role of the low and intermediate mass stars in galactic nucleosynthesis has been emphasized. A significant amount of /sup 4/He, /sup 12/C and neutron-rich species is found to be contributed by these stars. Comparison with observed abundances suggests a primary origin of /sup 14/N. The simple model of galactic evolution with the new coefficients has been used to derive the ratio of helium to heavy element enrichment in the Galaxy. The new stellar evolution data do not explain the large value of this ratio that has been determined observationally.

Hyb-Seq: combining target enrichment and genome skimming for plant phylogenomics

Science.gov (United States)

Kevin Weitemier; Shannon C.K. Straub; Richard C. Cronn; Mark Fishbein; Roswitha Schmickl; Angela McDonnell; Aaron. Liston

2014-01-01

• Premise of the study: Hyb-Seq, the combination of target enrichment and genome skimming, allows simultaneous data collection for low-copy nuclear genes and high-copy genomic targets for plant systematics and evolution studies. • Methods and Results: Genome and transcriptome assemblies for milkweed ( Asclepias syriaca ) were used to design enrichment probes for 3385...

SPATIAL ANISOTROPY OF GALAXY KINEMATICS IN SLOAN DIGITAL SKY SURVEY GALAXY CLUSTERS

International Nuclear Information System (INIS)

Skielboe, Andreas; Wojtak, Radosław; Pedersen, Kristian; Rozo, Eduardo; Rykoff, Eli S.

2012-01-01

Measurements of galaxy cluster kinematics are important in understanding the dynamical state and evolution of clusters of galaxies, as well as constraining cosmological models. While it is well established that clusters exhibit non-spherical geometries, evident in the distribution of galaxies on the sky, azimuthal variations of galaxy kinematics within clusters have yet to be observed. Here we measure the azimuthal dependence of the line-of-sight velocity dispersion profile in a stacked sample of 1743 galaxy clusters from the Sloan Digital Sky Survey (SDSS). The clusters are drawn from the SDSS DR8 redMaPPer catalog. We find that the line-of-sight velocity dispersion of galaxies lying along the major axis of the central galaxy is larger than those that lie along the minor axis. This is the first observational detection of anisotropic kinematics of galaxies in clusters. We show that the result is consistent with predictions from numerical simulations. Furthermore, we find that the degree of projected anisotropy is strongly dependent on the line-of-sight orientation of the galaxy cluster, opening new possibilities for assessing systematics in optical cluster finding.

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

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.

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.

KINEMATIC CLASSIFICATIONS OF LOCAL INTERACTING GALAXIES: IMPLICATIONS FOR THE MERGER/DISK CLASSIFICATIONS AT HIGH-z

International Nuclear Information System (INIS)

Hung, Chao-Ling; Larson, Kirsten L.; Sanders, D. B.; Rich, Jeffrey A.; Yuan, Tiantian; Kewley, Lisa J.; Casey, Caitlin M.; Smith, Howard A.; Hayward, Christopher C.

2015-01-01

The classification of galaxy mergers and isolated disks is key for understanding the relative importance of galaxy interactions and secular evolution during the assembly of galaxies. Galaxy kinematics as traced by emission lines have been used to suggest the existence of a significant population of high-z star-forming galaxies consistent with isolated rotating disks. However, recent studies have cautioned that post-coalescence mergers may also display disk-like kinematics. To further investigate the robustness of merger/disk classifications based on kinematic properties, we carry out a systematic classification of 24 local (U)LIRGs spanning a range of morphologies: from isolated spiral galaxies, ongoing interacting systems, to fully merged remnants. We artificially redshift the Wide Field Spectrograph observations of these local (U)LIRGs to z = 1.5 to make a realistic comparison with observations at high-z, and also to ensure that all galaxies have the same spatial sampling of ∼900 pc. Using both kinemetry-based and visual classifications, we find that the reliability of kinematic classification shows a strong trend with the interaction stage of galaxies. Mergers with two nuclei and tidal tails have the most distinct kinematics compared to isolated disks, whereas a significant population of the interacting disks and merger remnants are indistinguishable from isolated disks. The high fraction of mergers displaying disk-like kinematics reflects the complexity of the dynamics during galaxy interactions. Additional merger indicators such as morphological properties traced by stars or molecular gas are required to further constrain the merger/disk classifications at high-z

Wide-field kinematic structure of early-type galaxy halos

Science.gov (United States)

Arnold, Jacob Antony

2013-12-01

The stellar halos of nearby galaxies bare the signatures of the mass-assembly processes that have driven galaxy evolution over the last ˜10 Gyr. Finding and interpreting these relict clues in galaxies within and beyond the local group offers one of the most promising avenues for understanding how galaxies accumulate their stars over time. To tackle this problem we have performed a systematic study of the wide-field kinematic structure of nearby (Dspectroscopy out to several effective radii (˜3 R e). The 22 galaxies presented here span a range of environments (field, group, and cluster), intrinsic luminosities (-22.4 infrared Calcium II triplet. For each spectrum, we parameterize the line-of-sight velocity distribution (LOSVD) as a truncated Gauss-Hermite series convolved with an optimally weighted combination of stellar templates. These kinematic measurements (V, sigma, h3, and h4) are combined with literature values to construct spatially resolved maps of large-scale kinematic structure. A variety of kinematic behaviors are observed beyond ~1 Re, potentially reflecting the stochastic and chaotic assembly of stellar bulges and halos in early-type galaxies. Next, we describe a global analysis (out to 5 Re) of kinematics and metallicity in the nearest S0 galaxy, NGC 3115, along with implications for its assembly history. The data include high-quality wide-field imaging and multi-slit spectra of the field stars and globular clusters (GCs). Within two effective radii, the bulge (as traced by the stars and metal-rich GCs) is flattened and rotates rapidly. At larger radii, the rotation declines dramatically, while the characteristic GC metallicities also decrease with radius. We argue that this pattern is not naturally explained by a binary major merger, but instead by a two-phase assembly process where the inner regions have formed in an early violent, dissipative phase, followed by the protracted growth of the outer parts via minor mergers. To test this hypothesis

A black-hole mass measurement from molecular gas kinematics in NGC4526.

Science.gov (United States)

Davis, Timothy A; Bureau, Martin; Cappellari, Michele; Sarzi, Marc; Blitz, Leo

2013-02-21

The masses of the supermassive black holes found in galaxy bulges are correlated with a multitude of galaxy properties, leading to suggestions that galaxies and black holes may evolve together. The number of reliably measured black-hole masses is small, and the number of methods for measuring them is limited, holding back attempts to understand this co-evolution. Directly measuring black-hole masses is currently possible with stellar kinematics (in early-type galaxies), ionized-gas kinematics (in some spiral and early-type galaxies) and in rare objects that have central maser emission. Here we report that by modelling the effect of a black hole on the kinematics of molecular gas it is possible to fit interferometric observations of CO emission and thereby accurately estimate black-hole masses. We study the dynamics of the gas in the early-type galaxy NGC 4526, and obtain a best fit that requires the presence of a central dark object of 4.5(+4.2)(-3.1) × 10(8) solar masses (3σ confidence limit). With the next-generation millimetre-wavelength interferometers these observations could be reproduced in galaxies out to 75 megaparsecs in less than 5 hours of observing time. The use of molecular gas as a kinematic tracer should thus allow one to estimate black-hole masses in hundreds of galaxies in the local Universe, many more than are accessible with current techniques.

Formation and evolution of dwarf early-type galaxies in the Virgo cluster I. Internal kinematics

NARCIS (Netherlands)

Toloba, E.; Boselli, A.; Cenarro, A. J.; Peletier, R. F.; Gorgas, J.; Gil de Paz, A.; Munoz-Mateos, J. C.

We present new medium resolution kinematic data for a sample of 21 dwarf early-type galaxies (dEs) mainly in the Virgo cluster, obtained with the WHT and INT telescopes at the Roque de los Muchachos Observatory (La Palma, Spain). These data are used to study the origin of the dwarf elliptical galaxy

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....

ENRICHMENT OF r-PROCESS ELEMENTS IN DWARF SPHEROIDAL GALAXIES IN CHEMO-DYNAMICAL EVOLUTION MODEL

Energy Technology Data Exchange (ETDEWEB)

Hirai, Yutaka; Kajino, Toshitaka [Department of Astronomy, Graduate School of Science, the University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033 (Japan); Ishimaru, Yuhri [Department of Material Science,International Christian University, 3-10-2 Osawa, Mitaka, Tokyo 181-8585 (Japan); Saitoh, Takayuki R. [Earth-Life Science Institute, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8551 (Japan); Fujii, Michiko S.; Hidaka, Jun, E-mail: yutaka.hirai@nao.ac.jp [Division of Theoretical Astronomy, National Astronomical Observatory of Japan, 2-21-1 Osawa Mitaka, Tokyo 181-8588 (Japan)

2015-11-20

The rapid neutron-capture process (r-process) is a major process for the synthesis of elements heavier than iron-peak elements, but the astrophysical site(s) of the r-process has not yet been identified. Neutron star mergers (NSMs) are suggested to be a major r-process site according to nucleosynthesis studies. Previous chemical evolution studies, however, required unlikely short merger times of NSMs to reproduce the observed large star-to-star scatters in the abundance ratios of r-process elements to iron: the [Eu/Fe] of extremely metal-poor stars in the Milky Way (MW) halo. This problem can be solved by considering chemical evolution in dwarf spheroidal galaxies (dSphs), which would be building blocks of the MW and have lower star formation efficiencies than the MW halo. We demonstrate the enrichment of r-process elements in dSphs by NSMs using an N-body/smoothed particle hydrodynamics code. Our high-resolution model reproduces the observed [Eu/Fe] due to NSMs with a merger time of 100 Myr when the effect of metal mixing is taken into account. This is because metallicity is not correlated with time ∼300 Myr from the start of the simulation due to the low star formation efficiency in dSphs. We also confirm that this model is consistent with observed properties of dSphs such as radial profiles and metallicity distribution. The merger time and the Galactic rate of NSMs are suggested to be ≲300 Myr and ∼10{sup −4} year{sup −1}, respectively, which are consistent with the values suggested by population synthesis and nucleosynthesis studies. This study supports the argument that NSMs are the major astrophysical site of the r-process.

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.

Kinematic parameters of signed verbs.

Science.gov (United States)

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

2013-10-01

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

Kinematics Control and Analysis of Industrial Robot

Science.gov (United States)

Zhu, Tongbo; Cai, Fan; Li, Yongmei; Liu, Wei

2018-03-01

The robot’s development present situation, basic principle and control system are introduced briefly. Research is mainly focused on the study of the robot’s kinematics and motion control. The structural analysis of a planar articulated robot (SCARA) robot is presented,the coordinate system is established to obtain the position and orientation matrix of the end effector,a method of robot kinematics analysis based on homogeneous transformation method is proposed, and the kinematics solution of the robot is obtained.Establishment of industrial robot’s kinematics equation and formula for positive kinematics by example. Finally,the kinematic analysis of this robot was verified by examples.It provides a basis for structural design and motion control.It has active significance to promote the motion control of industrial robot.

Studying the Kinematic Behavior of Coronal Mass Ejections and Other Solar Phenomena using the Time-Convolution Mapping Method

Science.gov (United States)

Hess Webber, Shea A.; Thompson, Barbara J.; Kwon, Ryun Young; Ireland, Jack

2018-01-01

An improved understanding of the kinematic properties of CMEs and CME-associated phenomena has several impacts: 1) a less ambiguous method of mapping propagating structures into their inner coronal manifestations, 2) a clearer view of the relationship between the “main” CME and CME-associated brightenings, and 3) an improved identification of the heliospheric sources of shocks, Type II bursts, and SEPs. We present the results of a mapping technique that facilitates the separation of CMEs and CME-associated brightenings (such as shocks) from background corona. The Time Convolution Mapping Method (TCMM) segments coronagraph data to identify the time history of coronal evolution, the advantage being that the spatiotemporal evolution profiles allow users to separate features with different propagation characteristics. For example, separating “main” CME mass from CME-associated brightenings or shocks is a well-known obstacle, which the TCMM aids in differentiating. A TCMM CME map is made by first recording the maximum value each individual pixel in the image reaches during the traversal of the CME. Then the maximum value is convolved with an index to indicate the time that the pixel reached that value. The TCMM user is then able to identify continuous “kinematic profiles,” indicating related kinematic behavior, and also identify breaks in the profiles that indicate a discontinuity in kinematic history (i.e. different structures or different propagation characteristics). The maps obtained from multiple spacecraft viewpoints (i.e., STEREO and SOHO) can then be fit with advanced structural models to obtain the 3D properties of the evolving phenomena. We will also comment on the TCMM's further applicability toward the tracking of prominences, coronal hole boundaries and coronal cavities.

Effect of increasing helium content and disk dwarfs evolution on the chemical enrichment of the galaxy

Energy Technology Data Exchange (ETDEWEB)

Caimmi, R [Padua Univ. (Italy). Ist. di Astronomia

1979-07-01

The author deals with two main effects: First the empirical metal abundance distribution in Main Sequence disk dwarfs of the solar neighbourhood, and second, the theoretical possibility of (i) an increased helium content as the Galaxy evolves, and (ii) the presence of evolutionary effects in disk dwarfs (i.e., the age of some or all stars considered up to the subgiant phase is not necessarily longer than the age of the galactic disk). Account is taken of a linear increase of helium content with metal content, and some constraints are imposed relative to initial, solar and present-day observed values of Y and Z, and to observed relative helium to heavy element enrichment, ..delta..Y/..delta..Z. In this way, little influence is found on the empirical metal abundance distribution in the range 0<=..delta..Y/..delta..Z<=3, while larger values of ..delta..Y/..delta..Zwould lead to a more significant influence. 'Evolved' and 'unevolved' theoretical metal abundance distributions are derived by accounting for a two-phase model of chemical evolution of galaxies and for a linear mass dependence of star lifetimes in the spectral range G2V-G8V and are compared with the empirical distribution. All are in satisfactory agreement due to systematic shift data by different observations; several values of collapse time Tsub(c) and age of the Galaxy T are also considered. Finally, models of chemical evolution invoking homogeneous collapse without infall and inhomogeneous collapse with infall, are briefly discussed relative to the empirical metal abundance distribution in Main Sequence disk dwarfs of the solar neighbourhood.

The origin of kinematically distinct cores and misaligned gas discs in galaxies from cosmological simulations

Science.gov (United States)

Taylor, Philip; Federrath, Christoph; Kobayashi, Chiaki

2018-06-01

Integral field spectroscopy surveys provide spatially resolved gas and stellar kinematics of galaxies. They have unveiled a range of atypical kinematic phenomena, which require detailed modelling to understand. We present results from a cosmological simulation that includes stellar and AGN feedback. We find that the distribution of angles between the gas and stellar angular momenta of galaxies is not affected by projection effects. We examine five galaxies (≈6 per cent of well resolved galaxies) that display atypical kinematics; two of the galaxies have kinematically distinct cores (KDC), while the other three have counter-rotating gas and stars. All five form the majority of their stars in the field, subsequently falling into cosmological filaments where the relative orientation of the stellar angular momentum and the bulk gas flow leads to the formation of a counter-rotating gas disc. The accreted gas exchanges angular momentum with pre-existing co-rotating gas causing it to fall to the centre of the galaxy. This triggers low-level AGN feedback, which reduces star formation. Later, two of the galaxies experience a minor merger (stellar mass ratio ˜1/10) with a galaxy on a retrograde orbit compared to the spin of the stellar component of the primary. This produces the KDCs, and is a different mechanism than suggested by other works. The role of minor mergers in the kinematic evolution of galaxies may have been under-appreciated in the past, and large, high-resolution cosmological simulations will be necessary to gain a better understanding in this area.

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

Kinematic evolution of the Romanian Carpathians

Science.gov (United States)

Linzer, Hans-Gert; Frisch, Wolfgang; Zweigel, Peter; Girbacea, Radu; Hann, Horst-Peter; Moser, Franz

1998-11-01

The regional pattern of contraction and extension directions and the evolution of the strain field from Paleogene to Neogene times enabled a reconstruction of the migration path of the Carpathian collision front. The Carpathian nappes were thrust around the Moesian Plate during Paleogene and Early Neogene times and protruded into a small oceanic embayment between the Moesian and European plates. The arc structure of the Carpathian fold-thrust belt was formed in Late Neogene times as a result of the eastward-escaping Tisza-Dacia block, due to N-directed convergence of the Adriatic plate and the retreating subduction of an oceanic slab. Brittle deformation structures in the Romanian Carpathians suggest three tectonic events related to major plate motions: (1) Paleogene to Middle Miocene NE to ENE contraction caused right-lateral curved strike-slip faults; (2) Middle Miocene to Pliocene fan-shaped orientations of contraction directions were caused by right-lateral oblique convergence in the Southern Carpathians, frontal convergence in the southern Eastern Carpathians and left-lateral convergence in the northern Eastern Carpathians; (3) Pleistocene to Holocene general E-W extension and N-S contraction in the Carpathian arc and local ESE-WNW contraction in the Vrancea area is related to the late roll back stage and break-off of the subducted slab in the bend area.

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.

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.

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.

Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator

Directory of Open Access Journals (Sweden)

Ikhsan Eka Prasetia

2015-03-01

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

Inverse Kinematics

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.

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...

Evolution of coronal mass ejections and their heliospheric imprints

International Nuclear Information System (INIS)

Rollett, T.

2014-01-01

Coronal mass ejections (CMEs) are the most powerful eruptions on the Sun and can reach speeds up to more than 3000 km/s. CMEs are the most important drivers of space weather and can cause geomagnetic storms when interacting with the Earth magnetosphere.The evolution and propagation of CMEs in interplanetary space is still not well understood. Interactions with the solar wind as well as other CMEs make accurate forecasting of arrival times difficult. The Constrained Harmonic Mean (CHM) method combines remote sensing white light data of STEREO/HI with in situ data and offers the possibility to derive kinematical profiles for any segment along the CME front to study its evolution in interplanetary space. We studied the influence of the ambient solar wind flow on the propagation behavior for three CME events. The kinematics revealed by the CHM method were compared to the simulated background solar wind. We found that CMEs are highly dependent on speed variations of the ambient medium. The CHM method was tested by analyzing a simulated CME as observed by STEREO/HI. After applying the CHM method, the resulting CME kinematics were compared to the real kinematics of the simulated CME. We found that the CHM method works best for small separation angles between the spacecraft. A case study of a fast CME that has been remotely observed by both STEREO/HI and in situ measured by four spacecraft at different heliocentric distances is also presented. Using this high number of in situ detections and the two side views we derived different speed profiles for the two different segments of the same CME causing a deformation of the overall structure of the CME. The studies presented show the effects of different influences of the ambient solar wind on the CME evolution. Interaction of CMEs with the solar wind or other CMEs lead to disturbances of the speed as well as the shape of CMEs, affecting their arrival time and their geoeffectivity. (author) [de

Dynamical evolution of star-forming regions - II. Basic kinematics

Science.gov (United States)

Parker, Richard J.; Wright, Nicholas J.

2016-04-01

We follow the dynamical evolution of young star-forming regions with a wide range of initial conditions and examine how the radial velocity dispersion, σ, evolves over time. We compare this velocity dispersion to the theoretically expected value for the velocity dispersion if a region were in virial equilibrium, σvir and thus assess the virial state (σ/σvir) of these systems. We find that in regions that are initially subvirial, or in global virial equilibrium but subvirial on local scales, the system relaxes to virial equilibrium within several million years, or roughly 25-50 crossing times, according to the measured virial ratio. However, the measured velocity dispersion, σ, appears to be a bad diagnostic of the current virial state of these systems as it suggests that they become supervirial when compared to the velocity dispersion estimated from the virial mass, σvir. We suggest that this discrepancy is caused by the fact that the regions are never fully relaxed, and that the early non-equilibrium evolution is imprinted in the one-dimensional velocity dispersion at these early epochs. If measured early enough (interquartile range (IQR) dispersion, with measures of spatial structure, places stronger constraints on the dynamical history of a region than using the velocity dispersion in isolation.

Synthesis of dexterity measure of mechanisms by evolution of dissipative system

Directory of Open Access Journals (Sweden)

Grešl M.

2007-11-01

Full Text Available The paper deals with the new approach of solving traditional kinematical synthesis of mechanisms. The kinematical synthesis is reformulated as nonlinear dynamical problem. All searched parameters of the mechanism are in this dynamical dissipative system introduced as time-varying during motion of mechanism’s dimension iteration. The synthesis process is realized as the time evolution of such system. One of the most important objectives of the machine synthesis is the dexterity measure. The new approach is applied to optimization of this property.

Correlations in double parton distributions. Effects of evolution

International Nuclear Information System (INIS)

Diehl, Markus; Keane, Shane; Kasemets, Tomas; Vrije Univ., Amsterdam

2014-01-01

We numerically investigate the impact of scale evolution on double parton distributions, which are needed to compute multiple hard scattering processes. Assuming correlations between longitudinal and transverse variables or between the parton spins to be present at a low scale, we study how they are affected by evolution to higher scales, i.e. by repeated parton emission. We find that generically evolution tends to wash out correlations, but with a speed that may be slow or fast depending on kinematics and on the type of correlation. Nontrivial parton correlations may hence persist in double parton distributions at the high scales relevant for hard scattering processes.

3D geometry and kinematic evolution of the Wadi Mayh sheath fold, Oman, using detailed mapping from high-resolution photography

Science.gov (United States)

Cornish, Sam; Searle, Mike

2017-08-01

The Wadi Mayh sheath fold in north-eastern Oman is one of the largest and best-exposed sheath folds known, and presents a unique opportunity to better understand this somewhat enigmatic style of deformation. We undertook high-resolution photographic surveying along Wadi Mayh to document the sheath fold in 61 georeferenced panoramic photomerges. Here we present ten such images that provide a structural interpretation of the sheath fold and surrounding structure. We resolve this structure in a simplified three-dimensional model and in two orthogonal cross sections, and propose a kinematic evolution to explain the geometry. The Wadi Mayh sheath fold is the most prominent example within what we suggest is a composite sequence of sheath folds, which is itself enclosed within a SSW-closing recumbent syncline at the base of the major Saih Hatat nappe. Sheath folding is accommodated within Permian Saiq Formation limestones showing carpholite assemblages (6-8 kbar; 275-375 °C). A major discontinuity separates this sequence from enveloping older rock units. The sequence formed during progressive top-to-north, ductile shearing as the overlying nappe migrated northwards with respect to the underthrusting Hulw unit. This process occurred during SSW-directed exhumation of partially subducted continental crust in NE Oman, approximately 15 Ma after obduction of the Oman ophiolite initiated.

Operational experience in the production of 131Molybdenum and 99Iodine with high and low uranium enrichment

International Nuclear Information System (INIS)

Bravo, C.; Cristini, Pablo R..; Novello, A.; Bronca, M.; Cestau, Daniel; Centurion, R.; Bavaro, R.; Cestau, J.; Gualda, E.; Bronca, P.; Carranza, Eduardo C.

2009-01-01

In 1992, in an effort to curtail use of Highly Enriched Uranium (HEU), hoping to alleviate nuclear security concerns, United States passed the Schumer amendment to the Energy Policy Act. This legislation conditioned U.S. export of HEU to foreign companies, understanding that these companies would switch as soon as possible to Lowly Enriched Uranium (LEU). This paper describes 99 Mo production flow chart, characteristics of process cells, shielding, systems of manipulation at distance, cell ventilation system and the method for personal dose monitoring. Production evolution for the span of years 1998 to 2007 is given by indicators, keeping in mind enrichment proportion change. Evolution shown on the indicators is directly related to the application of Safety Culture concepts adopted by personnel. (author)

Inverse kinematic-based robot control

Science.gov (United States)

Wolovich, W. A.; Flueckiger, K. F.

1987-01-01

A fundamental problem which must be resolved in virtually all non-trivial robotic operations is the well-known inverse kinematic question. More specifically, most of the tasks which robots are called upon to perform are specified in Cartesian (x,y,z) space, such as simple tracking along one or more straight line paths or following a specified surfacer with compliant force sensors and/or visual feedback. In all cases, control is actually implemented through coordinated motion of the various links which comprise the manipulator; i.e., in link space. As a consequence, the control computer of every sophisticated anthropomorphic robot must contain provisions for solving the inverse kinematic problem which, in the case of simple, non-redundant position control, involves the determination of the first three link angles, theta sub 1, theta sub 2, and theta sub 3, which produce a desired wrist origin position P sub xw, P sub yw, and P sub zw at the end of link 3 relative to some fixed base frame. Researchers outline a new inverse kinematic solution and demonstrate its potential via some recent computer simulations. They also compare it to current inverse kinematic methods and outline some of the remaining problems which will be addressed in order to render it fully operational. Also discussed are a number of practical consequences of this technique beyond its obvious use in solving the inverse kinematic question.

Characterization of shale gas enrichment in the Wufeng Formation–Longmaxi Formation in the Sichuan Basin of China and evaluation of its geological construction–transformation evolution sequence

Directory of Open Access Journals (Sweden)

Zhiliang He

2017-02-01

Full Text Available Shale gas in Upper Ordovician Wufeng Formation–Lower Silurian Longmaxi Formation in the Sichuan Basin is one of the key strata being explored and developed in China, where shale gas reservoirs have been found in Fuling, Weiyuan, Changning and Zhaotong. Characteristics of shale gas enrichment in the formation shown by detailed profiling and analysis are summarized as “high, handsome and rich”. “High” mainly refers to the high quality of original materials for the formation of shale with excellent key parameters, including the good type and high abundance of organic matters, high content of brittle minerals and moderate thermal evolution. “Handsome” means late and weak deformation, favorable deformation mode and structure, and appropriate uplift and current burial depth. “Rich” includes high gas content, high formation pressure coefficient, good reservoir property, favorable reservoir scale transformation and high initial and final output, with relative ease of development and obvious economic benefit. For shale gas enrichment and high yield, it is important that the combination of shale was deposited and formed in excellent conditions (geological construction, and then underwent appropriate tectonic deformation, uplift, and erosion (geological transformation. Evaluation based on geological construction (evolution sequence from formation to the reservoir includes sequence stratigraphy and sediment, hydrocarbon generation and formation of reservoir pores. Based on geological transformation (evolution sequence from the reservoir to preservation, the strata should be evaluated for structural deformation, the formation of reservoir fracture and preservation of shale gas. The evaluation of the “construction - transformation” sequence is to cover the whole process of shale gas formation and preservation. This way, both positive and negative effects of the formation-transformation sequence on shale gas are assessed. The evaluation

Using Star Clusters as Tracers of Star Formation and Chemical Evolution: The Chemical Enrichment History of the Large Magellanic Cloud

Science.gov (United States)

Chilingarian, Igor V.; Asa’d, Randa

2018-05-01

The star formation (SFH) and chemical enrichment (CEH) histories of Local Group galaxies are traditionally studied by analyzing their resolved stellar populations in a form of color–magnitude diagrams obtained with the Hubble Space Telescope. Star clusters can be studied in integrated light using ground-based telescopes to much larger distances. They represent snapshots of the chemical evolution of their host galaxy at different ages. Here we present a simple theoretical framework for the chemical evolution based on the instantaneous recycling approximation (IRA) model. We infer a CEH from an SFH and vice versa using observational data. We also present a more advanced model for the evolution of individual chemical elements that takes into account the contribution of supernovae type Ia. We demonstrate that ages, iron, and α-element abundances of 15 star clusters derived from the fitting of their integrated optical spectra reliably trace the CEH of the Large Magellanic Cloud obtained from resolved stellar populations in the age range 40 Myr age–metallicity relation. Moreover, the present-day total gas mass of the LMC estimated by the IRA model (6.2× {10}8 {M}ȯ ) matches within uncertainties the observed H I mass corrected for the presence of molecular gas (5.8+/- 0.5× {10}8 {M}ȯ ). We briefly discuss how our approach can be used to study SFHs of galaxies as distant as 10 Mpc at the level of detail that is currently available only in a handful of nearby Milky Way satellites. .

Diversification and enrichment of clinical biomaterials inspired by Darwinian evolution.

Science.gov (United States)

Green, D W; Watson, G S; Watson, J A; Lee, D-J; Lee, J-M; Jung, H-S

2016-09-15

Regenerative medicine and biomaterials design are driven by biomimicry. There is the essential requirement to emulate human cell, tissue, organ and physiological complexity to ensure long-lasting clinical success. Biomimicry projects for biomaterials innovation can be re-invigorated with evolutionary insights and perspectives, since Darwinian evolution is the original dynamic process for biological organisation and complexity. Many existing human inspired regenerative biomaterials (defined as a nature generated, nature derived and nature mimicking structure, produced within a biological system, which can deputise for, or replace human tissues for which it closely matches) are without important elements of biological complexity such as, hierarchy and autonomous actions. It is possible to engineer these essential elements into clinical biomaterials via bioinspired implementation of concepts, processes and mechanisms played out during Darwinian evolution; mechanisms such as, directed, computational, accelerated evolutions and artificial selection contrived in the laboratory. These dynamos for innovation can be used during biomaterials fabrication, but also to choose optimal designs in the regeneration process. Further evolutionary information can help at the design stage; gleaned from the historical evolution of material adaptations compared across phylogenies to changes in their environment and habitats. Taken together, harnessing evolutionary mechanisms and evolutionary pathways, leading to ideal adaptations, will eventually provide a new class of Darwinian and evolutionary biomaterials. This will provide bioengineers with a more diversified and more efficient innovation tool for biomaterial design, synthesis and function than currently achieved with synthetic materials chemistry programmes and rational based materials design approach, which require reasoned logic. It will also inject further creativity, diversity and richness into the biomedical technologies that

Uranium enrichment: a competitive market in the future?

Energy Technology Data Exchange (ETDEWEB)

Marques, Andre Ferreira; Honaiser, Eduardo Henrique Rangel [Centro Tecnologico da Marinha em Sao Paulo (CTMSP), Sao Paulo, SP (Brazil)]. E-mail: 20-1@ctemsp.mar.mil.br

2005-07-01

Uranium enrichment is the costly step in the nuclear fuel cycle. It has born as a an activity for the military in the 40s, financed by governments, such as the United States (US) and the former Soviet Union. Later, other major nations have joined them in the nuclear weapons development. The activity of enrichment was done in each country that developed nuclear weapons, and the nuclear weapons countries, especially the US and Soviet Union, dictated the mined uranium market. In the 70s, with the growth of the commercial use of nuclear energy, uranium enrichment started to be treated as a market, which gradually have structured itself, strongly influenced by the historical background. Today, the market is an oligopoly of four major government-owned (or government-influenced) companies. In this paper, the trends in the enrichment market are identified, focusing on competitiveness. Through the conduction of a market analysis (past and future), and the study of the market structure evolution, a more competitive market is shown, but still influenced by the governmental participation. Competitiveness is dictated by government support, verticalization capacity, and, mainly by technological advantages. (author)

Uranium enrichment: a competitive market in the future?

International Nuclear Information System (INIS)

Marques, Andre Ferreira; Honaiser, Eduardo Henrique Rangel

2005-01-01

Uranium enrichment is the costly step in the nuclear fuel cycle. It has born as a an activity for the military in the 40s, financed by governments, such as the United States (US) and the former Soviet Union. Later, other major nations have joined them in the nuclear weapons development. The activity of enrichment was done in each country that developed nuclear weapons, and the nuclear weapons countries, especially the US and Soviet Union, dictated the mined uranium market. In the 70s, with the growth of the commercial use of nuclear energy, uranium enrichment started to be treated as a market, which gradually have structured itself, strongly influenced by the historical background. Today, the market is an oligopoly of four major government-owned (or government-influenced) companies. In this paper, the trends in the enrichment market are identified, focusing on competitiveness. Through the conduction of a market analysis (past and future), and the study of the market structure evolution, a more competitive market is shown, but still influenced by the governmental participation. Competitiveness is dictated by government support, verticalization capacity, and, mainly by technological advantages. (author)

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

Science.gov (United States)

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

2013-12-01

faster SW motion of Africa with respect to Somalia plate is due to a possibly lower viscosity in the top asthenosphere (Low-Velocity Zone) beneath Africa. These findings have significant implications for the evolution of continental rifting in transtensional settings and provide evidence for the kinematics and tectonics of the Ethiopian rift in the context of the Africa-Somalia plate interaction in the mantle reference frame.

Multi-temporal mapping of a large, slow-moving earth flow for kinematic interpretation

Science.gov (United States)

Guerriero, Luigi; Coe, Jeffrey A.; Revellino, Paola; Guadagno, Francesco M.

2014-01-01

Periodic movement of large, thick landslides on discrete basal surfaces produces modifications of the topographic surface, creates faults and folds, and influences the locations of springs, ponds, and streams (Baum, et al., 1993; Coe et al., 2009). The geometry of the basal-slip surface, which can be controlled by geological structures (e.g., fold axes, faults, etc.; Revellino et al., 2010; Grelle et al., 2011), and spatial variation in the rate of displacement, are responsible for differential deformation and kinematic segmentation of the landslide body. Thus, large landslides are often composed of several distinct kinematic elements. Each element represents a discrete kinematic domain within the main landslide that is broadly characterized by stretching (extension) of the upper part of the landslide and shortening (compression) near the landslide toe (Baum and Fleming, 1991; Guerriero et al., in review). On the basis of this knowledge, we used photo interpretive and GPS field mapping methods to map structures on the surface of the Montaguto earth flow in the Apennine Mountains of southern Italy at a scale of 1:6,000. (Guerriero et al., 2013a; Fig.1). The earth flow has been periodically active since at least 1954. The most extensive and destructive period of activity began on April 26, 2006, when an estimated 6 million m3 of material mobilized, covering and closing Italian National Road SS90, and damaging residential structures (Guerriero et al., 2013b). Our maps show the distribution and evolution of normal faults, thrust faults, strike-slip faults, flank ridges, and hydrological features at nine different dates (October, 1954; June, 1976; June, 1991; June, 2003; June, 2005; May, 2006; October, 2007; July, 2009; and March , 2010) between 1954 and 2010. Within the earth flow we recognized several kinematic elements and associated structures (Fig.2a). Within each kinematic element (e.g. the earth flow neck; Fig.2b), the flow velocity was highest in the middle, and

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

Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite

Science.gov (United States)

Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Walter, Ulrich

2017-12-01

The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space robot after grasping the target is presented, which lays the foundation for the coordination controller design. Subsequently, optimal detumbling and motion planning strategy for the post-capture phase is proposed based on the quartic Bézier curves and adaptive differential evolution (DE) algorithm subject to the specific constraints. Both detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy. Furthermore, a coordination control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value, which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. Simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom (DOF) redundant space manipulator, which demonstrates the effectiveness of the proposed method.

Imprint of galaxy formation and evolution on globular cluster properties

OpenAIRE

Bekki, Kenji

2006-01-01

We discuss the origin of physical properties of globular cluster systems (GCSs) in galaxies in terms of galaxy formation and evolution processes. Based on numerical simulations of dynamical evolution of GCSs in galaxies, we particularly discuss (1) the origin of radial density profiles of GCSs, (2) kinematics of GCSs in elliptical galaxies, (3) transformation from nucleated dwarf galaxies into GCs (e.g., omega Centauri), and (4) the origin of GCSs in the Large Magellanic Cloud (LMC).

A kinematic study on (unintentional imitation in bottlenose dolphins

Directory of Open Access Journals (Sweden)

Luisa eSartori

2015-08-01

Full Text Available The aim of the present study was to investigate the effect of observing other’s movements on subsequent performance in bottlenose dolphins. The imitative ability of non-human animals has intrigued a number of researchers. So far, however, studies in dolphins have been confined to intentional imitation concerned with the explicit request to imitate other agents. In the absence of instruction to imitate, do dolphins (unintentionally replicate other’s movement features? To test this, dolphins were filmed while reaching and touching a stimulus before and after observing another dolphin (i.e., model performing the same action. All videos were reviewed and segmented in order to extract the relevant movements. A marker was inserted post-hoc via software on the videos upon the anatomical landmark of interest (i.e. rostrum and was tracked throughout the time course of the movement sequence. The movement was analyzed using an in-house software developed to perform two-dimensional (2D post-hoc kinematic analysis. The results indicate that dolphins’ kinematics is sensitive to other’s movement features. Movements performed for the ‘visuomotor priming’ condition were characterized by a kinematic pattern similar to that performed by the observed dolphin (i.e., model. Addressing the issue of spontaneous imitation in bottlenose dolphins might allow ascertaining whether the potential or impulse to produce an imitative action is generated, not just when they intend to imitate, but whenever they watch another conspecific’s behavior. In closing, this will clarify whether motor representational capacity is a by-product of factors specific to humans or whether more general characteristics such as processes of associative learning prompted by high level of encephalization could help to explain the evolution of this ability.

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.

Kinematic morphology of large-scale structure: evolution from potential to rotational flow

International Nuclear Information System (INIS)

Wang, Xin; Szalay, Alex; Aragón-Calvo, Miguel A.; Neyrinck, Mark C.; Eyink, Gregory L.

2014-01-01

As an alternative way to describe the cosmological velocity field, we discuss the evolution of rotational invariants constructed from the velocity gradient tensor. Compared with the traditional divergence-vorticity decomposition, these invariants, defined as coefficients of the characteristic equation of the velocity gradient tensor, enable a complete classification of all possible flow patterns in the dark-matter comoving frame, including both potential and vortical flows. We show that this tool, first introduced in turbulence two decades ago, is very useful for understanding the evolution of the cosmic web structure, and in classifying its morphology. Before shell crossing, different categories of potential flow are highly associated with the cosmic web structure because of the coherent evolution of density and velocity. This correspondence is even preserved at some level when vorticity is generated after shell crossing. The evolution from the potential to vortical flow can be traced continuously by these invariants. With the help of this tool, we show that the vorticity is generated in a particular way that is highly correlated with the large-scale structure. This includes a distinct spatial distribution and different types of alignment between the cosmic web and vorticity direction for various vortical flows. Incorporating shell crossing into closed dynamical systems is highly non-trivial, but we propose a possible statistical explanation for some of the phenomena relating to the internal structure of the three-dimensional invariant space.

Kinematic morphology of large-scale structure: evolution from potential to rotational flow

Energy Technology Data Exchange (ETDEWEB)

Wang, Xin; Szalay, Alex; Aragón-Calvo, Miguel A.; Neyrinck, Mark C.; Eyink, Gregory L. [Department of Physics and Astronomy, Johns Hopkins University, Baltimore, MD 21218 (United States)

2014-09-20

As an alternative way to describe the cosmological velocity field, we discuss the evolution of rotational invariants constructed from the velocity gradient tensor. Compared with the traditional divergence-vorticity decomposition, these invariants, defined as coefficients of the characteristic equation of the velocity gradient tensor, enable a complete classification of all possible flow patterns in the dark-matter comoving frame, including both potential and vortical flows. We show that this tool, first introduced in turbulence two decades ago, is very useful for understanding the evolution of the cosmic web structure, and in classifying its morphology. Before shell crossing, different categories of potential flow are highly associated with the cosmic web structure because of the coherent evolution of density and velocity. This correspondence is even preserved at some level when vorticity is generated after shell crossing. The evolution from the potential to vortical flow can be traced continuously by these invariants. With the help of this tool, we show that the vorticity is generated in a particular way that is highly correlated with the large-scale structure. This includes a distinct spatial distribution and different types of alignment between the cosmic web and vorticity direction for various vortical flows. Incorporating shell crossing into closed dynamical systems is highly non-trivial, but we propose a possible statistical explanation for some of the phenomena relating to the internal structure of the three-dimensional invariant space.

Kinematic relations in heavy-ion reactions

International Nuclear Information System (INIS)

Gippner, P.; Kalpakchieva, R.

1988-01-01

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

Small-scale kinematic dynamo and non-dynamo in inertial-range turbulence

International Nuclear Information System (INIS)

Eyink, Gregory L; Neto, Antonio F

2010-01-01

We investigate the Lagrangian mechanism of the kinematic 'fluctuation' magnetic dynamo in a turbulent plasma flow at small magnetic Prandtl numbers. The combined effect of turbulent advection and plasma resistivity is to carry infinitely many field lines to each space point, with the resultant magnetic field at that point given by the average over all the individual line vectors. As a consequence of the roughness of the advecting velocity, this remains true even in the limit of zero resistivity. We show that the presence of the dynamo effect requires sufficient angular correlation of the passive line vectors that arrive simultaneously at the same space point. We illustrate this in detail for the Kazantsev-Kraichnan model of the kinematic dynamo with a Gaussian advecting velocity that is spatially rough and white noise in time. In the regime where dynamo action fails, we also obtain the precise rate of decay of the magnetic energy. These exact results for the model are obtained by a generalization of the 'slow-mode expansion' of Bernard, Gawedzki and Kupiainen to non-Hermitian evolution. Much of our analysis applies also to magnetohydrodynamic turbulence.

Morphology, Kinematics, and Dynamics: The Mechanics of Suction Feeding in Fishes.

Science.gov (United States)

Day, Steven W; Higham, Timothy E; Holzman, Roi; Van Wassenbergh, Sam

2015-07-01

Suction feeding is pervasive among aquatic vertebrates, and our understanding of the functional morphology and biomechanics of suction feeding has recently been advanced by combining experimental and modeling approaches. Key advances include the visualization of the patterns of flow in front of the mouth of a feeding fish, the measurement of pressure inside their mouth cavity, and the employment of analytical and computational models. Here, we review the key components of the morphology and kinematics of the suction-feeding system of anatomically generalized, adult ray-finned fishes, followed by an overview of the hydrodynamics involved. In the suction-feeding apparatus, a strong mechanistic link among morphology, kinematics, and the capture of prey is manifested through the hydrodynamic interactions between the suction flows and solid surfaces (the mouth cavity and the prey). It is therefore a powerful experimental system in which the ecology and evolution of the capture of prey can be studied based on first principals. © The Author 2015. Published by Oxford University Press on behalf of the Society for Integrative and Comparative Biology. All rights reserved. For permissions please email: journals.permissions@oup.com.

Kinematic adjustments to seismic recordings

Energy Technology Data Exchange (ETDEWEB)

Telegin, A.N.; Levii, N.V.; Volovik, U.M.

1981-01-01

The introduction of kinematic adjustments by adding the displaced blocks is studied theoretically and in test seismograms. The advantage to this method resulting from the weight variation in the trace is demonstrated together with its kinematic drawback. A variation on the displaced block addition method that does not involve realignment of the travel time curves and that has improved amplitude characteristics is proposed.

Biquaternions and relativistic kinematics

International Nuclear Information System (INIS)

Bogush, A.A.; Kurochkin, Yu.A.; Fedorov, F.I.

1979-01-01

The problems concerning the use of quaternion interpretation of the Lorentz group vector parametrization are considered for solving relativistic kinematics problems. A vector theory convenient for describing the characteristic features of the Lobachevsky space is suggested. The kinematics of elementary particle scattering is investigated on the basis of this theory. A synthesis of vector parametrization and of quaternion calculation has been shown to lead to natural formulation of the theory of vectors in the three-dimensional Lobachevsky space, realized on mass hyperboloids of relativistic particles

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

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1989-01-01

This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.

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

Science.gov (United States)

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

2016-01-01

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

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.

Enhancer evolution across 20 mammalian species

DEFF Research Database (Denmark)

Villar, Diego; Berthelot, Camille; Aldridge, Sarah

2015-01-01

The mammalian radiation has corresponded with rapid changes in noncoding regions of the genome, but we lack a comprehensive understanding of regulatory evolution in mammals. Here, we track the evolution of promoters and enhancers active in liver across 20 mammalian species from six diverse orders...... by profiling genomic enrichment of H3K27 acetylation and H3K4 trimethylation. We report that rapid evolution of enhancers is a universal feature of mammalian genomes. Most of the recently evolved enhancers arise from ancestral DNA exaptation, rather than lineage-specific expansions of repeat elements....... These results provide important insight into the functional genetics underpinning mammalian regulatory evolution....

INTEGRAL-FIELD STELLAR AND IONIZED GAS KINEMATICS OF PECULIAR VIRGO CLUSTER SPIRAL GALAXIES

International Nuclear Information System (INIS)

Cortés, Juan R.; Hardy, Eduardo; Kenney, Jeffrey D. P.

2015-01-01

We present the stellar and ionized gas kinematics of 13 bright peculiar Virgo cluster galaxies observed with the DensePak Integral Field Unit at the WIYN 3.5 m telescope in order to look for kinematic evidence that these galaxies have experienced gravitational interactions or gas stripping. Two-dimensional maps of the stellar velocity V, stellar velocity dispersion σ, and the ionized gas velocity (Hβ and/or [O III]) are presented for the galaxies in the sample. The stellar rotation curves and velocity dispersion profiles are determined for 13 galaxies, and the ionized gas rotation curves are determined for 6 galaxies. Misalignments between the optical and kinematical major axes are found in several galaxies. While in some cases this is due to a bar, in other cases it seems to be associated with gravitational interaction or ongoing ram pressure stripping. Non-circular gas motions are found in nine galaxies, with various causes including bars, nuclear outflows, or gravitational disturbances. Several galaxies have signatures of kinematically distinct stellar components, which are likely signatures of accretion or mergers. For all of our galaxies, we compute the angular momentum parameter λ R . An evaluation of the galaxies in the λ R ellipticity plane shows that all but two of the galaxies have significant support from random stellar motions, and have likely experienced gravitational interactions. This includes some galaxies with very small bulges and truncated/compact Hα morphologies, indicating that such galaxies cannot be fully explained by simple ram pressure stripping, but must have had significant gravitational encounters. Most of the sample galaxies show evidence for ICM-ISM stripping as well as gravitational interactions, indicating that the evolution of a significant fraction of cluster galaxies is likely strongly impacted by both effects

Continental Transform Boundaries: Tectonic Evolution and Geohazards

Directory of Open Access Journals (Sweden)

Michael Steckler

2012-04-01

Full Text Available Continental transform boundaries cross heavily populated regions, and they are associated with destructive earthquakes,for example, the North Anatolian Fault (NAFacross Turkey, the Enriquillo-Plantain Garden fault in Haiti,the San Andreas Fault in California, and the El Pilar fault in Venezuela. Transform basins are important because they are typically associated with 3-D fault geometries controlling segmentation—thus, the size and timing of damaging earthquakes—and because sediments record both deformation and earthquakes. Even though transform basins have been extensively studied, their evolution remains controversial because we don’t understand the specifics about coupling of vertical and horizontal motions and about the basins’long-term kinematics. Seismic and tsunami hazard assessments require knowing architecture and kinematics of faultsas well as how the faults are segmented.

THE SINS/zC-SINF SURVEY OF z ∼ 2GALAXY KINEMATICS: THE NATURE OF DISPERSION-DOMINATED GALAXIES

International Nuclear Information System (INIS)

Newman, Sarah F.; Genzel, Reinhard; Förster Schreiber, Natascha M.; Buschkamp, Peter; Davies, Ric; Eisenhauer, Frank; Kurk, Jaron; Lutz, Dieter; Shapiro Griffin, Kristen; Mancini, Chiara; Renzini, Alvio; Lilly, Simon J.; Carollo, C. Marcella; Peng, Yingjie; Bouché, Nicolas; Burkert, Andreas; Cresci, Giovanni; Genel, Shy; Hicks, Erin K. S.; Naab, Thorsten

2013-01-01

We analyze the spectra, spatial distributions, and kinematics of Hα, [N II], and [S II] emission in a sample of 38, z ∼ 2.2 UV/optically selected star-forming galaxies (SFGs) from the SINS and zC-SINF surveys, 34 of which were observed in the adaptive optics mode of SINFONI and 30 of those contain data presented for the first time here. This is supplemented by kinematic data from 43 z ∼ 1-2.5 galaxies from the literature. None of these 81 galaxies is an obvious major merger. We find that the kinematic classification of high-z SFGs as ''dispersion dominated'' or ''rotation dominated'' correlates most strongly with their intrinsic sizes. Smaller galaxies are more likely ''dispersion-dominated'' for two main reasons: (1) the rotation velocity scales linearly with galaxy size but intrinsic velocity dispersion does not depend on size or may even increase in smaller galaxies, and as such, their ratio is systematically lower for smaller galaxies, and (2) beam smearing strongly decreases large-scale velocity gradients and increases observed dispersion much more for galaxies with sizes at or below the resolution. Dispersion-dominated SFGs may thus have intrinsic properties similar to ''rotation-dominated'' SFGs, but are primarily more compact, lower mass, less metal enriched, and may have higher gas fractions, plausibly because they represent an earlier evolutionary state.

Kinematic Chains in Ski Jumping In-run Posture.

Science.gov (United States)

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

2013-12-18

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

Kinematically Optimal Robust Control of Redundant Manipulators

Science.gov (United States)

Galicki, M.

2017-12-01

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

Orbit elements and kinematics of the halo stars and the old disk population: evidence for active phases in the evolution of the Galaxy

International Nuclear Information System (INIS)

Marsakov, V.A.; Suchkov, A.A.

1978-01-01

The distributions of orbits eccentricities and of angular momenta for the halo stars and for the old disk population are considered. The distributions have gaps separating the halo from the disk and diving the halo population into three groups. From the point of view of star formation during the collapse at the earliy stages of evolution the gaps evidence that threre were in the Galaxy long periods of suppression of star formation. The kinematics and the orbit elements of the halo stars and of the old disk population allow to conclude that there was no significant relaxation in the halo; the halo subsystems are not stationary, they perform radial oscillations with respect to the galactic centre; the velocity dispersion in the galactic rotation direction for the halo stars having the same age does not exceed 20-40 km/s; the dispersion of the velocity component along the galactic radius is symmetrically higher for the subsystems with a greater eccentrically and reaches 215 km/s for the stars with the greatest eccentricaities; the sing of the angular momentum in the protogalactic gas cloud probably changed at some distance form the galactic centre

SIGMA: the novel approach of a new non-proliferating uranium enrichment technology

International Nuclear Information System (INIS)

Rivarola, M.; Florido, P.; Brasnarof, D.; Bergallo, E.

2000-01-01

The SIGMA concept, under development by Argentina, represents the evolution of the Uranium Enrichment Gaseous Diffusion technology, updated to face the challenge of the new economic-based and competitive world frame. The Enrichment technology has been historically considered as a highly proliferating activity in the nuclear field, and central countries limited the access of the developing countries to this technology. The SIGMA concept incorporates innovative proliferation resistant criteria at the beginning of the design process, and inherits all the non-proliferation features of the gaseous diffusion plants (GDPs). The radical new proliferation resistance approach of the SIGMA technology suggests a new kind of global control of the uranium enrichment market, where some developing countries might access an Enrichment plant without access to the technology itself. In this paper, we investigate the economy of the SIGMA plants, and the implications of this technology on the Uranium Global Market. (authors)

SIGMA, the novel approach of a new non-proliferating uranium enrichment technology

International Nuclear Information System (INIS)

Rivarola, M.; Florido, P.; Brasnarof, D.; Bergallo, J.

2001-01-01

The SIGMA concept, under development by Argentina, represents the evolution of the Uranium Enrichment Gaseous Diffusion technology, updated to face the challenge of the new economic-based and competitive world frame. The Enrichment technology has been historically considered as a highly proliferating activity in the nuclear field, and central countries have limited the access of the developing countries to this technology. The SIGMA concept incorporates innovative proliferation resistant criteria at the beginning of the design process, and inherits all the non-proliferation features of the Gaseous Diffusion Plants (GDPs). The radical new proliferation resistant approach of the SIGMA technology, suggest a new kind of global control of the Uranium Enrichment Market, were some developing countries might access to an Enrichment plant without accessing to the technology itself. In this paper, we analyse the economy of the SIGMA plants, and the implications of this technology on the Uranium Global Market. (authors)

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)

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.

Inverse kinematics of OWI-535 robotic arm

OpenAIRE

DEBENEC, PRIMOŽ

2015-01-01

The thesis aims to calculate the inverse kinematics for the OWI-535 robotic arm. The calculation of the inverse kinematics determines the joint parameters that provide the right pose of the end effector. The pose consists of the position and orientation, however, we will focus only on the second one. Due to arm limitations, we have created our own type of the calculation of the inverse kinematics. At first we have derived it only theoretically, and then we have transferred the derivation into...

Expressions of manipulator kinematic equations via symbolic computation

International Nuclear Information System (INIS)

Sasaki, Shinobu

1993-09-01

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

2nd Conference on Interdisciplinary Applications in Kinematics

CERN Document Server

Flores, Francisco

2015-01-01

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

Magmatic evolution and controls on rare metal-enrichment of the Strange Lake A-type peralkaline granitic pluton, Québec-Labrador

Science.gov (United States)

Siegel, Karin; Vasyukova, Olga V.; Williams-Jones, Anthony E.

2018-05-01

Although it is well known that A-type granites are enriched in the rare earth elements (REE) and other high field strength elements (HFSE), the magmatic processes that concentrate these elements are still poorly understood. The 1.24 Ga Strange Lake pluton in northern Québec-Labrador provides an extraordinary example of hyper-enrichment in the REE, Zr, and Nb in a peralkaline A-type granite. The pluton consists of two hypersolvus granite units (southern and northern) and a transsolvus granite, all of which contain perthitic alkali feldspar as the earliest major mineral; the transsolvus granite also contains separate albite and microcline crystals. Arfvedsonite, a sodic amphibole, occurs exclusively as phenocrysts in the transsolvus granite, whereas in the hypersolvus granite it is present as a late, interstitial phase. The primary HFSE minerals are zircon, monazite-(Ce), gagarinite-(Ce) and the pyrochlore group minerals. Magma evolution was monitored by the alumina content in the bulk rock, which decreases from the southern to the northern hypersolvus granite and is lowest in the transsolvus granite. Alkalinity indices and bulk Si, Fe, Rb, REE, Zr, Nb concentrations show the opposite trend. Alkali feldspar compositions mirror the trend shown by the bulk rock, i.e., decreasing Al contents are accompanied by increasing Si, Fe3+, REE, Zr and Nb contents. The major driving forces for the evolution of the hypersolvus magma prior to emplacement were the early separation of a fluoride melt from the silicate melt and the crystallization of alkali feldspar and HFSE-rich phases (zircon, monazite-(Ce), pyrochlore group). An alkali feldspar-rich crystal-mush containing LREE-fluoride melt droplets was emplaced as the least evolved southern hypersolvus granite. Massive fractionation of alkali feldspar led to a sharp increase in ƒH2O and F- activity in the magma chamber that triggered the crystallization of arfvedsonite and was followed by emplacement of the northern hypersolvus

The kinematics of the white dwarf population from the SDSS DR12

Science.gov (United States)

Anguiano, B.; Rebassa-Mansergas, A.; García-Berro, E.; Torres, S.; Freeman, K.; Zwitter, T.

2018-04-01

We use the Sloan Digital Sky Survey Data Release 12, which is the largest available white dwarf catalog to date, to study the evolution of the kinematical properties of the population of white dwarfs in the Galactic disc. We derive masses, ages, photometric distances and radial velocities for all white dwarfs with hydrogen-rich atmospheres. For those stars for which proper motions from the USNO-B1 catalog are available the true three-dimensional components of the stellar space velocity are obtained. This subset of the original sample comprises 20,247 objects, making it the largest sample of white dwarfs with measured three-dimensional velocities. Furthermore, the volume probed by our sample is large, allowing us to obtain relevant kinematical information. In particular, our sample extends from a Galactocentric radial distance R G = 7.8 kpc to 9.3 kpc, and vertical distances from the Galactic plane ranging from Z = -0.5 kpc to 0.5 kpc. We examine the mean components of the stellar three-dimensional velocities, as well as their dispersions with respect to the Galactocentric and vertical distances. We confirm the existence of a mean Galactocentric radial velocity gradient, ∂/∂R G = -3 +/- 5 km s-1 kpc-1. We also confirm North-South differences in . Specifically, we find that white dwarfs with Z > 0 (in the North Galactic hemisphere) have reverse is true for white dwarfs with Z < 0. The age-velocity dispersion relation derived from the present sample indicates that the Galactic population of white dwarfs may have experienced an additional source of heating, which adds to the secular evolution of the Galactic disc.

Structural and kinematic evolution of a Miocene to Recent sinistral restraining bend: the Montejunto massif, Portugal

Science.gov (United States)

Curtis, Michael L.

1999-01-01

The Montejunto massif lies in the apex of a large-scale restraining bend at the southern termination of a sinistral transpressive fault system, in the Lusitanian basin of Portugal. Cenozoic deformation within the Montejunto massif initiated with southerly directed thrusting along the southern boundary of the massif, in association with the development of the E-W oriented Montejunto anticline, probably during the Langhian. Deformation switched to the northern boundary of the massif, in association with a change to NW-directed thrusting and continued development of the Montejunto anticline. The youngest set of structures within the massif is related to the sinistral reactivation of the Arieiro fault system, and steeply inclined bedding. This late phase of deformation represents the accommodation of a component of sinistral displacement across the restraining bend along mechanical anisotropies formed during this progressive Cenozoic deformation event. Variation in the kinematic style of the Main Arieiro fault is related to the angle ( α) between the fault plane and the displacement vector. Where α≈20°, abrupt pene-contemporaneous switches in displacement direction are recorded along the fault, whereas strike-slip kinematics predominate where α<20°. The timing of deformation events in the Montejunto massif is uncertain. However, correlation with the established Cenozoic Africa/Europe plate convergence directions may provide potential temporal constraints.

Kinematic Identification of Parallel Mechanisms by a Divide and Conquer Strategy

DEFF Research Database (Denmark)

Durango, Sebastian; Restrepo, David; Ruiz, Oscar

2010-01-01

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

Deciphering Detailed Plate Kinematics of the Indian Ocean: A Combined Indian-Australian-French Initiative

Science.gov (United States)

Vadakkeyakath, Y.; Müller, R.; Dyment, J.; Bhattacharya, G.; Lister, G. S.; Kattoju, K. R.; Whittaker, J.; Shuhail, M.; Gibbons, A.; Jacob, J.; White, L. T.; Bissessur, P. D.; Kiranmai, S.

2012-12-01

The Indian Ocean formed as a result of the fragmentation and dispersal of East Gondwanaland since the Jurassic. The deep ocean basins in the Indian Ocean contain the imprints of this plate tectonic history, which is related with several major events such as the Kerguelen, Marion and Reunion hotspot inception and the Indo-Eurasian collision. A broad model for evolution of the Indian Ocean was proposed in the early 1980s. Subsequently, French scientists collected a large amount of magnetic data from the western and southern parts of the Indian Ocean while Indian and Australian scientists collected considerable volumes of magnetic data from the regions of Indian Ocean around their mainlands. Using these data, the Indian, French and Australian researchers independently carried out investigations over different parts of the Indian Ocean and provided improved models of plate kinematics at different sectoral plate boundaries. Under two Indo-French collaborative projects, detailed magnetic investigations were carried out in the Northwestern and Central Indian Ocean by combining the available magnetic data from conjugate regions. Those projects were complemented by additional area-specific studies in the Mascarene, Wharton, Laxmi and Gop basins, which are characterized by extinct spreading regimes. These Indo-French projects provided high resolution and improved plate tectonic models for the evolution of the conjugate Arabian and Eastern Somali basins that constrain the relative motion between the Indian-African (now Indian-Somalian) plate boundaries, and the conjugate Central Indian, Crozet and Madagascar basins that mainly constrain the relative motions of Indian-African (now Capricorn-Somalian) and Indian-Antarctic (now Capricorn-Antarctic) plate boundaries. During the same period, Australian scientists carried out investigations in the southeastern part of the Indian Ocean and provided an improved understanding of the plate tectonic evolution of the Indian

Meso-Cenozoic tectonic evolution of the SE Brazilian continental margin: Petrographic, kinematic and dynamic analysis of the onshore Araruama Lagoon Fault System

Science.gov (United States)

Souza, Pricilla Camões Martins de; Schmitt, Renata da Silva; Stanton, Natasha

2017-09-01

The Ararauama Lagoon Fault System composes one of the most prominent set of lineaments of the SE Brazilian continental margin. It is located onshore in a key tectonic domain, where the basement inheritance rule is not followed. This fault system is characterized by ENE-WSW silicified tectonic breccias and cataclasites showing evidences of recurrent tectonic reactivations. Based on field work, microtectonic, kinematic and dynamic analysis, we reconstructed the paleostresses in the region and propose a sequence of three brittle deformational phases accountable for these reactivations: 1) NE-SW dextral transcurrence; 2) NNW-SSE dextral oblique extension that evolved to NNW-SSE "pure" extension; 3) ENE-WSW dextral oblique extension. These phases are reasonably correlated with the tectonic events responsible for the onset and evolution of the SE onshore rift basins, between the Neocretaceous and Holocene. However, based on petrographic studies and supported by regional geological correlations, we assume that the origin of this fault system is older, related to the Early Cretaceous South Atlantic rifting. This study provides significant information about one of the main structural trends of the SE Brazilian continental margin and the tectonic events that controlled its segmentation, since the Gondwana rifting, and compartmentalization of its onshore sedimentary deposits during the Cenozoic.

Development of Calculation Algorithm for ECCS Kinematic Shock

Energy Technology Data Exchange (ETDEWEB)

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

2014-10-15

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

21st Century Kinematics : The 2012 NSF Workshop

CERN Document Server

2013-01-01

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

Static and kinematic formulation of planar reciprocal assemblies

DEFF Research Database (Denmark)

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

2014-01-01

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

Modular enrichment measurement system for in-situ enrichment assay

International Nuclear Information System (INIS)

Stewart, J.P.

1976-01-01

A modular enrichment measurement system has been designed and is in operation within General Electric's Nuclear Fuel Fabrication Facility for the in-situ enrichment assay of uranium-bearing materials in process containers. This enrichment assay system, which is based on the ''enrichment meter'' concept, is an integral part of the site's enrichment control program and is used in the in-situ assay of the enrichment of uranium dioxide (UO 2 ) powder in process containers (five gallon pails). The assay system utilizes a commercially available modular counting system and a collimnator designed for compatability with process container transport lines and ease of operator access. The system has been upgraded to include a microprocessor-based controller to perform system operation functions and to provide data acquisition and processing functions. Standards have been fabricated and qualified for the enrichment assay of several types of uranium-bearing materials, including UO 2 powders. The assay system has performed in excess of 20,000 enrichment verification measurements annually and has significantly contributed to the facility's enrichment control program

Kinematic hand parameters in front crawl at different paces of swimming.

Science.gov (United States)

Samson, Mathias; Monnet, Tony; Bernard, Anthony; Lacouture, Patrick; David, Laurent

2015-11-05

The aim of this study was to investigate the evolution of kinematic hand parameters (sweepback angle, angle of attack, velocity, acceleration and orientation of the hand relative to the absolute coordinate system) throughout an aquatic stroke and to study the possible modifications caused by a variation of the swimming pace. Seventeen competitive swimmers swam at long distance, middle distance and sprint paces. Parameters were calculated from the trajectory of seven markers on the hand measured with an optoelectronic system. Results showed that kinematic hand parameters evolve differently depending on the pace. Angle of attack, sweepback angle, acceleration and orientation of the hand do not vary significantly. The velocity of the hand increases when the pace increases, but only during the less propulsive phases (entry and stretch and downsweep to catch). The more the pace increases and the more the absolute durations of the entry and stretch and downsweep to catch phases decrease. Absolute durations of the insweep and upsweep phases remain constant. During these phases, the propulsive hand forces calculated do not vary significantly when the pace increases. The increase of swimming pace is then explained by the swimmer's capacity to maintain propulsive phases rather than increasing the force generation within each cycle. Copyright © 2015 Elsevier Ltd. All rights reserved.

Relativistic kinematics and dynamics: a new group theoretical approach

International Nuclear Information System (INIS)

Giovannini, N.

1983-01-01

The author reanalyzes the relationships between physical states and space-time symmetries with a view to describing relativistic extended and interacting systems. For this description he proposes to introduce, in space-time, an additional observable, related to a natural notion of simultaneity. The introduction of this new observable is justified on the basis of the operational meaning of the relations between state descriptions and symmetries in this case. The Poincare transformations are correspondingly split into two parts: the first one, kinematical, related to the symmetries of the description of the states, the other one, dynamical, related to the possible forms for the evolution. It is shown that the kinematical symmetries lead in a straightforward way to the expected classical and quantal state spaces for single particles of arbitrary spin and the author shows how the remaining symmetries can be related to the derivation of the possible forms for the dynamics. He finds as a particular case the usual dynamics of single particles in external fields (with some satisfactory improvements due to the corresponding new interpretation) and extends the method to the dynamics of N interacting particles. He also shows why this new approach and interpretation of relativistic states is necessary and how it allows a covariant description in the problems raised by the (recently measured) quantum correlations at-a-distance concerning the Einstein-Podolsky-Rosen paradox, something which seems quite impossible in the usual frameworks. (Auth.)

Study of Transients in an Enrichment Closed Loop

International Nuclear Information System (INIS)

Fernandino, M.

2002-06-01

In the present thesis a mathematic model is presented in order to describe the dynamic behavior inside a closed enrichment loop, the latter representing a single stage of an uranium gaseous diffusion enrichment cascade.The analytical model is turned into a numerical model, and implemented through a computational code.For the verification of the model, measurements were taken in an experimental circuit using air as the process fluid.This circuit was instrumented so as to register its characteristic thermohydraulic variables.The measured transients were simulated, comparing the numerical results with the experimental measurements.A good agreement between the characteristic setting times and the thermohydraulic parameters evolution was observed.Besides, other transients of two species separation were numerically analyzed, including setting times of each magnitude, behavior of each one of them during different transients, and redistribution of concentrations

Experimental study on kinematic hardening of 1Cr18Ni9Ti stainless steel under low cycle fatigue

International Nuclear Information System (INIS)

Shao Er; Yang Xianjie; Mao Jianghui; Sun Yafang

2006-01-01

To study the effect of the monotonic loading on subsequent cyclic plastic hardening and flow properties of 1Cr18Ni9Ti steel, an experimental study of the low cycle fatigue tests with mean strains for 1Cr18Ni9Ti stainless steel was carried out. An analysis on the evolutions of the yield surface radius and the back stresses under symmetric and asymmetric cyclic strain loading with different strain amplitudes was made. The dependence of the evolutions of the material kinematic hardening and isotropic hardening on the strain amplitude and mean strain was observed. These results provide the experimental foundation for the constitutive model of the material under combined monotonic and cyclic complicated loads. (authors)

Kinematically Decoupled Cores in Dwarf (Elliptical) Galaxies

NARCIS (Netherlands)

Toloba, E.; Peletier, R. F.; Guhathakurta, P.; van de Ven, G.; Boissier, S.; Boselli, A.; Brok, M. d.; Falcón-Barroso, J.; Hensler, G.; Janz, J.; Laurikainen, E.; Lisker, T.; Paudel, S.; Ryś, A.; Salo, H.

An overview is given of what we know about the frequency of kinematically decoupled cores in dwarf elliptical galaxies. New observations show that kinematically decoupled cores happen just as often in dwarf elliptical as in ordinary early-type galaxies. This has important consequences for the

Validation and structural analysis of the kinematics concept test

Directory of Open Access Journals (Sweden)

A. Lichtenberger

2017-04-01

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

Validation and structural analysis of the kinematics concept test

Science.gov (United States)

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

2017-06-01

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

Validation and Structural Analysis of the Kinematics Concept Test

Science.gov (United States)

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

2017-01-01

The kinematics concept test (KCT) is a multiple-choice test designed to evaluate students' conceptual understanding of kinematics at the high school level. The test comprises 49 multiple-choice items about velocity and acceleration, which are based on seven kinematic concepts and which make use of three different representations. In the first part…

THE SINS/zC-SINF SURVEY OF z {approx} 2GALAXY KINEMATICS: THE NATURE OF DISPERSION-DOMINATED GALAXIES

Energy Technology Data Exchange (ETDEWEB)

Newman, Sarah F.; Genzel, Reinhard [Department of Astronomy, Campbell Hall, University of California, Berkeley, CA 94720 (United States); Foerster Schreiber, Natascha M.; Buschkamp, Peter; Davies, Ric; Eisenhauer, Frank; Kurk, Jaron; Lutz, Dieter [Max-Planck-Institut fuer extraterrestrische Physik (MPE), Giessenbachstr. 1, D-85748 Garching (Germany); Shapiro Griffin, Kristen [Space Sciences Research Group, Northrop Grumman Aerospace Systems, Redondo Beach, CA 90278 (United States); Mancini, Chiara; Renzini, Alvio [Osservatorio Astronomico di Padova, Vicolo dell' Osservatorio 5, Padova I-35122 (Italy); Lilly, Simon J.; Carollo, C. Marcella; Peng, Yingjie [Institute of Astronomy, Department of Physics, Eidgenoessische Technische Hochschule, ETH Zuerich CH-8093 (Switzerland); Bouche, Nicolas [Universite de Toulouse, UPS-OMP, IRAP, Toulouse (France); Burkert, Andreas [Universitaets-Sternwarte Ludwig-Maximilians-Universitaet (USM), Scheinerstr. 1, Muenchen D-81679 (Germany); Cresci, Giovanni [Istituto Nazionale di Astrofisica Osservatorio Astronomico di Arcetri, Largo Enrico Fermi 5, I-50125 Firenze (Italy); Genel, Shy [Harvard-Smithsonian Center for Astrophysics, 60 Garden Street, Cambridge, MA 02138 (United States); Hicks, Erin K. S. [Department of Astronomy, University of Washington, Box 351580, Seattle, WA 98195-1580 (United States); Naab, Thorsten, E-mail: sfnewman@berkeley.edu [Max-Planck Institute for Astrophysics, Karl Schwarzschildstrasse 1, D-85748 Garching (Germany); and others

2013-04-20

We analyze the spectra, spatial distributions, and kinematics of H{alpha}, [N II], and [S II] emission in a sample of 38, z {approx} 2.2 UV/optically selected star-forming galaxies (SFGs) from the SINS and zC-SINF surveys, 34 of which were observed in the adaptive optics mode of SINFONI and 30 of those contain data presented for the first time here. This is supplemented by kinematic data from 43 z {approx} 1-2.5 galaxies from the literature. None of these 81 galaxies is an obvious major merger. We find that the kinematic classification of high-z SFGs as ''dispersion dominated'' or ''rotation dominated'' correlates most strongly with their intrinsic sizes. Smaller galaxies are more likely ''dispersion-dominated'' for two main reasons: (1) the rotation velocity scales linearly with galaxy size but intrinsic velocity dispersion does not depend on size or may even increase in smaller galaxies, and as such, their ratio is systematically lower for smaller galaxies, and (2) beam smearing strongly decreases large-scale velocity gradients and increases observed dispersion much more for galaxies with sizes at or below the resolution. Dispersion-dominated SFGs may thus have intrinsic properties similar to ''rotation-dominated'' SFGs, but are primarily more compact, lower mass, less metal enriched, and may have higher gas fractions, plausibly because they represent an earlier evolutionary state.

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

Directory of Open Access Journals (Sweden)

Michele eTagliabue

2015-03-01

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

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).

Phenomenological Analysis of the Kinematic Hardening of HSLA and IF Steels Using Reverse Simple Shear Tests

International Nuclear Information System (INIS)

Aouafi, A.; Bouvier, S.; Gasperini, M.; Lemoine, X.; Bouaziz, O.

2007-01-01

Reverse simple shear tests are used to analyse the Bauschinger effect and the evolution of the kinematic hardening for a wide range of equivalent von Mises strain [0.025 - 0.3]. This work is carried out on two high strength low-alloyed steels. In order to investigate the effect of the precipitates on the macroscopic behaviour, a ferritic mild steel is used as a reference. Different phenomenological descriptions of the back-stress tensor are examined in order to analyse their ability to describe the experimental behaviour

Force generation of bio-inspired hover kinematics

NARCIS (Netherlands)

Vandenheede, R.B.R.; Bernal, L.P.; Morrison, C.L.; Humbert, S.

2012-01-01

This paper presents the results of an experimental study of the aerodynamics of an elliptical flap plate wing in pitch-plunge motion. Several wing motion kinematics are derived from the kinematics of the Agrius Convolvuli (hawk moth) in hover. The experiments are conducted at a Reynolds number of 4,

A Novel Algorithm for the Generation of Distinct Kinematic Chain

Science.gov (United States)

Medapati, Sreenivasa Reddy; Kuchibhotla, Mallikarjuna Rao; Annambhotla, Balaji Srinivasa Rao

2016-07-01

Generation of distinct kinematic chains is an important topic in the design of mechanisms for various industrial applications i.e., robotic manipulator, tractor, crane etc. Many researchers have intently focused on this area and explained various processes of generating distinct kinematic chains which are laborious and complex. It is desirable to enumerate the kinematic chains systematically to know the inherent characteristics of a chain related to its structure so that all the distinct chains can be analyzed in depth, prior to the selection of a chain for a purpose. This paper proposes a novel and simple method with set of rules defined to eliminate isomorphic kinematic chains generating distinct kinematic chains. Also, this method simplifies the process of generating distinct kinematic chains even at higher levels i.e., 10-link, 11-link with single and multiple degree of freedom.

Exploring the Origin of Kinematically Irregular Galaxies with MaNGA

Science.gov (United States)

Stark, David Vincent; Bundy, Kevin; Westfall, Kyle; Bershady, Matthew; Cheung, Edmond; Soler, Juan; Brinchmann, Jarle; Abraham, Roberto; Bizyaev, Dmitry; Masters, Karen; Weijmans, Anne-Marie; Chen, Yanmei; Jin, Yifei; Drory, Niv; Lopes, Alexandre Roman; Law, David

2018-01-01

Deviations from normal rotation in galaxies may have a number of potential drivers, including tidal interactions, gas inflows/outflows, spiral structure, bar/oval distortions, or other internally generated instabilities. Thanks to new massive IFU surveys like MaNGA, we can now characterize the gas and stellar kinematics of thousands of galaxies in the local universe, enabling statistical analyses on the frequency of disturbed kinematics, their origin, and their impact on their host galaxies. We present a census of kinematics in MaNGA using a modified version of the Radon transform to map radial variations in kinematic position angles (PA). We discuss the frequency of kinematically irregular disks, and describe commonly observed patterns in radial PA profiles. In order to constrain the drivers of these kinematic signatures, we analyze how they correlate with galaxy mass, environment, star formation history, and gas-phase metallicity.

SPATIALLY RESOLVED KINEMATICS OF THE CENTRAL REGIONS OF M83: HIDDEN MASS SIGNATURES AND THE ROLE OF SUPERNOVAE

Energy Technology Data Exchange (ETDEWEB)

Piqueras Lopez, J.; Colina, L. [Centro de Astrobiologia, INTA-CSIC (Spain); Davies, R.; Orban de Xivry, G., E-mail: piqueraslj@cab.inta-csic.es [Max-Planck-Institut fuer extraterrestrische Physik, Postfach 1312, 85741 Garching (Germany)

2012-06-10

The barred grand-design spiral M83 (NGC 5236) is one of the most studied galaxies given its proximity, orientation, and particular complexity. Nonetheless, many aspects of the central regions remain controversial, conveying our limited understanding of the inner gas and stellar kinematics, and ultimately of the nucleus evolution. In this work, we present AO VLT-SINFONI data of its central {approx}235 Multiplication-Sign 140 pc with an unprecedented spatial resolution of {approx}0.2 arcsec, corresponding to {approx}4 pc. We have focused our study on the distribution and kinematics of the stars and the ionized and molecular gas by studying the Pa{alpha} and Br{gamma} emission in detail, the H{sub 2} 1-0S(1) line at 2.122 {mu}m, and the [Fe II] line at 1.644 {mu}m, together with the CO absorption bands at 2.293 {mu}m and 2.323 {mu}m. Our results reveal a complex situation where the gas and stellar kinematics are totally unrelated. Supernova explosions play an important role in shaping the gas kinematics, dominated by shocks and inflows at scales of tens of parsecs that make them unsuitable to derive general dynamical properties. We propose that the location of the nucleus of M83 is unlikely to be related to the off-center 'optical nucleus'. The study of the stellar kinematics reveals that the optical nucleus is a gravitationally bound massive star cluster with M{sub dyn} = (1.1 {+-} 0.4) Multiplication-Sign 10{sup 7} M{sub Sun }, formed by a past starburst. The kinematic and photometric analysis of the cluster yield that the stellar content of the cluster is well described by an intermediate age population of log T(yr) = 8.0 {+-} 0.4, with a mass of M* {approx_equal} (7.8 {+-} 2.4) Multiplication-Sign 10{sup 6} M{sub Sun }.

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

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.

Isotopes of C, N and O and chemical evolution of galaxies. Pt. 2

Energy Technology Data Exchange (ETDEWEB)

Vigroux, L; Audouze, J; Lequeux, J [Centre National de la Recherche Scientifique, 91 - Orsay (France). Lab. Rene Bernas; Observatoire de Paris, Section de Meudon, 92 (France). Dept. de Radioastronomie)

1976-10-01

The most recent progresses in the CNO abundance determinations are reported. They are still consistent with an enrichment of /sup 13/C relative to /sup 12/C with time and with the existence of spatial gradients of N and O abundances. An improved formalism has been used to study the evolution of these abundances: this formalism which can be applied to rather general problems relaxes the assumption of instant recycling approximation which in spite of its general use does not take properly into account the evolution of low mass stars. With this method the evolution of the gas content, the rate of supernova explosions and planetary nebulae and the evolution of the abundances have been studied in models sketching the galactic center and the solar neighborhood and these models take into account various evolution parameters such as the rate of infall of external matter and/or the possibility of a prompt initial enrichment in metals.

Evolutionary novelty versus exaptation: oral kinematics in feeding versus climbing in the waterfall-climbing Hawaiian Goby Sicyopterus stimpsoni.

Directory of Open Access Journals (Sweden)

Joshua A Cullen

Full Text Available Species exposed to extreme environments often exhibit distinctive traits that help meet the demands of such habitats. Such traits could evolve independently, but under intense selective pressures of extreme environments some existing structures or behaviors might be coopted to meet specialized demands, evolving via the process of exaptation. We evaluated the potential for exaptation to have operated in the evolution of novel behaviors of the waterfall-climbing gobiid fish genus Sicyopterus. These fish use an "inching" behavior to climb waterfalls, in which an oral sucker is cyclically protruded and attached to the climbing surface. They also exhibit a distinctive feeding behavior, in which the premaxilla is cyclically protruded to scrape diatoms from the substrate. Given the similarity of these patterns, we hypothesized that one might have been coopted from the other. To evaluate this, we filmed climbing and feeding in Sicyopterus stimpsoni from Hawai'i, and measured oral kinematics for two comparisons. First, we compared feeding kinematics of S. stimpsoni with those for two suction feeding gobiids (Awaous guamensis and Lentipes concolor, assessing what novel jaw movements were required for algal grazing. Second, we quantified the similarity of oral kinematics between feeding and climbing in S. stimpsoni, evaluating the potential for either to represent an exaptation from the other. Premaxillary movements showed the greatest differences between scraping and suction feeding taxa. Between feeding and climbing, overall profiles of oral kinematics matched closely for most variables in S. stimpsoni, with only a few showing significant differences in maximum values. Although current data cannot resolve whether oral movements for climbing were coopted from feeding, or feeding movements coopted from climbing, similarities between feeding and climbing kinematics in S. stimpsoni are consistent with evidence of exaptation, with modifications, between these

Evolutionary novelty versus exaptation: oral kinematics in feeding versus climbing in the waterfall-climbing Hawaiian Goby Sicyopterus stimpsoni.

Science.gov (United States)

Cullen, Joshua A; Maie, Takashi; Schoenfuss, Heiko L; Blob, Richard W

2013-01-01

Species exposed to extreme environments often exhibit distinctive traits that help meet the demands of such habitats. Such traits could evolve independently, but under intense selective pressures of extreme environments some existing structures or behaviors might be coopted to meet specialized demands, evolving via the process of exaptation. We evaluated the potential for exaptation to have operated in the evolution of novel behaviors of the waterfall-climbing gobiid fish genus Sicyopterus. These fish use an "inching" behavior to climb waterfalls, in which an oral sucker is cyclically protruded and attached to the climbing surface. They also exhibit a distinctive feeding behavior, in which the premaxilla is cyclically protruded to scrape diatoms from the substrate. Given the similarity of these patterns, we hypothesized that one might have been coopted from the other. To evaluate this, we filmed climbing and feeding in Sicyopterus stimpsoni from Hawai'i, and measured oral kinematics for two comparisons. First, we compared feeding kinematics of S. stimpsoni with those for two suction feeding gobiids (Awaous guamensis and Lentipes concolor), assessing what novel jaw movements were required for algal grazing. Second, we quantified the similarity of oral kinematics between feeding and climbing in S. stimpsoni, evaluating the potential for either to represent an exaptation from the other. Premaxillary movements showed the greatest differences between scraping and suction feeding taxa. Between feeding and climbing, overall profiles of oral kinematics matched closely for most variables in S. stimpsoni, with only a few showing significant differences in maximum values. Although current data cannot resolve whether oral movements for climbing were coopted from feeding, or feeding movements coopted from climbing, similarities between feeding and climbing kinematics in S. stimpsoni are consistent with evidence of exaptation, with modifications, between these behaviors. Such

Plastic frames: Reduction of the kinematical inequality and optimization

International Nuclear Information System (INIS)

Brousse, P.

1979-01-01

It is well-known that the following inequality plays an essential part in the theory of perfectly plastic frames: for all kinematically admissible mechanisms and for bending moments associated with the hinge rotations by the flow rule, the plastic dissipation power is greater than or equal to the load power. This inequality will be termed as the kinematic inequality. It contains parameters generating the mechanisms. In simple cases, several ingenious authors obtained appreciable results excluding parameters. But, in more complicated cases, for instance when the given quantities are not numerical, the parameters remain in the kinematic inequality, thereby precluding exploitation of the kinematic approach. In the present work we overcome this dificulty: we reduce the kinematic inequality, i.e., we replace it by inequalities containing no variable parameter; we then state a process giving automatically such inequalities; finally, we treat a practical application. (orig.)

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.

Kinematic design considerations for minimally invasive surgical robots: an overview.

Science.gov (United States)

Kuo, Chin-Hsing; Dai, Jian S; Dasgupta, Prokar

2012-06-01

Kinematic design is a predominant phase in the design of robotic manipulators for minimally invasive surgery (MIS). However, an extensive overview of the kinematic design issues for MIS robots is not yet available to both mechanisms and robotics communities. Hundreds of archival reports and articles on robotic systems for MIS are reviewed and studied. In particular, the kinematic design considerations and mechanism development described in the literature for existing robots are focused on. The general kinematic design goals, design requirements, and design preferences for MIS robots are defined. An MIS-specialized mechanism, namely the remote center-of-motion (RCM) mechanism, is revisited and studied. Accordingly, based on the RCM mechanism types, a classification for MIS robots is provided. A comparison between eight different RCM types is given. Finally, several open challenges for the kinematic design of MIS robotic manipulators are discussed. This work provides a detailed survey of the kinematic design of MIS robots, addresses the research opportunity in MIS robots for kinematicians, and clarifies the kinematic point of view to MIS robots as a reference for the medical community. Copyright © 2012 John Wiley & Sons, Ltd.

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.

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.

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

Uranium enrichment

International Nuclear Information System (INIS)

1990-01-01

This report looks at the following issues: How much Soviet uranium ore and enriched uranium are imported into the United States and what is the extent to which utilities flag swap to disguise these purchases? What are the U.S.S.R.'s enriched uranium trading practices? To what extent are utilities required to return used fuel to the Soviet Union as part of the enriched uranium sales agreement? Why have U.S. utilities ended their contracts to buy enrichment services from DOE?

Agent Control for Reconfigurable Open Kinematic Chain Manipulators

Directory of Open Access Journals (Sweden)

Janez Sluga

2013-10-01

Full Text Available This paper presents a method for the autonomous control of differently structured open kinematic chains based on multi-agent system technology. The appropriate level of distributing local autonomy (agents to a manipulative structure is defined, which makes it possible to dynamically change the number, type and structure of manipulative components without modifying their behavioural logic. To achieve fast reconfigurable and scalable manipulative systems, a new multi-agent method is developed for controlling the manipulator kinematics. The new method enables independent manipulator structure from the control system because of its structural and system modularity. The proposed method consists of kinematic equations for use in an agent environment, agent motion-planning algorithms, evaluation functions, agent control logic and kinematic algorithms. The results of simulations and real-world experiments demonstrate the usefulness of the approach for different non-redundant and redundant manipulation structures.

Hyb-Seq: Combining Target Enrichment and Genome Skimming for Plant Phylogenomics

Directory of Open Access Journals (Sweden)

Kevin Weitemier

2014-08-01

Full Text Available Premise of the study: Hyb-Seq, the combination of target enrichment and genome skimming, allows simultaneous data collection for low-copy nuclear genes and high-copy genomic targets for plant systematics and evolution studies. Methods and Results: Genome and transcriptome assemblies for milkweed (Asclepias syriaca were used to design enrichment probes for 3385 exons from 768 genes (>1.6 Mbp followed by Illumina sequencing of enriched libraries. Hyb-Seq of 12 individuals (10 Asclepias species and two related genera resulted in at least partial assembly of 92.6% of exons and 99.7% of genes and an average assembly length >2 Mbp. Importantly, complete plastomes and nuclear ribosomal DNA cistrons were assembled using off-target reads. Phylogenomic analyses demonstrated signal conflict between genomes. Conclusions: The Hyb-Seq approach enables targeted sequencing of thousands of low-copy nuclear exons and flanking regions, as well as genome skimming of high-copy repeats and organellar genomes, to efficiently produce genome-scale data sets for phylogenomics.

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.

Shoulder and Scapular Kinematics during the Windmill Softball Pitch

OpenAIRE

Backus, Sherry I.; Kraszewski, Andrew; Kontaxis, Andreas; Gibbons, Mandi; Bido, Jennifer; Graziano, Jessica; Hafer, Jocelyn; Jones, Kristofer J.; Hillstrom, Howard; Fealy, Stephen

2013-01-01

Objectives: Pitch count has been studied extensively in the overhand throwing athlete. However, pitch count and fatigue have not been systematically evaluated in the female windmill (underhand) throwing athlete. Direct kinematic measurements of the glenohumeral and scapulo-thoracic joint have not to be correlated and determined. The purpose is to measure scapular kinematics for the high school female windmill softball pitcher and identify kinematic adaptions and changes in pitching performanc...

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.

Gas-phase UF6 enrichment monitor for enrichment plant safeguards

International Nuclear Information System (INIS)

Strittmatter, R.B.; Tape, J.W.

1980-03-01

An in-line enrichment monitor is being developed to provide real-time enrichment data for the gas-phase UF 6 feed stream of an enrichment plant. The nondestructive gamma-ray assay method can be used to determine the enrichment of natural UF 6 with a relative precision of better than 1% for a wide range of pressures

Standard cosmological evolution in the f(R) model to Kaluza-Klein cosmology

International Nuclear Information System (INIS)

Aghmohammadi, A; Abolhassani, M R; Saaidi, Kh; Vajdi, A

2009-01-01

In this paper, using f(R) theory of gravity we explicitly calculate cosmological evolution in the presence of a perfect fluid source in four- and five-dimensional space-time in which this cosmological evolution in self-creation is presented by Reddy et al (2009 Int. J. Theor. Phys. 48 10). An exact cosmological model is presented using a relation between Einstein's gravity field equation components due to a metric with the same component from f(R) theory of gravity. Some physics and kinematical properties of the model are also discussed.

Kinematic and neuromuscular relationships between lower extremity clinical movement assessments.

Science.gov (United States)

Mauntel, Timothy C; Cram, Tyler R; Frank, Barnett S; Begalle, Rebecca L; Norcross, Marc F; Blackburn, J Troy; Padua, Darin A

2018-06-01

Lower extremity injuries have immediate and long-term consequences. Lower extremity movement assessments can assist with identifying individuals at greater injury risk and guide injury prevention interventions. Movement assessments identify similar movement characteristics and evidence suggests large magnitude kinematic relationships exist between movement patterns observed across assessments; however, the magnitude of the relationships for electromyographic (EMG) measures across movement assessments remains largely unknown. This study examined relationships between lower extremity kinematic and EMG measures during jump landings and single leg squats. Lower extremity three-dimensional kinematic and EMG data were sampled from healthy adults (males = 20, females = 20) during the movement assessments. Pearson correlations examined the relationships of the kinematic and EMG measures and paired samples t-tests compared mean kinematic and EMG measures between the assessments. Overall, significant moderate correlations were observed for lower extremity kinematic (r avg  = 0.41, r range  = 0.10-0.61) and EMG (r avg  = 0.47, r range  = 0.32-0.80) measures across assessments. Kinematic and EMG measures were greater during the jump landings. Jump landings and single leg squats place different demands on the body and necessitate different kinematic and EMG patterns, such that these measures are not highly correlated between assessments. Clinicians should, therefore, use multiple assessments to identify aberrant movement and neuromuscular control patterns so that comprehensive interventions can be implemented.

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.

Interactive cervical motion kinematics: sensitivity, specificity and clinically significant values for identifying kinematic impairments in patients with chronic neck pain.

Science.gov (United States)

Sarig Bahat, Hilla; Chen, Xiaoqi; Reznik, David; Kodesh, Einat; Treleaven, Julia

2015-04-01

Chronic neck pain has been consistently shown to be associated with impaired kinematic control including reduced range, velocity and smoothness of cervical motion, that seem relevant to daily function as in quick neck motion in response to surrounding stimuli. The objectives of this study were: to compare interactive cervical kinematics in patients with neck pain and controls; to explore the new measures of cervical motion accuracy; and to find the sensitivity, specificity, and optimal cutoff values for defining impaired kinematics in those with neck pain. In this cross-section study, 33 patients with chronic neck pain and 22 asymptomatic controls were assessed for their cervical kinematic control using interactive virtual reality hardware and customized software utilizing a head mounted display with built-in head tracking. Outcome measures included peak and mean velocity, smoothness (represented by number of velocity peaks (NVP)), symmetry (represented by time to peak velocity percentage (TTPP)), and accuracy of cervical motion. Results demonstrated significant and strong effect-size differences in peak and mean velocities, NVP and TTPP in all directions excluding TTPP in left rotation, and good effect-size group differences in 5/8 accuracy measures. Regression results emphasized the high clinical value of neck motion velocity, with very high sensitivity and specificity (85%-100%), followed by motion smoothness, symmetry and accuracy. These finding suggest cervical kinematics should be evaluated clinically, and screened by the provided cut off values for identification of relevant impairments in those with neck pain. Such identification of presence or absence of kinematic impairments may direct treatment strategies and additional evaluation when needed. Copyright © 2014 Elsevier Ltd. All rights reserved.

DIDACTIC AUTOMATED STATION OF COMPLEX KINEMATICS

Directory of Open Access Journals (Sweden)

Mariusz Sosnowski

2014-03-01

Full Text Available The paper presents the design, control system and software that controls the automated station of complex kinematics. Control interface and software has been developed and manufactured in the West Pomeranian University of Technology in Szczecin in the Department of Automated Manufacturing Systems Engineering and Quality. Conducting classes designed to teach programming and design of structures and systems for monitoring the robot kinematic components with non-standard structures was the reason for installation of the control system and software.

Kinematical coincidence method in transfer reactions

Energy Technology Data Exchange (ETDEWEB)

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

2013-07-01

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

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.

Kinematic top analyses at CDF

Energy Technology Data Exchange (ETDEWEB)

Grassmann, H.; CDF Collaboration

1995-03-01

We present an update of the top quark analysis using kinematic techniques in p{bar p} collisions at {radical}s = 1.8 TeV with the Collider Detector at Fermilab (CDF). We reported before on a study which used 19.3 pb{sup {minus}1} of data from the 1992--1993 collider run, but now we use a larger data sample of 67 pb{sup {minus}1}. First, we analyze the total transverse energy of the hard collision in W+{ge}3 jet events, showing the likely presence of a t{bar t} component in the event sample. Next, we compare in more detail the kinematic structure of W+ {ge}3 jet events with expectations for top pair production and with background processes, predominantly direct W+ jet production. We again find W+ {ge} 3 jet events which cannot be explained in terms of background, but show kinematic features as expected from top. These events also show evidence for beauty quarks, in agreement with expectations from top, but not compatible with expectations from backgrounds. The findings confirm the observation of top events made earlier in the data of the 1992--1993 collider run.

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.

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.

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.

Color-Kinematics Duality for QCD Amplitudes

CERN Document Server

Johansson, Henrik

2016-01-01

We show that color-kinematics duality is present in tree-level amplitudes of quantum chromodynamics with massive flavored quarks. Starting with the color structure of QCD, we work out a new color decomposition for n-point tree amplitudes in a reduced basis of primitive amplitudes. These primitives, with k quark-antiquark pairs and (n-2k) gluons, are taken in the (n-2)!/k! Melia basis, and are independent under the color-algebra Kleiss-Kuijf relations. This generalizes the color decomposition of Del Duca, Dixon, and Maltoni to an arbitrary number of quarks. The color coefficients in the new decomposition are given by compact expressions valid for arbitrary gauge group and representation. Considering the kinematic structure, we show through explicit calculations that color-kinematics duality holds for amplitudes with general configurations of gluons and massive quarks. The new (massive) amplitude relations that follow from the duality can be mapped to a well-defined subset of the familiar BCJ relations for gluo...

Coordinate transformations, orthographic projections, and robot kinematics

International Nuclear Information System (INIS)

Crochetiere, W.J.

1984-01-01

Humans do not consciously think of moving each of their joints while they move their hands from one place to another. Likewise, robot arms can be commanded to move about in cartesian space without the need to address the individual joints. To do this, the direct and inverse kinematic equations of any robot arm must be derived. The direct kinematic equations uniquely transform the joint positions into the position (and orientation) of the hand, whereas the inverse kinematic equations transform the position (and orientation) of the hand into joint positions. The derivation of the inverse kinematic equations for any particular robot is a difficult problem which may have more than one solution. In this paper, these equations are derived for a six degree of freedom robot arm. A combination of matrix operations to perform coordinate rotations, and trigonometry within the appropriate orthographic projects to perform coordinate translations is employed. This complementary approach yields a solution which is more easily obtained, and also more easily visualized. The resulting solution was programmed into a real-time computer as a part of a higher level software system to control the motion of the arm

The kinematic algebras from the scattering equations

International Nuclear Information System (INIS)

Monteiro, Ricardo; O’Connell, Donal

2014-01-01

We study kinematic algebras associated to the recently proposed scattering equations, which arise in the description of the scattering of massless particles. In particular, we describe the role that these algebras play in the BCJ duality between colour and kinematics in gauge theory, and its relation to gravity. We find that the scattering equations are a consistency condition for a self-dual-type vertex which is associated to each solution of those equations. We also identify an extension of the anti-self-dual vertex, such that the two vertices are not conjugate in general. Both vertices correspond to the structure constants of Lie algebras. We give a prescription for the use of the generators of these Lie algebras in trivalent graphs that leads to a natural set of BCJ numerators. In particular, we write BCJ numerators for each contribution to the amplitude associated to a solution of the scattering equations. This leads to a decomposition of the determinant of a certain kinematic matrix, which appears naturally in the amplitudes, in terms of trivalent graphs. We also present the kinematic analogues of colour traces, according to these algebras, and the associated decomposition of that determinant

Pan-African tectonic evolution in central and southern Cameroon: transpression and transtension during sinistral shear movements

Science.gov (United States)

Ngako, V.; Affaton, P.; Nnange, J. M.; Njanko, Th.

2003-04-01

Kinematic analysis of the central Cameroon shear zone (CCSZ) and its Sanaga fault relay, indicate early sinistral shear movement (phase D 2) that was later followed by a dextral shear movement (phase D 3) during the Pan-African orogeny. The correlation of tectonic events among the CCSZs, thrusting of the Yaounde Group and the deformation in the Lom Group indicate a diachronous deposition history of these groups, where the Yaounde Group is pre-kinematic while the sedimentary and magmatic rocks of the Lom basin are syn-kinematic. Sinistral shear movements along the CCSZ and Sanaga faults are correlated with metamorphism and thrusting of the Yaounde granulites onto the Congo craton, on one hand, and to the opening of the Lom pull-apart basin, oblique to the shear zone, on the other. Kinematic interactions between shear and thrust movements characterize transpression, whereas interactions between shear and oblique normal fault movements characterize transtension. Resulting kinematic indicators show that the Lom basin represents a sinistral transtensional relay of the Sanaga fault. Greenschist-facies metamorphism in the Lom Group rocks dominantly affected by a monophase tectonic evolution were achieved during the late dextral shear movements along the Sanaga fault.

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

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)

Uranium enrichment

International Nuclear Information System (INIS)

Rae, H.K.; Melvin, J.G.

1988-06-01

Canada is the world's largest producer and exporter of uranium, most of which is enriched elsewhere for use as fuel in LWRs. The feasibility of a Canadian uranium-enrichment enterprise is therefore a perennial question. Recent developments in uranium-enrichment technology, and their likely impacts on separative work supply and demand, suggest an opportunity window for Canadian entry into this international market. The Canadian opportunity results from three particular impacts of the new technologies: 1) the bulk of the world's uranium-enrichment capacity is in gaseous diffusion plants which, because of their large requirements for electricity (more than 2000 kW·h per SWU), are vulnerable to competition from the new processes; 2) the decline in enrichment costs increases the economic incentive for the use of slightly-enriched uranium (SEU) fuel in CANDU reactors, thus creating a potential Canadian market; and 3) the new processes allow economic operation on a much smaller scale, which drastically reduces the investment required for market entry and is comparable with the potential Canadian SEU requirement. The opportunity is not open-ended. By the end of the century the enrichment supply industry will have adapted to the new processes and long-term customer/supplier relationships will have been established. In order to seize the opportunity, Canada must become a credible supplier during this century

Geometry and kinematics of Majiatan Fold-and-thrust Belt, Western Ordos Basin: implication for Tectonic Evolution of North-South Tectonic Belt

Science.gov (United States)

He, D.

2017-12-01

The Helan-Chuandian North-South Tectonic Belt crossed the central Chinese mainland. It is a boundary of geological, geophysical, and geographic system of Chinese continent tectonics from shallow to deep, and a key zone for tectonic and geomorphologic inversion during Mesozoic to Cenozoic. It is superimposed by the southeastward and northeastward propagation of Qinghai-Tibet Plateau in late Cenozoic. It is thus the critical division for West and East China since Mesozoic. The Majiatan fold-and-thrust belt (MFTB), locating at the central part of HCNSTB and the western margin of Ordos Basin, is formed by the tectonic evolution of the Helan-Liupanshan Mountains. Based on the newly-acquired high-resolution seismic profiles, deep boreholes, and surface geology, the paper discusses the geometry, kinematics, and geodynamic evolution of MFTB. With the Upper Carboniferous coal measures and the pre-Sinian ductile zone as the detachments, MFTB is a multi-level detached thrust system. The thrusting was mainly during latest Jurassic to Late Cretaceous, breaking-forward in the foreland, and resulting in a shortening rate of 25-29%. By structural restoration, this area underwent extension in Middle Proterozoic to Paleozoic, which can be divided into three phases of rifting such as Middle to Late Proterozoic, Cambiran to Ordovician, and Caboniferous to early Permian. It underwent compression since Late Triassic, including such periods as Latest Triassic, Late Jurassic to early Cretaceous, Late Cretaceous to early Paleogene, and Pliocene to Quaternary, with the largest shortening around Late Jurassic to early Cretaceous period (i.e. the mid-Yanshanian movement by the local name). However, trans-extension since Eocene around the Ordos Basin got rise to the formation the Yingchuan, Hetao, and Weihe grabens. It is concluded that MFTB is the leading edge of the intra-continental Helan orogenic belt, and formed by multi-phase breaking-forward thrusting during Late Jurassic to Cretaceous

Integrated microfluidic system for rapid screening of CRP aptamers utilizing systematic evolution of ligands by exponential enrichment (SELEX).

Science.gov (United States)

Huang, Chao-June; Lin, Hsin-I; Shiesh, Shu-Chu; Lee, Gwo-Bin

2010-03-15

The systematic evolution of ligands by exponential enrichment (SELEX) is an experimental procedure that allows screening of given molecular targets by desired binding affinities from an initial random pool of oligonucleotides and oligomers. The final products of SELEX are usually referred as aptamers, which are recognized as promising molecules for a variety of biomedical applications. However, SELEX is an iterative process requiring multiple rounds of extraction and amplification that demands significant time and labor. Therefore, this study presents a novel, automatic, miniature SELEX platform. As a demonstration, the rapid screening of C-reactive protein (CRP) aptamers was performed. By utilizing microfluidic technologies and magnetic beads conjugated with CRP, aptamers with a high affinity to CRP were extracted from a random single-strand deoxyribonucleic acid (ssDNA) pool. These aptamers were further amplified by an on-chip polymerase chain reaction (PCR) process. After five consecutive extraction and amplification cycles, a specific aptamer with the highest affinity was screened automatically. The screened aptamers were used as a recognition molecule for the detection of CRP. The developed microsystem demonstrated fast screening of CRP aptamers and can be used as a powerful tool to select analyte-specific aptamers for biomedical applications. (c) 2009 Elsevier B.V. All rights reserved.

Inverse Kinematics of a Serial Robot

Directory of Open Access Journals (Sweden)

Amici Cinzia

2016-01-01

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

Homogenization of locally resonant acoustic metamaterials towards an emergent enriched continuum.

Science.gov (United States)

Sridhar, A; Kouznetsova, V G; Geers, M G D

This contribution presents a novel homogenization technique for modeling heterogeneous materials with micro-inertia effects such as locally resonant acoustic metamaterials. Linear elastodynamics is used to model the micro and macro scale problems and an extended first order Computational Homogenization framework is used to establish the coupling. Craig Bampton Mode Synthesis is then applied to solve and eliminate the microscale problem, resulting in a compact closed form description of the microdynamics that accurately captures the Local Resonance phenomena. The resulting equations represent an enriched continuum in which additional kinematic degrees of freedom emerge to account for Local Resonance effects which would otherwise be absent in a classical continuum. Such an approach retains the accuracy and robustness offered by a standard Computational Homogenization implementation, whereby the problem and the computational time are reduced to the on-line solution of one scale only.

Targeted Enrichment of Large Gene Families for Phylogenetic Inference: Phylogeny and Molecular Evolution of Photosynthesis Genes in the Portullugo Clade (Caryophyllales).

Science.gov (United States)

Moore, Abigail J; Vos, Jurriaan M De; Hancock, Lillian P; Goolsby, Eric; Edwards, Erika J

2018-05-01

Hybrid enrichment is an increasingly popular approach for obtaining hundreds of loci for phylogenetic analysis across many taxa quickly and cheaply. The genes targeted for sequencing are typically single-copy loci, which facilitate a more straightforward sequence assembly and homology assignment process. However, this approach limits the inclusion of most genes of functional interest, which often belong to multi-gene families. Here, we demonstrate the feasibility of including large gene families in hybrid enrichment protocols for phylogeny reconstruction and subsequent analyses of molecular evolution, using a new set of bait sequences designed for the "portullugo" (Caryophyllales), a moderately sized lineage of flowering plants (~ 2200 species) that includes the cacti and harbors many evolutionary transitions to C$_{\\mathrm{4}}$ and CAM photosynthesis. Including multi-gene families allowed us to simultaneously infer a robust phylogeny and construct a dense sampling of sequences for a major enzyme of C$_{\\mathrm{4}}$ and CAM photosynthesis, which revealed the accumulation of adaptive amino acid substitutions associated with C$_{\\mathrm{4}}$ and CAM origins in particular paralogs. Our final set of matrices for phylogenetic analyses included 75-218 loci across 74 taxa, with ~ 50% matrix completeness across data sets. Phylogenetic resolution was greatly improved across the tree, at both shallow and deep levels. Concatenation and coalescent-based approaches both resolve the sister lineage of the cacti with strong support: Anacampserotaceae $+$ Portulacaceae, two lineages of mostly diminutive succulent herbs of warm, arid regions. In spite of this congruence, BUCKy concordance analyses demonstrated strong and conflicting signals across gene trees. Our results add to the growing number of examples illustrating the complexity of phylogenetic signals in genomic-scale data.

Teaching about Kinematics

Science.gov (United States)

Nelson, Jane Bray; Nelson, Jim

2009-01-01

Written by Jim and Jane Nelson, Teaching About Kinematics is the latest AAPT/PTRA resource book. Based on physics education research, the book provides teachers with the resources needed to introduce students to some of the fundamental building blocks of physics. It is a carefully thought-out, step-by-step laboratory-based introduction to the…

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.

Tidal interaction, star formation and chemical evolution in blue compact dwarf galaxy Mrk 22

Science.gov (United States)

Paswan, A.; Omar, A.; Jaiswal, S.

2018-02-01

The optical spectroscopic and radio interferometric H I 21 cm-line observations of the blue compact dwarf galaxy Mrk 22 are presented. The Wolf-Rayet (WR) emission-line features corresponding to high ionization lines of He II λ4686 and C IV λ5808 from young massive stars are detected. The ages of two prominent star-forming regions in the galaxy are estimated as ∼10 and ∼ 4 Myr. The galaxy has non-thermal radio deficiency, which also indicates a young starburst and lack of supernovae events from the current star formation activities, consistent with the detection of WR emission-line features. A significant N/O enrichment is seen in the fainter star-forming region. The gas-phase metallicities [12 + log(O/H)] for the bright and faint regions are estimated as 7.98±0.07 and 7.46±0.09, respectively. The galaxy has a large diffuse H I envelop. The H I images reveal disturbed gas kinematics and H I clouds outside the optical extent of the galaxy, indicating recent tidal interaction or merger in the system. The results strongly indicate that Mrk 22 is undergoing a chemical and morphological evolution due to ongoing star formation, most likely triggered by a merger.

Kinematic variables of table vault on artistic gymnastics

Directory of Open Access Journals (Sweden)

Sarah Maria Boldrini FERNANDES

2016-03-01

Full Text Available Abstract The table vault is an event of male and female Artistics Gymnastics. Although it can be performed in a variety of rotations and body positions in different phases, it can be separated in three groups: handspring, Yurchenko and Tsukahara. It is believed that kinematic variables of vault may vary according to group of vault or gymnast body position, but few studies compares the real differences among the three groups of vaults, comparing and describing the variables in different phases. Vault kinematic variables could be diversifying according to the approach or position of the vaulting, but little has been studied about the biomechanical differences, comparing and describing behaviours at different stages. The aim of this study was to organize critical, objective and to systematize the most relevant kinematic variables to performance on vaulting. A Meta analysis over the basis Pubmed, Sport Discus and Web of Science were performed about this issue. From the selected references, we described and analyzed the kinematics of the table vault. Vault can be characterized in seven phases of analysis. Most of the studies are descriptive, and some do not descript all phases. Differences among vault variables according to group vaults, technical level and gender were analysed only in recent studies. There still gaps of knowledge about kinematic variables of table vault, in order to provide comprehensive information about all possibilities of vaults in this gymnastic event. It is concluded that kinematic variables of table vault depends upon vault group and may be considered to the improvement of technical performance. More researches are needed to approach the coaching interface with biomechanics applicable knowledge.

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.

Dose exposure work planning using DMU kinematics tools

International Nuclear Information System (INIS)

Rosli Darmawan

2010-01-01

The study on the possibility of using DMU Kinematics module in CAE tools for dose exposure work planning was carried out. A case scenario was created using 3D CAD software and transferred to DMU Kinematics module in CAE software. A work plan was created using DMU Kinematics tools and animated to simulate a real time scenario. Data on the phantom position against the radioactive source was collected by activating positioning sensors in the module. The data was used to estimate dose rate exposure for the phantom. The results can be used to plan the safest and optimum procedures in carrying out the radiation related task. (author)

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.

Hyb-Seq: Combining target enrichment and genome skimming for plant phylogenomics1

Science.gov (United States)

Weitemier, Kevin; Straub, Shannon C. K.; Cronn, Richard C.; Fishbein, Mark; Schmickl, Roswitha; McDonnell, Angela; Liston, Aaron

2014-01-01

• Premise of the study: Hyb-Seq, the combination of target enrichment and genome skimming, allows simultaneous data collection for low-copy nuclear genes and high-copy genomic targets for plant systematics and evolution studies. • Methods and Results: Genome and transcriptome assemblies for milkweed (Asclepias syriaca) were used to design enrichment probes for 3385 exons from 768 genes (>1.6 Mbp) followed by Illumina sequencing of enriched libraries. Hyb-Seq of 12 individuals (10 Asclepias species and two related genera) resulted in at least partial assembly of 92.6% of exons and 99.7% of genes and an average assembly length >2 Mbp. Importantly, complete plastomes and nuclear ribosomal DNA cistrons were assembled using off-target reads. Phylogenomic analyses demonstrated signal conflict between genomes. • Conclusions: The Hyb-Seq approach enables targeted sequencing of thousands of low-copy nuclear exons and flanking regions, as well as genome skimming of high-copy repeats and organellar genomes, to efficiently produce genome-scale data sets for phylogenomics. PMID:25225629

Advanced enrichment techniques

International Nuclear Information System (INIS)

Johnson, A.

1988-01-01

BNFL is in a unique position in that it has commercial experience of diffusion enrichment, and of centrifuge enrichment through its associate company Urenco. In addition BNFL is developing laser enrichment techniques as part of a UK development programme in this area. The paper describes the development programme which led to the introduction of competitive centrifuge enrichment technology by Urenco and discusses the areas where improvements have and will continue to be made in the centrifuge process. It also describes the laser development programme currently being undertaken in the UK. The paper concludes by discussing the relative merits of the various methods of uranium enrichment, with particular reference to the enrichment market likely to obtain over the rest of the century

Advanced enrichment techniques

International Nuclear Information System (INIS)

Johnson, A.

1987-01-01

BNFL is in a unique position in that it has commercial experience of diffusion enrichment, and of centrifuge enrichment through its associate company Urenco. In addition BNFL is developing laser enrichment techniques as part of a UK development programme in this area. The paper describes the development programme which led to the introduction of competitive centrifuge enrichment technology by Urenco and discusses the areas where improvements have and will continue to be made in the centrifuge process. It also describes the laser development programme currently being undertaken in the UK. The paper concludes by discussing the relative merits of the various methods of uranium enrichment, with particular reference to the enrichment market likely to obtain over the rest of the century. (author)

Juvenile psittacine environmental enrichment.

Science.gov (United States)

Simone-Freilicher, Elisabeth; Rupley, Agnes E

2015-05-01

Environmental enrichment is of great import to the emotional, intellectual, and physical development of the juvenile psittacine and their success in the human home environment. Five major types of enrichment include social, occupational, physical, sensory, and nutritional. Occupational enrichment includes exercise and psychological enrichment. Physical enrichment includes the cage and accessories and the external home environment. Sensory enrichment may be visual, auditory, tactile, olfactory, or taste oriented. Nutritional enrichment includes variations in appearance, type, and frequency of diet, and treats, novelty, and foraging. Two phases of the preadult period deserve special enrichment considerations: the development of autonomy and puberty. Copyright © 2015 Elsevier Inc. All rights reserved.

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.

Uranium enrichment

International Nuclear Information System (INIS)

1989-01-01

GAO was asked to address several questions concerning a number of proposed uranium enrichment bills introduced during the 100th Congress. The bill would have restructured the Department of Energy's uranium enrichment program as a government corporation to allow it to compete more effectively in the domestic and international markets. Some of GAO's findings discussed are: uranium market experts believe and existing market models show that the proposed DOE purchase of a $750 million of uranium from domestic producers may not significantly increase production because of large producer-held inventories; excess uranium enrichment production capacity exists throughout the world; therefore, foreign producers are expected to compete heavily in the United States throughout the 1990s as utilities' contracts with DOE expire; and according to a 1988 agreement between DOE's Offices of Nuclear Energy and Defense Programs, enrichment decommissioning costs, estimated to total $3.6 billion for planning purposes, will be shared by the commercial enrichment program and the government

Isotope enrichment

International Nuclear Information System (INIS)

Lydtin, H-J.; Wilden, R.J.; Severin, P.J.W.

1978-01-01

The isotope enrichment method described is based on the recognition that, owing to mass diffusion and thermal diffusion in the conversion of substances at a heated substrate while depositing an element or compound onto the substrate, enrichment of the element, or a compound of the element, with a lighter isotope will occur. The cycle is repeated for as many times as is necessary to obtain the degree of enrichment required

Deviation Among Technology Reviews: An Informative Enrichment of Technology Evolution Theory for Marketing

OpenAIRE

Sood, Ashish; Stremersch, Stefan

2010-01-01

textabstractUnderstanding technological change is of critical importance to marketers, as it bears new markets, new brands, new customers, and new market leaders. This paper examines the deviation among reviews of a technology’s performance and its consequences for inferences on technology evolution patterns. The basic premise of the current paper is that technology evolution literature, while highly relevant, is misguided in that it ignores potential deviation among technology reviews. Using...

The Maiden Voyage of a Kinematics Robot

Science.gov (United States)

Greenwolfe, Matthew L.

2015-04-01

In a Montessori preschool classroom, students work independently on tasks that absorb their attention in part because the apparatus are carefully designed to make mistakes directly observable and limit exploration to one aspect or dimension. Control of error inheres in the apparatus itself, so that teacher intervention can be minimal.1 Inspired by this example, I created a robotic kinematics apparatus that also shapes the inquiry experience. Students program the robot by drawing kinematic graphs on a computer and then observe its motion. Exploration is at once limited to constant velocity and constant acceleration motion, yet open to complex multi-segment examples difficult to achieve in the lab in other ways. The robot precisely and reliably produces the motion described by the students' graphs, so that the apparatus itself provides immediate visual feedback about whether their understanding is correct as they are free to explore within the hard-coded limits. In particular, the kinematic robot enables hands-on study of multi-segment constant velocity situations, which lays a far stronger foundation for the study of accelerated motion. When correction is anonymous—just between one group of lab partners and their robot—students using the kinematic robot tend to flow right back to work because they view the correction as an integral part of the inquiry learning process. By contrast, when correction occurs by the teacher and/or in public (e.g., returning a graded assignment or pointing out student misconceptions during class), students all too often treat the event as the endpoint to inquiry. Furthermore, quantitative evidence shows a large gain from pre-test to post-test scores using the Test of Understanding Graphs in Kinematics (TUG-K).

Sensitivity of polycrystal plasticity to slip system kinematic hardening laws for Al 7075-T6

International Nuclear Information System (INIS)

Hennessey, Conor; Castelluccio, Gustavo M.; McDowell, David L.

2017-01-01

The prediction of formation and early growth of microstructurally small fatigue cracks requires use of constitutive models that accurately estimate local states of stress, strain, and cyclic plastic strain. However, few research efforts have attempted to systematically consider the sensitivity of overall cyclic stress-strain hysteresis and higher order mean stress relaxation and plastic strain ratcheting responses introduced by the slip system back-stress formulation in crystal plasticity, even for face centered cubic (FCC) crystal systems. This paper explores the performance of two slip system level kinematic hardening models using a finite element crystal plasticity implementation as a User Material Subroutine (UMAT) within ABAQUS, with fully implicit numerical integration. The two kinematic hardening formulations aim to reproduce the cyclic deformation of polycrystalline Al 7075-T6 in terms of both macroscopic cyclic stress-strain hysteresis loop shape, as well as ratcheting and mean stress relaxation under strain- or stress-controlled loading with mean strain or stress, respectively. The first formulation is an Armstrong-Frederick type hardening-dynamic recovery law for evolution of the back stress. This approach is capable of reproducing observed deformation under completely reversed uniaxial loading conditions, but overpredicts the rate of cyclic ratcheting and associated mean stress relaxation. The second formulation corresponds to a multiple back stress Ohno-Wang type hardening law with nonlinear dynamic recovery. The adoption of this back stress evolution law greatly improves the capability to model experimental results for polycrystalline specimens subjected to cycling with mean stress or strain. As a result, the relation of such nonlinear dynamic recovery effects are related to slip system interactions with dislocation substructures.

Action experience changes attention to kinematic cues

Directory of Open Access Journals (Sweden)

Courtney eFilippi

2016-02-01

Full Text Available The current study used remote corneal reflection eye-tracking to examine the relationship between motor experience and action anticipation in 13-month-old infants. To measure online anticipation of actions infants watched videos where the actor’s hand provided kinematic information (in its orientation about the type of object that the actor was going to reach for. The actor’s hand orientation either matched the orientation of a rod (congruent cue or did not match the orientation of the rod (incongruent cue. To examine relations between motor experience and action anticipation, we used a 2 (reach first vs. observe first x 2 (congruent kinematic cue vs. incongruent kinematic cue between-subjects design. We show that 13-month-old infants in the observe first condition spontaneously generate rapid online visual predictions to congruent hand orientation cues and do not visually anticipate when presented incongruent cues. We further demonstrate that the speed that these infants generate predictions to congruent motor cues is correlated with their own ability to pre-shape their hands. Finally, we demonstrate that following reaching experience, infants generate rapid predictions to both congruent and incongruent hand shape cues—suggesting that short-term experience changes attention to kinematics.

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.

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.

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)

Of gluons and gravitons. Exploring color-kinematics duality

International Nuclear Information System (INIS)

Isermann, Reinke Sven

2013-06-01

In this thesis color-kinematics duality will be investigated. This duality is a statement about the kinematical dependence of a scattering amplitude in Yang-Mills gauge theories obeying group theoretical relations similar to that of the color gauge group. The major consequence of this duality is that gravity amplitudes can be related to a certain double copy of gauge theory amplitudes. The main focus of this thesis is on exploring the foundations of color-kinematics duality and its consequences. It is shown how color-kinematics duality can be made manifest at the one-loop level for rational amplitudes. A Lagrangian-based argument will be given for the validity of the double copy construction for these amplitudes including explicit examples at four points. Secondly, it is studied how color-kinematics duality can be used to improve powercounting in gravity theories. To this end the duality is reformulated in terms of linear maps. It is shown as an example how this can be used to derive the large BCFW shift behavior of a gravity integrand constructed through the duality to any loop order up to subtleties inherent to the duality that is addressed. As it becomes clear the duality implies massive cancellations with respect to the usual powercounting of Feynman graphs indicating that gravity theories are much better behaved than naively expected. As another example the linear map approach will be used to investigate the question of UV-finiteness of N=8 supergravity, and it is seen that the amount of cancellations depends on the exact implementation of the duality at loop level. Lastly, color-kinematics duality is considered from a Feynman-graph perspective reproducing some of the results of the earlier chapters thus giving non-trivial evidence for the duality at the loop level from a different perspective.

Of gluons and gravitons. Exploring color-kinematics duality

Energy Technology Data Exchange (ETDEWEB)

Isermann, Reinke Sven

2013-06-15

In this thesis color-kinematics duality will be investigated. This duality is a statement about the kinematical dependence of a scattering amplitude in Yang-Mills gauge theories obeying group theoretical relations similar to that of the color gauge group. The major consequence of this duality is that gravity amplitudes can be related to a certain double copy of gauge theory amplitudes. The main focus of this thesis is on exploring the foundations of color-kinematics duality and its consequences. It is shown how color-kinematics duality can be made manifest at the one-loop level for rational amplitudes. A Lagrangian-based argument will be given for the validity of the double copy construction for these amplitudes including explicit examples at four points. Secondly, it is studied how color-kinematics duality can be used to improve powercounting in gravity theories. To this end the duality is reformulated in terms of linear maps. It is shown as an example how this can be used to derive the large BCFW shift behavior of a gravity integrand constructed through the duality to any loop order up to subtleties inherent to the duality that is addressed. As it becomes clear the duality implies massive cancellations with respect to the usual powercounting of Feynman graphs indicating that gravity theories are much better behaved than naively expected. As another example the linear map approach will be used to investigate the question of UV-finiteness of N=8 supergravity, and it is seen that the amount of cancellations depends on the exact implementation of the duality at loop level. Lastly, color-kinematics duality is considered from a Feynman-graph perspective reproducing some of the results of the earlier chapters thus giving non-trivial evidence for the duality at the loop level from a different perspective.

The US uranium and enrichment industries: their fall and rise?

International Nuclear Information System (INIS)

Sewell, P.G.

1988-01-01

Strong government influence, monopolistic practices, free market forces and market orientation to customer needs are the conflicting forces which have shaped the evolution of the uranium and the uranium enrichment industries in the United States. These same factors are likely to continue to dictate to a large extent the future for each of these industries. Both the uranium and the uranium enrichment industries in the USA enjoyed the benefits and suffered the consequences of a monopolistic environment until the dynamics of a free market became prevalent in the 1980s. This resulted in the deterioration of both industries with respect to market share, sales and supply capacity needs. The history and environment of the two industries, the road to recovery for both, and the status and scope of legal and legislative initiatives to address the problems of each industry, are reviewed. (author)

Forward and inverse kinematics of double universal joint robot wrists

Science.gov (United States)

Williams, Robert L., II

1991-01-01

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

Kinematic analysis of competitive sprinting | Ansari | African Journal ...

African Journals Online (AJOL)

The results of the study showed that the kinematic variables i.e. knee angle, hip angle, ankle angle, shoulder rotation and extension had a significant influence on sprinting style. The results indicated that the kinematic variables of running style, knee angle at landing, hip flexion, ankle angle at landing, ankle angle at take-off, ...

Distances, Kinematics, And Structure Of The Orion Complex

Science.gov (United States)

Kounkel, Marina; Hartmann, Lee

2018-01-01

I present an analysis of the structure and kinematics of the Orion Molecular Cloud Complex in an effort to better characterize the dynamical state of the closest region of ongoing massive star formation. I measured stellar parallax and proper motions with Orion Complex. This includes the first direct distance measurements for sources that are located outside of the Orion Nebula. I identified a number of binary systems in the VLBI dataset and fitted their orbital motion, which allows for the direct measurement of the masses of the individual components. Additionally, I have identified several stars that have been ejected from the Orion Nebula due to strong gravitational interactions with the most massive members. I complemented the parallax and proper motion measurements with the observations of optical radial velocities of the stars toward the Orion Complex, probing the histories of both dynamic evolution and star formation in the region, providing a 6-dimensional model of the Complex. These observations can serve as a baseline for comparison of the upcoming results from the Gaia space telescope

Island universes structure and evolution of disk galaxies

CERN Document Server

DE JONG, R. S

2007-01-01

This book contains an up-to-date review of the structure and evolution of disk galaxies from both the observational and theoretical point of view. The book is the proceedings of the "Island Universes" conference held at the island of Terschelling, The Netherlands in July 2005, which attracted about 130 experts and students in the field. The conference was organized as a tribute to Dr. Piet C. van der Kruit for receiving the honorary Jacobus C. Kapteyn Professorship in Astronomy. The eight topical themes discussed at the meeting are reflected in these proceedings: 1) Properties of Stellar Disks, 2) Kinematics and Dynamics of Disk Galaxies, 3) Bars, Spiral Structure, and Secular Evolution in Disk Galaxies, 4) The Outskirts and Environment of Disk Galaxies, 5) Interstellar Matter, 6) (Evolution of) Star Formation in Galactic Disks, 7) Disk Galaxies through Cosmic Time, and 8) Formation Models of Disk Galaxies. These proceedings are concluded with a conference summary reflecting on the most significant recent pro...

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

Dynamic Control of Kinematically Redundant Robotic Manipulators

Directory of Open Access Journals (Sweden)

Erling Lunde

1987-07-01

Full Text Available Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator. In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics. The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.

Kinematics in special and general relativity

International Nuclear Information System (INIS)

Woodside, R.W.M.

1979-05-01

This thesis investigates the problem of motion for extended bodies from the viewpoint of classical field theory, where the classical field is the body's energy-momentum or matter tensor. In special relativity a symmetric and divergence-free matter tensor combined with inertial frames is used to generate a kinematics for extended bodies. In general relativity the author suggests an analogous kinematics and applies it to the simplest non-trivial example of static, spherical stars, looking for special sets of vector fields whose matter currents are conserved. Such a set of ten vector fields defines a special frame, and integrals of the conserved matter currents define ten momenta whcih give the kinematics. Application of de Rham cohomology theory shows that the conserved matter currents for isolated bodies will have mechanical potentials which enable the momenta to be found from flux integrals evaluated in the vacuum region surrounding the body. These potentials contain the full Riemann curvature, allowing a body's general relativistic momenta to be determined by its vacuum graviational field

Scapula Kinematics of Youth Baseball Players

Directory of Open Access Journals (Sweden)

Oliver Gretchen

2015-12-01

Full Text Available Literature has revealed the importance of quantifying resting scapular posture in overhead athletes as well as quantifying scapular kinematics during dynamic movement. Prior to this project much of the attention in throwing research had been focused on the position of the humerus without description of the positioning of the scapula. Therefore, it was the purpose of this study to present scapular kinematics during pitching in youth baseball players. Twenty-five youth baseball players (age 11.3 + 1.0 years; body height 152.4 + 9.0 cm; body mass 47.5 + 11.3 kg, with no history of injury, participated in the study. Scapular kinematics at the events of maximum humeral external rotation (MER and maximum humeral internal rotation (MIR during the pitching motion were assessed three-dimensionally while pitching fastballs for strikes. Results revealed that at the event of MER, the scapula was in a position of retraction, upward rotation and a posterior tilt. While at the event of MIR, the scapula was protracted, upward rotated and tilted anteriorly.

The Evolution of the Observed Hubble Sequence over the past 6Gyr

Science.gov (United States)

Delgado-Serrano, R.; Hammer, F.; Yang, Y. B.; Puech, M.; Flores, H.; Rodrigues, M.

2011-10-01

During the past years we have confronted serious problems of methodology concerning the morphological and kinematic classification of distant galaxies. This has forced us to create a new simple and effective morphological classification methodology, in order to guarantee a morpho-kinematic correlation, make the reproducibility easier and restrict the classification subjectivity. Giving the characteristic of our morphological classification, we have thus been able to apply the same methodology, using equivalent observations, to representative samples of local and distant galaxies. It has allowed us to derive, for the first time, the distant Hubble sequence (~6 Gyr ago), and determine a morphological evolution of galaxies over the past 6 Gyr. Our results strongly suggest that more than half of the present-day spirals had peculiar morphologies, 6 Gyr ago.

Managing the evolution of cooperation

OpenAIRE

Dormann, Julian; Ehrmann, Thomas

2008-01-01

Management scholars have long stressed the importance of evolutionary processses for inter-firm cooperation but have mostly missed the promising opportunity to incorporate ideas from evolutionary theories into the analysis of collaborative arrangements. In this paper, we first present three rules for the evolution of cooperation - kinship selection, direct reciprocity, and indirect reciprocity. Second, we apply our theoretical considerations, enriched with ideas from cultural anthropology, to...

New generation enrichment monitoring technology for gas centrifuge enrichment plants

International Nuclear Information System (INIS)

Ianakiev, Kiril D.; Alexandrov, Boian S.; Boyer, Brian D.; Hill, Thomas R.; Macarthur, Duncan W.; Marks, Thomas; Moss, Calvin E.; Sheppard, Gregory A.; Swinhoe, Martyn T.

2008-01-01

The continuous enrichment monitor, developed and fielded in the 1990s by the International Atomic Energy Agency, provided a go-no-go capability to distinguish between UF 6 containing low enriched (approximately 4% 235 U) and highly enriched (above 20% 235 U) uranium. This instrument used the 22-keV line from a 109 Cd source as a transmission source to achieve a high sensitivity to the UF 6 gas absorption. The 1.27-yr half-life required that the source be periodically replaced and the instrument recalibrated. The instrument's functionality and accuracy were limited by the fact that measured gas density and gas pressure were treated as confidential facility information. The modern safeguarding of a gas centrifuge enrichment plant producing low-enriched UF 6 product aims toward a more quantitative flow and enrichment monitoring concept that sets new standards for accuracy stability, and confidence. An instrument must be accurate enough to detect the diversion of a significant quantity of material, have virtually zero false alarms, and protect the operator's proprietary process information. We discuss a new concept for advanced gas enrichment assay measurement technology. This design concept eliminates the need for the periodic replacement of a radioactive source as well as the need for maintenance by experts. Some initial experimental results will be presented.

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

Global-local optimization of flapping kinematics in hovering flight

KAUST Repository

Ghommem, Mehdi; Hajj, M. R.; Mook, Dean T.; Stanford, Bret K.; Bé ran, Philip S.; Watson, Layne T.

2013-01-01

The kinematics of a hovering wing are optimized by combining the 2-d unsteady vortex lattice method with a hybrid of global and local optimization algorithms. The objective is to minimize the required aerodynamic power under a lift constraint. The hybrid optimization is used to efficiently navigate the complex design space due to wing-wake interference present in hovering aerodynamics. The flapping wing is chosen so that its chord length and flapping frequency match the morphological and flight properties of two insects with different masses. The results suggest that imposing a delay between the different oscillatory motions defining the flapping kinematics, and controlling the way through which the wing rotates at the end of each half stroke can improve aerodynamic power under a lift constraint. Furthermore, our optimization analysis identified optimal kinematics that agree fairly well with observed insect kinematics, as well as previously published numerical results.

Global-local optimization of flapping kinematics in hovering flight

KAUST Repository

Ghommem, Mehdi

2013-06-01

The kinematics of a hovering wing are optimized by combining the 2-d unsteady vortex lattice method with a hybrid of global and local optimization algorithms. The objective is to minimize the required aerodynamic power under a lift constraint. The hybrid optimization is used to efficiently navigate the complex design space due to wing-wake interference present in hovering aerodynamics. The flapping wing is chosen so that its chord length and flapping frequency match the morphological and flight properties of two insects with different masses. The results suggest that imposing a delay between the different oscillatory motions defining the flapping kinematics, and controlling the way through which the wing rotates at the end of each half stroke can improve aerodynamic power under a lift constraint. Furthermore, our optimization analysis identified optimal kinematics that agree fairly well with observed insect kinematics, as well as previously published numerical results.

Overground-Propulsion Kinematics and Acceleration in Elite Wheelchair Rugby.

Science.gov (United States)

Haydon, David S; Pinder, Ross A; Grimshaw, Paul N; Robertson, William S P

2018-02-01

Maximal acceleration from standstill has been identified as a key performance indicator in wheelchair rugby; however, the impact of classification and kinematic variables on performance has received limited attention. This study aimed to investigate kinematic variables during maximal acceleration, with level of activity limitation accounted for using sport-classification scores. Based on their sporting classification scores, which reflect combined trunk, arm, and hand function, 25 elite wheelchair rugby players were analyzed in high-, mid-, and low-point groups before completing five 5-m sprints from a stationary position. Inertial measurement units and video analysis were used to monitor key kinematic variables. Significant differences in kinematic variables were evident across the classification groups, particularly for the first stroke-contact angle (1-way ANOVA F 2,122  = 51.5, P propulsion approaches exist across classification groups, with this information potentially informing individual wheelchair setups and training programs.

Kinematic gait analyses in healthy Golden Retrievers

OpenAIRE

Silva, Gabriela C.A.; Cardoso, Mariana Trés; Gaiad, Thais P.; Brolio, Marina P.; Oliveira, Vanessa C.; Assis Neto, Antonio; Martins, Daniele S.; Ambrósio, Carlos E.

2014-01-01

Kinematic analysis relates to the relative movement between rigid bodies and finds application in gait analysis and other body movements, interpretation of their data when there is change, determines the choice of treatment to be instituted. The objective of this study was to standardize the march of Dog Golden Retriever Healthy to assist in the diagnosis and treatment of musculoskeletal disorders. We used a kinematic analysis system to analyse the gait of seven dogs Golden Retriever, female,...

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...

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

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.

Kinematics and design of a class of parallel manipulators

Science.gov (United States)

Hertz, Roger Barry

1998-12-01

This dissertation is concerned with the kinematic analysis and design of a class of three degree-of-freedom, spatial parallel manipulators. The class of manipulators is characterized by two platforms, between which are three legs, each possessing a succession of revolute, spherical, and revolute joints. The class is termed the "revolute-spherical-revolute" class of parallel manipulators. Two members of this class are examined. The first mechanism is a double-octahedral variable-geometry truss, and the second is termed a double tripod. The history the mechanisms is explored---the variable-geometry truss dates back to 1984, while predecessors of the double tripod mechanism date back to 1869. This work centers on the displacement analysis of these three-degree-of-freedom mechanisms. Two types of problem are solved: the forward displacement analysis (forward kinematics) and the inverse displacement analysis (inverse kinematics). The kinematic model of the class of mechanism is general in nature. A classification scheme for the revolute-spherical-revolute class of mechanism is introduced, which uses dominant geometric features to group designs into 8 different sub-classes. The forward kinematics problem is discussed: given a set of independently controllable input variables, solve for the relative position and orientation between the two platforms. For the variable-geometry truss, the controllable input variables are assumed to be the linear (prismatic) joints. For the double tripod, the controllable input variables are the three revolute joints adjacent to the base (proximal) platform. Multiple solutions are presented to the forward kinematics problem, indicating that there are many different positions (assemblies) that the manipulator can assume with equivalent inputs. For the double tripod these solutions can be expressed as a 16th degree polynomial in one unknown, while for the variable-geometry truss there exist two 16th degree polynomials, giving rise to 256

anisotropic crack modelling of reinforced concrete structures with an enhanced kinematics: application to bidimensional elements under cyclic loading

International Nuclear Information System (INIS)

Kishta, Ejona

2016-01-01

Civil engineering buildings, massive and unique, are mostly made of reinforced or prestressed concrete. Sustainability, tightness and safety are the major pillars of a building's performance. Cracking is a major phenomenon which impacts the buildings' behaviour under different loadings in terms of sustainability and structural capacity. Development of numerical models which describe accurately the response of quasi-brittle materials under complex loading remains an important research topic for the scientific community. The objective of this work is the development of a numerical model which represents explicitly cracking of reinforced concrete structures. Concrete and reinforced concrete degradation process, characterised by the appearance of several anisotropic crack families, is described by means of an anisotropic damage model accounting for oriented crack families. The kinematics of this model is enriched with a displacement jump in order to reproduce the development of cracks in the material during loading. This displacement jump is identified as the crack opening. The developed model is validated on simulations of plain concrete structures exhibiting model as well as mixed-mode failure. The performances of the enriched model are shown by the simulation of reinforced concrete structures such as a shear wall submitted to cyclic loading. (author) [fr

A Chemical Evolution Model for the Fornax Dwarf Spheroidal Galaxy

Directory of Open Access Journals (Sweden)

Yuan Zhen

2016-01-01

Full Text Available Fornax is the brightest Milky Way (MW dwarf spheroidal galaxy and its star formation history (SFH has been derived from observations. We estimate the time evolution of its gas mass and net inflow and outflow rates from the SFH usinga simple star formation law that relates the star formation rate to the gas mass. We present a chemical evolution model on a 2D mass grid with supernovae (SNe as sources of metal enrichment. We find that a key parameter controlling the enrichment is the mass Mx of the gas to mix with the ejecta from each SN. The choice of Mx depends on the evolution of SN remnants and on the global gas dynamics. It differs between the two types of SNe involved and between the periods before and after Fornax became an MW satellite at time t = tsat. Our results indicate that due to the global gas outflow at t > tsat, part of the ejecta from each SN may directly escape from Fornax. Sample results from our model are presented and compared with data.

Dynamic evolution characteristics of a fractional order hydropower station system

Science.gov (United States)

Gao, Xiang; Chen, Diyi; Yan, Donglin; Xu, Beibei; Wang, Xiangyu

2018-01-01

This paper investigates the dynamic evolution characteristics of the hydropower station by introducing the fractional order damping forces. A careful analysis of the dynamic characteristics of the generator shaft system is carried out under different values of fractional order. It turns out the vibration state of the axis coordinates has a certain evolution law with the increase of the fractional order. Significantly, the obtained law exists in the horizontal evolution and vertical evolution of the dynamical behaviors. Meanwhile, some interesting dynamical phenomena were found in this process. The outcomes of this study enrich the nonlinear dynamic theory from the engineering practice of hydropower stations.

Cluster algebras in scattering amplitudes with special 2D kinematics

Energy Technology Data Exchange (ETDEWEB)

Torres, Marcus A.C. [Institut de Physique Theorique, CEA-Saclay, Gif-sur-Yvette Cedex (France)

2014-02-15

We study the cluster algebra of the kinematic configuration space Conf{sub n}(P{sup 3}P3) of an n-particle scattering amplitude restricted to the special 2D kinematics. We found that the n-point two-loop MHVremainder function in special 2D kinematics depends on a selection of the X-coordinates that are part of a special structure of the cluster algebra related to snake triangulations of polygons. This structure forms a necklace of hypercube beads in the corresponding Stasheff polytope. Furthermore at n = 12, the cluster algebra and the selection of theX-coordinates in special2Dkinematics replicates the cluster algebra and the selection of X-coordinates of the n = 6 two-loop MHV amplitude in 4D kinematics. (orig.)

Uranium enrichment plans

International Nuclear Information System (INIS)

Thomas, D.C.; Gagne, R.W.

1978-01-01

The following topics are covered: the status of the Government's existing uranium enrichment services contracts, natural uranium requirements based on the latest contract information, uncertainty in predicting natural uranium requirements based on uranium enrichment contracts, and domestic and foreign demand assumed in enrichment planning

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.

Global aspects of stream evolution in the solar wind

International Nuclear Information System (INIS)

Gosling, J.T.

1984-01-01

A spatially variable coronal expansion, when coupled with solar rotation, leads to the formation of high speed solar wind streams which evolve considerably with increasing heliocentric distance. Initially the streams steepen for simple kinematic reasons, but this steepening is resisted by pressure forces, leading eventually to the formation of forward-reverse shock pairs in the distant heliosphere. The basic physical processes responsible for stream steepening an evolution are explored and model calculations are compared with actual spacecraft observations of the process. The solar wind stream evolution problem is relatively well understood both observationally and theoretically. Tools developed in achieving this understanding should be applicable to other astrophysical systems where a spatially or temporally variable outflow is associated with a rotating object. 27 references, 13 figures

Evolution of truncated moments of singlet parton distributions

International Nuclear Information System (INIS)

Forte, S.; Magnea, L.; Piccione, A.; Ridolfi, G.

2001-01-01

We define truncated Mellin moments of parton distributions by restricting the integration range over the Bjorken variable to the experimentally accessible subset x 0 ≤x≤1 of the allowed kinematic range 0≤x≤1. We derive the evolution equations satisfied by truncated moments in the general (singlet) case in terms of an infinite triangular matrix of anomalous dimensions which couple each truncated moment to all higher moments with orders differing by integers. We show that the evolution of any moment can be determined to arbitrarily good accuracy by truncating the system of coupled moments to a sufficiently large but finite size, and show how the equations can be solved in a way suitable for numerical applications. We discuss in detail the accuracy of the method in view of applications to precision phenomenology

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

Directory of Open Access Journals (Sweden)

Emil Dale Bjoerlykhaug

2018-01-01

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

The kinematics of machinery outlines of a theory of machines

CERN Document Server

Reuleaux, Franz

2012-01-01

A classic on the kinematics of machinery, this volume was written by the Father of Kinematics. Reuleaux writes with authority and precision, developing the subject from its fundamentals. 450 figures. 1876 edition.

Lingual Kinematics during Rapid Syllable Repetition in Parkinson's Disease

Science.gov (United States)

Wong, Min Ney; Murdoch, Bruce E.; Whelan, Brooke-Mai

2012-01-01

Background: Rapid syllable repetition tasks are commonly used in the assessment of motor speech disorders. However, little is known about the articulatory kinematics during rapid syllable repetition in individuals with Parkinson's disease (PD). Aims: To investigate and compare lingual kinematics during rapid syllable repetition in dysarthric…

Kinematics and resolution at future ep colliders

International Nuclear Information System (INIS)

Bluemlein, J.; Klein, M.

1992-01-01

Limitations due to resolution and kinematics are discussed of the (Q 2 , x) range accessible with electron-proton colliders after HERA. For the time after HERA one may think of two electron-proton colliders: an asymmetric energy machine and a rather symmetric one. Both colliders are compared here in order to study the influence of the different E l /E p ratios on the accessible kinematic range which is restricted due to angular coverage, finite detector resolution and calibration uncertainties

Other enrichment related contracts

International Nuclear Information System (INIS)

Hall, J.C.

1978-01-01

In addition to long-term enrichment contracts, DOE has other types of contracts: (1) short-term, fixed-commitment enrichment contract; (2) emergency sales agreement for enriched uranium; (3) feed material lease agreement; (4) enriched uranium storage agreement; and (5) feed material usage agreement

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.

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...

On the Evolution of Helium in Blue Compact Galaxies

International Nuclear Information System (INIS)

Fields, B.D.; Olive, K.A.

1998-01-01

We discuss the chemical evolution of dwarf irregular and blue compact galaxies in light of recent data, new stellar yields, and chemical evolution models. We examine the abundance data for evidence of H ii region self-enrichment effects, which would lead to correlations in the scatter of helium, nitrogen, and oxygen abundances around their mean trends. The observed helium abundance trends show no such correlations, although the nitrogen-oxygen trend does show strong evidence for real scatter beyond observational error. We construct simple models for the chemical evolution of these galaxies, using the most recent yields of 4 He, C, N, and O in intermediate- and high-mass stars. The effects of galactic outflows, which can arise both from bulk heating and evaporation of the interstellar medium and from the partial escape of enriched supernova ejecta are included. In agreement with other studies, we find that supernova-enriched outflows can roughly reproduce the observed He, C, N, and O trends; however, in models that fit N versus O, the slopes ΔY/ΔO and ΔY/ΔN consistently fall more than 2 σ below the fit to observations. We discuss the role of the models and their uncertainties in the extrapolation of primordial helium from the data. We also explore the model dependence arising from nucleosynthesis uncertainties associated with nitrogen yields in intermediate-mass stars, the fate of 8 endash 11 M circle-dot stars, and massive star winds. copyright copyright 1998. The American Astronomical Society

Augmented kinematic feedback from haptic virtual reality for dental skill acquisition.

Science.gov (United States)

Suebnukarn, Siriwan; Haddawy, Peter; Rhienmora, Phattanapon; Jittimanee, Pannapa; Viratket, Piyanuch

2010-12-01

We have developed a haptic virtual reality system for dental skill training. In this study we examined several kinds of kinematic information about the movement provided by the system supplement knowledge of results (KR) in dental skill acquisition. The kinematic variables examined involved force utilization (F) and mirror view (M). This created three experimental conditions that received augmented kinematic feedback (F, M, FM) and one control condition that did not (KR-only). Thirty-two dental students were randomly assigned to four groups. Their task was to perform access opening on the upper first molar with the haptic virtual reality system. An acquisition session consisted of two days of ten trials of practice in which augmented kinematic feedback was provided for the appropriate experimental conditions after each trial. One week after, a retention test consisting of two trials without augmented feedback was completed. The results showed that the augmented kinematic feedback groups had larger mean performance scores than the KR-only group in Day 1 of the acquisition and retention sessions (ANOVA, p0.05). The trends in acquisition and retention sessions suggest that the augmented kinematic feedback can enhance the performance earlier in the skill acquisition and retention sessions.

Enhancer Evolution across 20 Mammalian Species

Science.gov (United States)

Villar, Diego; Berthelot, Camille; Aldridge, Sarah; Rayner, Tim F.; Lukk, Margus; Pignatelli, Miguel; Park, Thomas J.; Deaville, Robert; Erichsen, Jonathan T.; Jasinska, Anna J.; Turner, James M.A.; Bertelsen, Mads F.; Murchison, Elizabeth P.; Flicek, Paul; Odom, Duncan T.

2015-01-01

Summary The mammalian radiation has corresponded with rapid changes in noncoding regions of the genome, but we lack a comprehensive understanding of regulatory evolution in mammals. Here, we track the evolution of promoters and enhancers active in liver across 20 mammalian species from six diverse orders by profiling genomic enrichment of H3K27 acetylation and H3K4 trimethylation. We report that rapid evolution of enhancers is a universal feature of mammalian genomes. Most of the recently evolved enhancers arise from ancestral DNA exaptation, rather than lineage-specific expansions of repeat elements. In contrast, almost all liver promoters are partially or fully conserved across these species. Our data further reveal that recently evolved enhancers can be associated with genes under positive selection, demonstrating the power of this approach for annotating regulatory adaptations in genomic sequences. These results provide important insight into the functional genetics underpinning mammalian regulatory evolution. PMID:25635462

Sex Differences in Tibiocalcaneal Kinematics

Directory of Open Access Journals (Sweden)

Sinclair Jonathan

2014-08-01

Full Text Available Purpose. Female runners typically suffer more from chronic running injuries than age-matched males, although the exact biome-chanical mechanisms behind the increased susceptibility of female runners are unknown. This study aimed to compare sex differences in tibiocalcaneal kinematics during the stance phase of running. Methods. Twenty male and twenty female participants ran at 4.0 m · s–1. Tibiocalcaneal kinematics were measured using an eight-camera motion analysis system and compared using independent samples t tests. Results. Peak eversion and tibial internal rotation angles were shown to be significantly greater in female runners. Conclusions. based on these observations, it was determined that female runners may be at increased risk from chronic injury development in relation to excessive tibiocalcaneal motions in the coronal and transverse planes.

The evolution of the elements

International Nuclear Information System (INIS)

Williams, P.M.

1978-01-01

It is believed that only the lightest elements, hydrogen and helium, were created during the 'Big Bang' origin of the Universe and that all heavier elements were synthesized by nuclear reactions in stars, the interstellar medium and possibly in 'little bangs' in the nuclei of galaxies. The composition of the interstellar medium has evolved through enrichment by processed material shed by evolving stars and the composition of the Solar System reflects that of the interstellar medium at the time of its formation. Differentiation processes during the evolution of the Solar System and individual planets account for the different compositions of the Sun and the planets. The measurement of the abundance distribution of the elements has become a very powerful tool in the elucidation of the evolution of the Solar System, stars and the Galaxy. This review attempts to trace the formation of the elements in stars and their subsequent evolution. (author)

Examining Acoustic and Kinematic Measures of Articulatory Working Space: Effects of Speech Intensity.

Science.gov (United States)

Whitfield, Jason A; Dromey, Christopher; Palmer, Panika

2018-04-18

The purpose of this study was to examine the effect of speech intensity on acoustic and kinematic vowel space measures and conduct a preliminary examination of the relationship between kinematic and acoustic vowel space metrics calculated from continuously sampled lingual marker and formant traces. Young adult speakers produced 3 repetitions of 2 different sentences at 3 different loudness levels. Lingual kinematic and acoustic signals were collected and analyzed. Acoustic and kinematic variants of several vowel space metrics were calculated from the formant frequencies and the position of 2 lingual markers. Traditional metrics included triangular vowel space area and the vowel articulation index. Acoustic and kinematic variants of sentence-level metrics based on the articulatory-acoustic vowel space and the vowel space hull area were also calculated. Both acoustic and kinematic variants of the sentence-level metrics significantly increased with an increase in loudness, whereas no statistically significant differences in traditional vowel-point metrics were observed for either the kinematic or acoustic variants across the 3 loudness conditions. In addition, moderate-to-strong relationships between the acoustic and kinematic variants of the sentence-level vowel space metrics were observed for the majority of participants. These data suggest that both kinematic and acoustic vowel space metrics that reflect the dynamic contributions of both consonant and vowel segments are sensitive to within-speaker changes in articulation associated with manipulations of speech intensity.

THE STELLAR AND GAS KINEMATICS OF THE LITTLE THINGS DWARF IRREGULAR GALAXY NGC 1569

International Nuclear Information System (INIS)

Johnson, Megan; Hunter, Deidre A.; Zhang, Hong-Xin; Herrmann, Kimberly; Oh, Se-Heon; Elmegreen, Bruce; Brinks, Elias; Tollerud, Erik

2012-01-01

In order to understand the formation and evolution of Magellanic-type dwarf irregular (dIm) galaxies, one needs to understand their three-dimensional structure. We present measurements of the stellar velocity dispersion in NGC 1569, a nearby post-starburst dIm galaxy. The stellar vertical velocity dispersion, σ z , coupled with the maximum rotational velocity derived from H I observations, V max , gives a measure of how kinematically hot the galaxy is, and, therefore, indicates its structure. We conclude that the stars in NGC 1569 are in a thick disk with a V max /σ z = 2.4 ± 0.7. In addition to the structure, we analyze the ionized gas kinematics from O III observations along the morphological major axis. These data show evidence for outflow from the inner starburst region and a potential expanding shell near supermassive star cluster (SSC) A. When compared to the stellar kinematics, the velocity dispersion of the stars increases in the region of SSC A supporting the hypothesis of an expanding shell. The stellar kinematics closely follow the motion of the gas. Analysis of high-resolution H I data clearly reveals the presence of an H I cloud that appears to be impacting the eastern edge of NGC 1569. Also, an ultra-dense H I cloud can be seen extending to the west of the impacting H I cloud. This dense cloud is likely the remains of a dense H I bridge that extended through what is now the central starburst area. The impacting H I cloud was the catalyst for the starburst, thus turning the dense gas into stars over a short timescale, ∼1 Gyr. We performed a careful study of the spectral energy distribution using infrared, optical, and ultraviolet photometry, producing a state-of-the-art mass model for the stellar disk. This mass modeling shows that stars dominate the gravitational potential in the inner 1 kpc. The dynamical mass of NGC 1569, derived from V max , shows that the disk may be dark matter deficient in the inner region, although, when compared to the

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.

On-Line Enrichment Monitor for UF{sub 6} Gas Centrifuge Enrichment Plant

Energy Technology Data Exchange (ETDEWEB)

Ianakiev, K. D.; Boyer, B.; Favalli, A.; Goda, J. M.; Hill, T.; Keller, C.; Lombardi, M.; Paffett, M.; MacArthur, D. W.; McCluskey, C.; Moss, C. E.; Parker, R.; Smith, M. K.; Swinhoe, M. T. [Los Alamos National Laboratory, Los Alamos (United States)

2012-06-15

This paper is a continuation of the Advanced Enrichment Monitoring Technology for UF{sub 6} Gas Centrifuge Enrichment Plant (GCEP) work, presented in the 2010 IAEA Safeguards Symposium. Here we will present the system architecture for a planned side-by-side field trial test of passive (186-keV line spectroscopy and pressure-based correction for UF{sub 6} gas density) and active (186-keV line spectroscopy and transmission measurement based correction for UF{sub 6} gas density) enrichment monitoring systems in URENCO's enrichment plant in Capenhurst. Because the pressure and transmission measurements of UF{sub 6} are complementary, additional information on the importance of the presence of light gases and the UF{sub 6} gas temperature can be obtained by cross-correlation between simultaneous measurements of transmission, pressure and 186-keV intensity. We will discuss the calibration issues and performance in the context of accurate, on-line enrichment measurement. It is hoped that a simple and accurate on-line enrichment monitor can be built using the UF{sub 6} gas pressure provided by the Operator, based on online mass spectrometer calibration, assuming a negligible (a small fraction of percent) contribution of wall deposits. Unaccounted-for wall deposits present at the initial calibration will lead to unwanted sensitivity to changes in theUF{sub 6} gas pressure and thus to error in the enrichment results. Because the accumulated deposits in the cascade header pipe have been identified as an issue for Go/No Go measurements with the Cascade Header Enrichment Monitor (CHEM) and Continuous Enrichment Monitor (CEMO), it is important to explore their effect. Therefore we present the expected uncertainty on enrichment measurements obtained by propagating the errors introduced by deposits, gas density, etc. and will discuss the options for a deposit correction during initial calibration of an On-Line Enrichment Monitor (OLEM).

The Gaia-ESO Survey: Lithium enrichment histories of the Galactic thick and thin disc

Science.gov (United States)

Fu, X.; Romano, D.; Bragaglia, A.; Mucciarelli, A.; Lind, K.; Delgado Mena, E.; Sousa, S. G.; Randich, S.; Bressan, A.; Sbordone, L.; Martell, S.; Korn, A. J.; Abia, C.; Smiljanic, R.; Jofré, P.; Pancino, E.; Tautvaišienė, G.; Tang, B.; Magrini, L.; Lanzafame, A. C.; Carraro, G.; Bensby, T.; Damiani, F.; Alfaro, E. J.; Flaccomio, E.; Morbidelli, L.; Zaggia, S.; Lardo, C.; Monaco, L.; Frasca, A.; Donati, P.; Drazdauskas, A.; Chorniy, Y.; Bayo, A.; Kordopatis, G.

2018-02-01

Lithium abundance in most of the warm metal-poor main sequence stars shows a constarnt plateau (A(Li) 2.2 dex) and then the upper envelope of the lithium vs. metallicity distribution increases as we approach solar metallicity. Meteorites, which carry information about the chemical composition of the interstellar medium (ISM) at the solar system formation time, show a lithium abundance A(Li) 3.26 dex. This pattern reflects the Li enrichment history of the ISM during the Galaxy lifetime. After the initial Li production in big bang nucleosynthesis, the sources of the enrichment include asymptotic giant branch (AGB) stars, low-mass red giants, novae, type II supernovae, and Galactic cosmic rays. The total amount of enriched Li is sensitive to the relative contribution of these sources. Thus different Li enrichment histories are expected in the Galactic thick and thin disc. We investigate the main sequence stars observed with UVES in Gaia-ESO Survey iDR4 catalogue and find a Li-anticorrelation independent of [Fe/H], Teff, and log(g). Since in stellar evolution different α enhancements at the same metallicity do not lead to a measurable Li abundance change, the anticorrelation indicates that more Li is produced during the Galactic thin disc phase than during the Galactic thick disc phase. We also find a correlation between the abundance of Li and s-process elements Ba and Y, and they both decrease above the solar metallicity, which can be explained in the framework of the adopted Galactic chemical evolution models. The full Table 1 is only available at the CDS via anonymous ftp to http://cdsarc.u-strasbg.fr (http://130.79.128.5) or via http://cdsarc.u-strasbg.fr/viz-bin/qcat?J/A+A/610/A38

Characterization of oxygen dimer-enriched silicon detectors

CERN Document Server

Boisvert, V; Moll, M; Murin, L I; Pintilie, I

2005-01-01

Various types of silicon material and silicon p+n diodes have been treated to increase the concentration of the oxygen dimer (O2i) defect. This was done by exposing the bulk material and the diodes to 6 MeV electrons at a temperature of about 350 °C. FTIR spectroscopy has been performed on the processed material confirming the formation of oxygen dimer defects in Czochralski silicon pieces. We also show results from TSC characterization on processed diodes. Finally, we investigated the influence of the dimer enrichment process on the depletion voltage of silicon diodes and performed 24 GeV/c proton irradiations to study the evolution of the macroscopic diode characteristics as a function of fluence.

Impact of uncertain reference-frame motions in plate kinematic reconstructions

DEFF Research Database (Denmark)

Iaffaldano, Giampiero; Stein, Seth

2017-01-01

Geoscientists infer past plate motions, which serve as fundamental constraints for a range of studies, from observations of magnetic isochrons as well as hotspots tracks on the ocean floor and, for stages older than the Cretaceous, from paleomagnetic data. These observations effectively represent...... time-integrals of past plate motions but, because they are made at present, yield plate kinematics naturally tied to a present-day reference-frame, which may be another plate or a hotspots system. These kinematics are therefore different than those occurred at the time when the rocks acquired...... – in a temporal sense – and prone to noise. This limitation is commonly perceived to hamper the correction of plate kinematic reconstructions for RFAMs, but the extent to which this may be the case has not been explored. Here we assess the impact of uncertain RFAMs on kinematic reconstructions using synthetic...

Evolution equation for the shape function in the parton model approach to inclusive B decays

International Nuclear Information System (INIS)

Baek, Seungwon; Lee, Kangyoung

2005-01-01

We derive an evolution equation for the shape function of the b quark in an analogous way to the Altarelli-Parisi equation by incorporating the perturbative QCD correction to the inclusive semileptonic decays of the B meson. Since the parton picture works well for inclusive B decays due to the heavy mass of the b quark, the scaling feature manifests and the decay rate may be expressed by a single structure function describing the light-cone distribution of the b quark apart from the kinematic factor. The evolution equation introduces a q 2 dependence of the shape function and violates the scaling properties. We solve the evolution equation and discuss the phenomenological implication.

Scattering forms and the positive geometry of kinematics, color and the worldsheet

Science.gov (United States)

Arkani-Hamed, Nima; Bai, Yuntao; He, Song; Yan, Gongwang

2018-05-01

The search for a theory of the S-Matrix over the past five decades has revealed surprising geometric structures underlying scattering amplitudes ranging from the string worldsheet to the amplituhedron, but these are all geometries in auxiliary spaces as opposed to the kinematical space where amplitudes actually live. Motivated by recent advances providing a reformulation of the amplituhedron and planar N = 4 SYM amplitudes directly in kinematic space, we propose a novel geometric understanding of amplitudes in more general theories. The key idea is to think of amplitudes not as functions, but rather as differential forms on kinematic space. We explore the resulting picture for a wide range of massless theories in general spacetime dimensions. For the bi-adjoint ϕ 3 scalar theory, we establish a direct connection between its "scattering form" and a classic polytope — the associahedron — known to mathematicians since the 1960's. We find an associahedron living naturally in kinematic space, and the tree level amplitude is simply the "canonical form" associated with this "positive geometry". Fundamental physical properties such as locality and unitarity, as well as novel "soft" limits, are fully determined by the combinatorial geometry of this polytope. Furthermore, the moduli space for the open string worldsheet has also long been recognized as an associahedron. We show that the scattering equations act as a diffeomorphism between the interior of this old "worldsheet associahedron" and the new "kinematic associahedron", providing a geometric interpretation and simple conceptual derivation of the bi-adjoint CHY formula. We also find "scattering forms" on kinematic space for Yang-Mills theory and the Non-linear Sigma Model, which are dual to the fully color-dressed amplitudes despite having no explicit color factors. This is possible due to a remarkable fact—"Color is Kinematics"— whereby kinematic wedge products in the scattering forms satisfy the same Jacobi

Interactive inverse kinematics for human motion estimation

DEFF Research Database (Denmark)

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

2009-01-01

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

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.

Kinematic and Dynamic Analysis of a Lower Limb Exoskeleton

OpenAIRE

Tawakal Hasnain Baluch; Adnan Masood; Javaid Iqbal; Umer Izhar; Umar Shahbaz Khan

2012-01-01

This paper will provide the kinematic and dynamic analysis of a lower limb exoskeleton. The forward and inverse kinematics of proposed exoskeleton is performed using Denevit and Hartenberg method. The torques required for the actuators will be calculated using Lagrangian formulation technique. This research can be used to design the control of the proposed exoskeleton.

Uranium Enrichment, an overview

International Nuclear Information System (INIS)

Coates, J.H.

1994-01-01

This general presentation on uranium enrichment will be followed by lectures on more specific topics including descriptions of enrichment processes and assessments of the prevailing commercial and industrial situations. I shall therefore avoid as much as possible duplications with these other lectures, and rather dwell on: some theoretical aspects of enrichment in general, underlying the differences between statistical and selective processes, a review and comparison between enrichment processes, remarks of general order regarding applications, the proliferation potential of enrichment. It is noteworthy that enrichment: may occur twice in the LWR fuel cycle: first by enriching natural uranium, second by reenriching uranium recovered from reprocessing, must meet LWR requirements, and in particular higher assays required by high burn up fuel elements, bears on the structure of the entire front part of the fuel cycle, namely in the conversion/reconversion steps only involving UF 6 for the moment. (author). tabs., figs., 4 refs

Scapular kinematics during manual wheelchair propulsion in able-bodied participants

NARCIS (Netherlands)

Bekker, Michel J.; Vegter, Riemer J.K.; van der Scheer, Jan W.; Hartog, Johanneke; de Groot, Sonja; de Vries, Wiebe; Arnet, Ursina; van der Woude, Lucas H.V.; Veeger, Dirkjan (.H.E.J)

Background: Altered scapular kinematics have been associated with shoulder pain and functional limitations. To understand kinematics in persons with spinal cord injury during manual handrim wheelchair propulsion, a description of normal scapular behaviour in able-bodied persons during this specific

Scapular kinematics during manual wheelchair propulsion in able-bodied participants

NARCIS (Netherlands)

Bekker, Michel J; Vegter, Riemer J K; van der Scheer, Jan W; Hartog, Johanneke; de Groot, Sonja; de Vries, Wiebe; Arnet, Ursina; van der Woude, Lucas H V; Veeger, Dirkjan H E J

BACKGROUND: Altered scapular kinematics have been associated with shoulder pain and functional limitations. To understand kinematics in persons with spinal cord injury during manual handrim wheelchair propulsion, a description of normal scapular behaviour in able-bodied persons during this specific

Kinematic Fitting of Detached Vertices

Energy Technology Data Exchange (ETDEWEB)

Mattione, Paul [Rice Univ., Houston, TX (United States)

2007-05-01

The eg3 experiment at the Jefferson Lab CLAS detector aims to determine the existence of the $\\Xi_{5}$ pentaquarks and investigate the excited $\\Xi$ states. Specifically, the exotic $\\Xi_{5}^{--}$ pentaquark will be sought by first reconstructing the $\\Xi^{-}$ particle through its weak decays, $\\Xi^{-}\\to\\pi^{-}\\Lambda$ and $\\Lambda\\to\\pi^{-}$. A kinematic fitting routine was developed to reconstruct the detached vertices of these decays, where confidence level cuts on the fits are used to remove background events. Prior to fitting these decays, the exclusive reaction $\\gamma D\\rightarrow pp\\pi^{-}$ was studied in order to correct the track measurements and covariance matrices of the charged particles. The $\\Lambda\\rightarrow p\\pi^{-}$ and $\\Xi^{-}\\to\\pi^{-}\\Lambda$ decays were then investigated to demonstrate that the kinematic fitting routine reconstructs the decaying particles and their detached vertices correctly.

Sex Differences in Anthropometrics and Heading Kinematics Among Division I Soccer Athletes.

Science.gov (United States)

Bretzin, Abigail C; Mansell, Jamie L; Tierney, Ryan T; McDevitt, Jane K

Soccer players head the ball repetitively throughout their careers; this is also a potential mechanism for a concussion. Although not all soccer headers result in a concussion, these subconcussive impacts may impart acceleration, deceleration, and rotational forces on the brain, leaving structural and functional deficits. Stronger neck musculature may reduce head-neck segment kinematics. The relationship between anthropometrics and soccer heading kinematics will not differ between sexes. The relationship between anthropometrics and soccer heading kinematics will not differ between ball speeds. Pilot, cross-sectional design. Level 3. Division I soccer athletes (5 male, 8 female) were assessed for head-neck anthropometric and neck strength measurements in 6 directions (ie, flexion, extension, right and left lateral flexions and rotations). Participants headed the ball 10 times (25 or 40 mph) while wearing an accelerometer secured to their head. Kinematic measurements (ie, linear acceleration and rotational velocity) were recorded at 2 ball speeds. Sex differences were observed in neck girth ( t = 5.09, P soccer heading kinematics for sex and ball speeds. Neck girth and neck strength are factors that may limit head impact kinematics.

THE HEIGHT EVOLUTION OF THE ''TRUE'' CORONAL MASS EJECTION MASS DERIVED FROM STEREO COR1 AND COR2 OBSERVATIONS

International Nuclear Information System (INIS)

Bein, B. M.; Temmer, M.; Veronig, A. M.; Utz, D.; Vourlidas, A.

2013-01-01

Using combined STEREO-A and STEREO-B EUVI, COR1, and COR2 data, we derive deprojected coronal mass ejection (CME) kinematics and CME ''true'' mass evolutions for a sample of 25 events that occurred during 2007 December to 2011 April. We develop a fitting function to describe the CME mass evolution with height. The function considers both the effect of the coronagraph occulter, at the beginning of the CME evolution, and an actual mass increase. The latter becomes important at about 10-15 R ☉ and is assumed to mostly contribute up to 20 R ☉ . The mass increase ranges from 2% to 6% per R ☉ and is positively correlated to the total CME mass. Due to the combination of COR1 and COR2 mass measurements, we are able to estimate the ''true'' mass value for very low coronal heights ( ☉ ). Based on the deprojected CME kinematics and initial ejected masses, we derive the kinetic energies and propelling forces acting on the CME in the low corona ( ☉ ). The derived CME kinetic energies range between 1.0-66 × 10 23 J, and the forces range between 2.2-510 × 10 14 N.

Kinematic measurements using an infrared sensor

International Nuclear Information System (INIS)

Marinho, F; Paulucci, L

2016-01-01

The use of an infrared sensor as a new alternative to measure position as a function of time in kinematic experiments was investigated using a microcontroller as the data acquisition and control device. These are versatile sensors that offer advantages over typical ultrasound devices. The setup described in this paper enables students to develop their own experiments, promoting opportunities for learning physical concepts such as the different types of forces that can act on a body (gravitational, elastic, drag, etc) and the resulting types of movements with good sensitivity within the 4–30 cm range. As a proof of concept we also present the application of a prototype designed to record the kinematics of mass-spring systems. (paper)

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.

Outburst flood evolution at Russell Glacier, western Greenland

DEFF Research Database (Denmark)

Carrivick, Jonathan; Russell, Andrew; Ingeman-Nielsen, Thomas

2013-01-01

of the evolution of a bedrockchannelled outburst flood. Channel topography was obtained from digitised aerial photographs, a 5m grid resolution DEM and bathymetric surveys. Flood inundation was measured in the field from dGPS measurements. Flood evolution was analysed with application of a numerical model. Novel...... to considerable flow recirculation during the rising stage of the flood, and after overtopping of the outlet are moderated in terms of peak discharge; (ii) may have a limited geomorphological impact if sediment supply due to antecedent geomorphological activity is limited; (iii) can have kinematic waves...... that are introduced to a flood via hydraulic ponding and these waves most likely account for distinctive ‘hydropeaking’, (iv) can have a hydrograph that evolves in shape down channel and through time in a complex manner dependant on channel topography, and (v) may develop a partitioning of flow regimes...

An introduction to the mathematics of ocular kinematics

Directory of Open Access Journals (Sweden)

Graeme E MacKenzie

2006-12-01

Full Text Available The research surrounding ocular kinematics has widespread applications including the study of binocular vision, virtual reality and the detec-tion of ocular and neurologic pathologies. This field promises to have a significant impact on optometric diagnostic techniques. This paper in-troduces the terminology used in the description of eye rotations and explores a number of the mathematical approaches pertinent to the topic of ocular kinematics.

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.

Effects of robotically modulating kinematic variability on motor skill learning and motivation.

Science.gov (United States)

Duarte, Jaime E; Reinkensmeyer, David J

2015-04-01

It is unclear how the variability of kinematic errors experienced during motor training affects skill retention and motivation. We used force fields produced by a haptic robot to modulate the kinematic errors of 30 healthy adults during a period of practice in a virtual simulation of golf putting. On day 1, participants became relatively skilled at putting to a near and far target by first practicing without force fields. On day 2, they warmed up at the task without force fields, then practiced with force fields that either reduced or augmented their kinematic errors and were finally assessed without the force fields active. On day 3, they returned for a long-term assessment, again without force fields. A control group practiced without force fields. We quantified motor skill as the variability in impact velocity at which participants putted the ball. We quantified motivation using a self-reported, standardized scale. Only individuals who were initially less skilled benefited from training; for these people, practicing with reduced kinematic variability improved skill more than practicing in the control condition. This reduced kinematic variability also improved self-reports of competence and satisfaction. Practice with increased kinematic variability worsened these self-reports as well as enjoyment. These negative motivational effects persisted on day 3 in a way that was uncorrelated with actual skill. In summary, robotically reducing kinematic errors in a golf putting training session improved putting skill more for less skilled putters. Robotically increasing kinematic errors had no performance effect, but decreased motivation in a persistent way. Copyright © 2015 the American Physiological Society.

Genetic Markers of Human Evolution Are Enriched in Schizophrenia

DEFF Research Database (Denmark)

Srinivasan, Saurabh; Bettella, Francesco; Mattingsdal, Morten

2016-01-01

BACKGROUND: Why schizophrenia has accompanied humans throughout our history despite its negative effect on fitness remains an evolutionary enigma. It is proposed that schizophrenia is a by-product of the complex evolution of the human brain and a compromise for humans' language, creative thinking...... and ancillary information on genetic variants. We used information from the evolutionary proxy measure called the Neanderthal selective sweep (NSS) score. RESULTS: Gene loci associated with schizophrenia are significantly (p = 7.30 × 10(-9)) more prevalent in genomic regions that are likely to have undergone...... phenotypes. The false discovery rate conditional on the evolutionary proxy points to 27 candidate schizophrenia susceptibility loci, 12 of which are associated with schizophrenia and other psychiatric disorders or linked to brain development. CONCLUSIONS: Our results suggest that there is a polygenic overlap...

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

Energy Technology Data Exchange (ETDEWEB)

Unseren, M.A.

1993-04-01

The report discusses the orientation tracking control problem for a kinematically redundant, autonomous manipulator moving in a three dimensional workspace. The orientation error is derived using the normalized quaternion error method of Ickes, the Luh, Walker, and Paul error method, and a method suggested here utilizing the Rodrigues parameters, all of which are expressed in terms of normalized quaternions. The analytical time derivatives of the orientation errors are determined. The latter, along with the translational velocity error, form a dosed loop kinematic velocity model of the manipulator using normalized quaternion and translational position feedback. An analysis of the singularities associated with expressing the models in a form suitable for solving the inverse kinematics problem is given. Two redundancy resolution algorithms originally developed using an open loop kinematic velocity model of the manipulator are extended to properly take into account the orientation tracking control problem. This report furnishes the necessary mathematical framework required prior to experimental implementation of the orientation tracking control schemes on the seven axis CESARm research manipulator or on the seven-axis Robotics Research K1207i dexterous manipulator, the latter of which is to be delivered to the Oak Ridge National Laboratory in 1993.

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

International Nuclear Information System (INIS)

Unseren, M.A.

1993-04-01

The report discusses the orientation tracking control problem for a kinematically redundant, autonomous manipulator moving in a three dimensional workspace. The orientation error is derived using the normalized quaternion error method of Ickes, the Luh, Walker, and Paul error method, and a method suggested here utilizing the Rodrigues parameters, all of which are expressed in terms of normalized quaternions. The analytical time derivatives of the orientation errors are determined. The latter, along with the translational velocity error, form a dosed loop kinematic velocity model of the manipulator using normalized quaternion and translational position feedback. An analysis of the singularities associated with expressing the models in a form suitable for solving the inverse kinematics problem is given. Two redundancy resolution algorithms originally developed using an open loop kinematic velocity model of the manipulator are extended to properly take into account the orientation tracking control problem. This report furnishes the necessary mathematical framework required prior to experimental implementation of the orientation tracking control schemes on the seven axis CESARm research manipulator or on the seven-axis Robotics Research K1207i dexterous manipulator, the latter of which is to be delivered to the Oak Ridge National Laboratory in 1993

Prey transport kinematics in Tupinambis teguixin and Varanus exanthematicus: conservation of feeding behavior in 'chemosensory-tongued' lizards.

Science.gov (United States)

Elias, J A; McBrayer, L D; Reilly, S M

2000-02-01

Although lizards have been predicted to show extensive intraoral prey-processing behaviors, quantitative analyses of the types of prey-processing behavior they demonstrate and of their kinematics have been limited. The more basal lizard lineages (Iguanians) have undergone some study, but the prey-processing repertoires of crown taxa have not been thoroughly examined and quantitative comparisons of behaviors within or among species have not been made. In this study, the prey transport behavior of the savannah monitor (Varanus exanthematicus) and gold tegu (Tupinambis teguixin) are described. Although these two lineages have independently evolved tongues that are highly specialized for chemoreception, we found that they share the same three distinct types of transport behavior. These behavior patterns are (i) a purely inertial transport, (ii) an inertial transport with use of the tongue, and (iii) a non-inertial lingual transport. The tongue is used extensively in both the inertial and the purely lingual transport behaviors. More than 75 % of all transport behaviors involved tongue movements. These species appear to exhibit a conservation of feeding kinematics compared with patterns known for basal lizards. A hypothesis for the evolution of inertial feeding is proposed.

Elementary introduction to relativistic kinematics

International Nuclear Information System (INIS)

Gerber, H.J.

1979-01-01

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

STRUCTURAL IDENTIFICATION OF DISTINCT INVERSIONS OF PLANAR KINEMATIC CHAINS

Directory of Open Access Journals (Sweden)

Dr. Shubhashis Sanyal

2011-12-01

Full Text Available 0 0 1 171 979 International Islamic University 8 2 1148 14.0 Normal 0 false false false EN-US JA X-NONE /* Style Definitions */ table.MsoNormalTable {mso-style-name:"Table Normal"; mso-tstyle-rowband-size:0; mso-tstyle-colband-size:0; mso-style-noshow:yes; mso-style-priority:99; mso-style-parent:""; mso-padding-alt:0cm 5.4pt 0cm 5.4pt; mso-para-margin:0cm; mso-para-margin-bottom:.0001pt; mso-pagination:widow-orphan; font-size:11.0pt; font-family:"Times New Roman";} Inversions are various structural possibilities of a kinematic chain. The number of inversions depends on the number of links of a kinematic chain. At the stage of structural synthesis, identification of distinct structural inversions of a particular type of kinematic chain is necessary. Various researchers have proposed methods for identification of distinct inversions. Present method based on Link joint connectivity is proposed to identify the distinct inversions of a planar kinematic chain. Method is tested successfully on single degree and multiple degree of freedom planar kinematic chains. ABSTRAK: Penyonsangan merupakan kebarangkalian pelbagai struktur suatu rangkaian kinematik. Jumlah songsangan bergantung kepada jumlah hubungan suatu rangkaian kinematik. Pada peringkat sintesis struktur, pengenalan songsangan struktur yang berbeza untuk suatu jenis rangkaian kinematik adalah perlu. Ramai penyelidik telah mencadangkan pelbagai kaedah pengenalan songsangan yang berbeza. Kaedah terkini berdasarkan hubungan kesambungan bersama telah dicadangkan untuk mengenalpasti songsangan yang berbeza dalam suatu satah rangkaian kinematik.

Uranium enrichment

International Nuclear Information System (INIS)

Mohrhauer, H.

1982-01-01

The separation of uranium isotopes in order to enrich the fuel for light water reactors with the light isotope U-235 is an important part of the nuclear fuel cycle. After the basic principals of isotope separation the gaseous diffusion and the centrifuge process are explained. Both these techniques are employed on an industrial scale. In addition a short review is given on other enrichment techniques which have been demonstrated at least on a laboratory scale. After some remarks on the present situation on the enrichment market the progress in the development and the industrial exploitation of the gas centrifuge process by the trinational Urenco-Centec organisation is presented. (orig.)

United States uranium enrichment policies

International Nuclear Information System (INIS)

Roberts, R.W.

1977-01-01

ERDA's uranium enrichment program policies governing the manner in which ERDA's enrichment complex is being operated and expanded to meet customer requirements for separative work, research and development activities directed at providing technology alternatives for future enrichment capacity, and establishing the framework for additional domestic uranium enrichment capacity to meet the domestic and foreign nuclear industry's growing demand for enrichment services are considered. The ERDA enrichment complex consists of three gaseous diffusion plants located in Oak Ridge, Tennessee; Paducah, Kentucky; and Portsmouth, Ohio. Today, these plants provide uranium enrichment services for commercial nuclear power generation. These enrichment services are provided under contracts between the Government and the utility customers. ERDA's program involves a major pilot plant cascade, and pursues an advanced isotope separation technique for the late 1980's. That the United States must develop additional domestic uranium enrichment capacity is discussed

Blueprint for domestic uranium enrichment

International Nuclear Information System (INIS)

1981-01-01

The AEC advisory committee on domestic production of uranium enrichment has studied for more than a year how to achieve the domestic enrichment of uranium by the construction and operation of a commercial enriching plant using centrifugal separation method, and the report was submitted to the Atomic Energy Commission on August 18, 1980. Japan has depended wholly on overseas services for her uranium enrichment needs, but the development of domestic enrichment has been carried on in parallel. The AEC decided to construct a uranium enrichment pilot plant using centrifuges, and it has been forwarded as a national project. The plant is operated by the Power Reactor and Nuclear Fuel Development Corp. since 1979. The capacity of the plant will be raised to approximately 75 ton SWU a year. The centrifuges already operated have provided the first delivery of fuel of about 1 ton for the ATR ''Fugen''. The demand-supply balance of uranium enrichment service, the significance of the domestic enrichment of uranium, the evaluation of uranium enrichment technology, the target for domestic enrichment plan, the measures to promote domestic uranium enrichment, and the promotion of the construction of a demonstration plant are reported. (Kako, I.)

Technical evolution and operation of French CO2 cooled reactors (UNGG)

International Nuclear Information System (INIS)

Berthion, Y.

1986-10-01

The technical evolution of the five French CO 2 cooled reactors (UNGG) from 1981 to 1986 needs to be outlined. These technical evolutions concerned the fuel element of Bugey 1 which is now slightly enriched, as well as the load reduction operation required by the grid. In addition work in underway to increase the safety at the two St Laurent units, or to repair the hot steel upper-structures of Chinon-3 unit

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.

Kinematic power corrections in off-forward hard reactions.

Science.gov (United States)

Braun, V M; Manashov, A N

2011-11-11

We develop a general approach to the calculation of kinematic corrections ∝t/Q(2), m(2)/Q(2) in hard processes which involve momentum transfer from the initial to the final hadron state. As the principal result, the complete expression is derived for the time-ordered product of two electromagnetic currents that includes all kinematic corrections to twist-four accuracy. The results are immediately applicable, e.g., to the studies of deeply virtual Compton scattering.

On the kinematics of a runaway Be star population

Science.gov (United States)

Boubert, D.; Evans, N. W.

2018-04-01

We explore the hypothesis that B type emission-line stars (Be stars) have their origin in mass-transfer binaries by measuring the fraction of runaway Be stars. We assemble the largest-to-date catalogue of 632 Be stars with 6D kinematics, exploiting the precise astrometry of the Tycho-Gaia Astrometric Solution (TGAS) from the first Gaia Data Release. Using binary stellar evolution simulations, we make predictions for the runaway and equatorial rotation velocities of a runaway Be star population. Accounting for observational biases, we calculate that if all classical Be stars originated through mass transfer in binaries, then 17.5% of the Be stars in our catalogue should be runaways. The remaining 82.5% should be in binaries with subdwarfs, white dwarfs or neutron stars, because those systems either remained bound post-supernova or avoided the supernova entirely. Using a Bayesian methodology, we compare the hypothesis that each Be star in our catalogue is a runaway to the null hypothesis that it is a member of the Milky Way disc. We find that 13.1^{+2.6}_{-2.4}% of the Be stars in our catalogue are runaways, and identify a subset of 40 high-probability runaways. We argue that deficiencies in our understanding of binary stellar evolution, as well as the degeneracy between velocity dispersion and number of runaway stars, can explain the slightly lower runaway fraction. We thus conclude that all Be stars could be explained by an origin in mass-transfer binaries. This conclusion is testable with the second Gaia data release (DR2).

Surgical gesture classification from video and kinematic data.

Science.gov (United States)

Zappella, Luca; Béjar, Benjamín; Hager, Gregory; Vidal, René

2013-10-01

Much of the existing work on automatic classification of gestures and skill in robotic surgery is based on dynamic cues (e.g., time to completion, speed, forces, torque) or kinematic data (e.g., robot trajectories and velocities). While videos could be equally or more discriminative (e.g., videos contain semantic information not present in kinematic data), they are typically not used because of the difficulties associated with automatic video interpretation. In this paper, we propose several methods for automatic surgical gesture classification from video data. We assume that the video of a surgical task (e.g., suturing) has been segmented into video clips corresponding to a single gesture (e.g., grabbing the needle, passing the needle) and propose three methods to classify the gesture of each video clip. In the first one, we model each video clip as the output of a linear dynamical system (LDS) and use metrics in the space of LDSs to classify new video clips. In the second one, we use spatio-temporal features extracted from each video clip to learn a dictionary of spatio-temporal words, and use a bag-of-features (BoF) approach to classify new video clips. In the third one, we use multiple kernel learning (MKL) to combine the LDS and BoF approaches. Since the LDS approach is also applicable to kinematic data, we also use MKL to combine both types of data in order to exploit their complementarity. Our experiments on a typical surgical training setup show that methods based on video data perform equally well, if not better, than state-of-the-art approaches based on kinematic data. In turn, the combination of both kinematic and video data outperforms any other algorithm based on one type of data alone. Copyright © 2013 Elsevier B.V. All rights reserved.

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...

Kinematic synthesis of a new 3D printing solution

Directory of Open Access Journals (Sweden)

Giberti Hermes

2016-01-01

The object of this article is the kinematic synthesis of a 5Dofs robot, based on two PKM machines, for additive manufacturing in order to compliant with the requirements of this new technology. Robot kinematics have been optimized by genetic algorithm in order to cover the required workspace and the design of the robot and outline of the control system are also given.

Three-loop evolution equation for flavor-nonsinglet operators in off-forward kinematics

Energy Technology Data Exchange (ETDEWEB)

Braun, V.M.; Strohmaier, M. [Regensburg Univ. (Germany). Inst. fuer Theoretische Physik; Manashov, A.N. [Regensburg Univ. (Germany). Inst. fuer Theoretische Physik; Hamburg Univ. (Germany). 1. Inst. fuer Theoretische Physik; Moch, S. [Hamburg Univ. (Germany). 1. Inst. fuer Theoretische Physik

2017-03-15

Using the approach based on conformal symmetry we calculate the three-loop (NNLO) contribution to the evolution equation for flavor-nonsinglet leading twist operators in the MS scheme. The explicit expression for the three-loop kernel is derived for the corresponding light-ray operator in coordinate space. The expansion in local operators is performed and explicit results are given for the matrix of the anomalous dimensions for the operators up to seven covariant derivatives. The results are directly applicable to the renormalization of the pion light-cone distribution amplitude and flavor-nonsinglet generalized parton distributions.

Factors associated with cervical kinematic impairments in patients with neck pain.

Science.gov (United States)

Treleaven, Julia; Chen, Xiaoqi; Sarig Bahat, Hilla

2016-04-01

Cervical kinematics have functional relevance and are important for assessment and management in patients with neck disorders. A better understanding of factors that might influence cervical kinematics is required. The aim of this study was to determine any relationships between altered kinematics to the symptoms and signs of sensorimotor impairments, neck pain and disability and fear of neck motion in people with neck pain. Kinematics were measured in 39 subjects with chronic neck pain using a customized virtual reality system. Range of cervical motion, mean and peak velocity, time to peak velocity percentage, number of velocity peaks and accuracy were derived. Correlations between these measures to self-reported (neck pain intensity, disability, fear of motion, dizziness, visual disturbances) and sensorimotor measures and regression analyses were conducted. Range and velocity of motion of cervical rotation appeared to be most related to visual disturbances and pain or dynamic balance. Nevertheless these relationships only explained about 30% of the variance of each measure. Signs and symptoms of sensorimotor dysfunction should be considered and monitored in the management of altered cervical rotation kinematics in patients with chronic neck disorders. Future research should consider the effects of addressing these factors on neck kinematics and vice versa to aid functional recovery in those with neck pain. Crown Copyright © 2015. Published by Elsevier Ltd. All rights reserved.

A multi-subject evaluation of uncertainty in anatomical landmark location on shoulder kinematic description.

Science.gov (United States)

Langenderfer, Joseph E; Rullkoetter, Paul J; Mell, Amy G; Laz, Peter J

2009-04-01

An accurate assessment of shoulder kinematics is useful for understanding healthy normal and pathological mechanics. Small variability in identifying and locating anatomical landmarks (ALs) has potential to affect reported shoulder kinematics. The objectives of this study were to quantify the effect of landmark location variability on scapular and humeral kinematic descriptions for multiple subjects using probabilistic analysis methods, and to evaluate the consistency in results across multiple subjects. Data from 11 healthy subjects performing humeral elevation in the scapular plane were used to calculate Euler angles describing humeral and scapular kinematics. Probabilistic analyses were performed for each subject to simulate uncertainty in the locations of 13 upper-extremity ALs. For standard deviations of 4 mm in landmark location, the analysis predicted Euler angle envelopes between the 1 and 99 percentile bounds of up to 16.6 degrees . While absolute kinematics varied with the subject, the average 1-99% kinematic ranges for the motion were consistent across subjects and sensitivity factors showed no statistically significant differences between subjects. The description of humeral kinematics was most sensitive to the location of landmarks on the thorax, while landmarks on the scapula had the greatest effect on the description of scapular elevation. The findings of this study can provide a better understanding of kinematic variability, which can aid in making accurate clinical diagnoses and refining kinematic measurement techniques.

Uranium enrichment. Enrichment processes

International Nuclear Information System (INIS)

Alexandre, M.; Quaegebeur, J.P.

2009-01-01

Despite the remarkable progresses made in the diversity and the efficiency of the different uranium enrichment processes, only two industrial processes remain today which satisfy all of enriched uranium needs: the gaseous diffusion and the centrifugation. This article describes both processes and some others still at the demonstration or at the laboratory stage of development: 1 - general considerations; 2 - gaseous diffusion: physical principles, implementation, utilisation in the world; 3 - centrifugation: principles, elementary separation factor, flows inside a centrifuge, modeling of separation efficiencies, mechanical design, types of industrial centrifuges, realisation of cascades, main characteristics of the centrifugation process; 4 - aerodynamic processes: vortex process, nozzle process; 5 - chemical exchange separation processes: Japanese ASAHI process, French CHEMEX process; 6 - laser-based processes: SILVA process, SILMO process; 7 - electromagnetic and ionic processes: mass spectrometer and calutron, ion cyclotron resonance, rotating plasmas; 8 - thermal diffusion; 9 - conclusion. (J.S.)

Promotion of uranium enrichment business

International Nuclear Information System (INIS)

Kurushima, Morihiro

1981-01-01

The Committee on Nuclear Power has studied on the basic nuclear power policy, establishing its five subcommittees, entrusted by the Ministry of Nternational Trade and Industry. The results of examination by the subcommittee on uranium enrichment business are given along with a report in this connection by the Committee. In order to establish the nuclear fuel cycle, the aspect of uranium enrichment is essential. The uranium enrichment by centrifugal process has proceeded steadily in Power Reactor and Nuclear Fuel Development Corporation. The following matters are described: the need for domestic uranium enrichment, the outlook for overseas enrichment services and the schedule for establishing domestic enrichment business, the current state of technology development, the position of the prototype enrichment plant, the course to be taken to establish enrichment business the main organization operating the prototype and commercial plants, the system of supplying centrifuges, the domestic conversion of natural uranium the subsidies for uranium enrichment business. (J.P.N.)

Hallux valgus surgery affects kinematic parameters during gait.

Science.gov (United States)

Klugarova, Jitka; Janura, Miroslav; Svoboda, Zdenek; Sos, Zdenek; Stergiou, Nicholas; Klugar, Miloslav

2016-12-01

The aim of our study was to compare spatiotemporal parameters and lower limb and pelvis kinematics during the walking in patients with hallux valgus before and after surgery and in relation to a control group. Seventeen females with hallux valgus, who underwent first metatarsal osteotomy, constituted our experimental group. The control group consisted of thirteen females. Kinematic data during walking were obtained using the Vicon MX system. Our results showed that hallux valgus before surgery affects spatiotemporal parameters and lower limb and pelvis kinematics during walking. Hallux valgus surgery further increased the differences that were present before surgery. Specifically after hallux valgus surgery, the walking speed decreased even more (p=0.09, η 2 =0.19) while step time increased (p=0.002, η 2 =0.44) on both legs. The maximum ankle plantar flexion of the operated leg during toe-off decreased to a greater extend (p=0.03, η 2 =0.26). The asymmetry in the hip and the pelvis movements in the frontal plane (present preoperatively) persisted after surgery. Hallux valgus is not an isolated problem of the first ray, which could be just surgically addressed by correcting the foot's alignment. It is a long-term progressive malfunction of the foot affecting the entire kinematic chain of the lower extremity. Copyright © 2016 Elsevier Ltd. All rights reserved.

The affect of the use of graphical materials on teaching kinematics

International Nuclear Information System (INIS)

Yener, D.

2005-01-01

In this study, a review of literature about graphical materials and kinematics was done. Preparing traditional questions supported by graphical materials on kinematics that applied to 119 first year students at secondary education mathematics department, and physics, chemistry and biology departments at Selcuk University Educational Faculty. The effect of the usage of graphical materials on teaching kinematics were searched. The data obtained from traditional questions and graphical questions were evaluated by using SPSS (Statistical Social Science for Package Program). At the end of this evaluation, it is obvious that if kinematics are taught with graphical materials, students can learn the subject better, thus, they solve the questions easierly and more rapidly. As a result, the students were more successful to solve the questions with graphical materials than traditional questions

Galaxy kinematics in the XMMU J2235-2557 cluster field at z 1.4

Science.gov (United States)

Pérez-Martínez, J. M.; Ziegler, B.; Verdugo, M.; Böhm, A.; Tanaka, M.

2017-09-01

Aims: The relationship between baryonic and dark components in galaxies varies with the environment and cosmic time. Galaxy scaling relations describe strong trends between important physical properties. A very important quantitative tool in case of spiral galaxies is the Tully-Fisher relation (TFR), which combines the luminosity of the stellar population with the characteristic rotational velocity (Vmax) taken as proxy for the total mass. In order to constrain galaxy evolution in clusters, we need measurements of the kinematic status of cluster galaxies at the starting point of the hierarchical assembly of clusters and the epoch when cosmic star formation peaks. Methods: We took spatially resolved slit FORS2 spectra of 19 cluster galaxies at z 1.4, and 8 additional field galaxies at 1 200 km s-1). This mild evolution may be driven by younger stellar populations (SP) of distant galaxies with respect to their local counterparts, and thus, an increasing luminosity is expected toward higher redshifts. However, the low-mass subsample (Vmax medium. Based on observations with the European Southern Observatory Very Large Telescope (ESO-VLT), observing run ID 091.B-0778(B).

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.

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.

From high enriched to low enriched uranium fuel in research reactors

Energy Technology Data Exchange (ETDEWEB)

Van Den Berghe, S.; Leenaers, A.; Koonen, E.; Moons, F.; Sannen, L. [Nuclear Materials Science Institute, SCK.CEN, Boeretang 200, B-2400 Mol (Belgium)

2010-07-01

Since the 1970's, global efforts have been going on to replace the high-enriched (>90% {sup 235}U), low-density UAlx research reactor fuel with high-density, low enriched (<20% {sup 235}U) replacements. This search is driven by the attempt to reduce the civil use of high-enriched material because of proliferation risks and terrorist threats. American initiatives, such as the Global Threat Reduction Initiative (GTRI) and the Reduced Enrichment for Research and Test Reactors (RERTR) program have triggered the development of reliable low-enriched fuel types for these reactors, which can replace the high enriched ones without loss of performance. Most success has presently been obtained with U{sub 3}Si{sub 2} dispersion fuel, which is currently used in many research reactors in the world. However, efforts to search for a replacement with even higher density, which will also allow the conversion of some high flux research reactors that currently cannot change to U{sub 3}Si{sub 2} (eg. BR2 in Belgium), have continued and are for the moment mainly directed towards the U(Mo) alloy fuel (7-10 w% Mo). This paper provides an overview of the past efforts and presents the current status of the U(Mo) development. (authors)

From high enriched to low enriched uranium fuel in research reactors

International Nuclear Information System (INIS)

Van Den Berghe, S.; Leenaers, A.; Koonen, E.; Moons, F.; Sannen, L.

2010-01-01

Since the 1970's, global efforts have been going on to replace the high-enriched (>90% 235 U), low-density UAlx research reactor fuel with high-density, low enriched ( 235 U) replacements. This search is driven by the attempt to reduce the civil use of high-enriched material because of proliferation risks and terrorist threats. American initiatives, such as the Global Threat Reduction Initiative (GTRI) and the Reduced Enrichment for Research and Test Reactors (RERTR) program have triggered the development of reliable low-enriched fuel types for these reactors, which can replace the high enriched ones without loss of performance. Most success has presently been obtained with U 3 Si 2 dispersion fuel, which is currently used in many research reactors in the world. However, efforts to search for a replacement with even higher density, which will also allow the conversion of some high flux research reactors that currently cannot change to U 3 Si 2 (eg. BR2 in Belgium), have continued and are for the moment mainly directed towards the U(Mo) alloy fuel (7-10 w% Mo). This paper provides an overview of the past efforts and presents the current status of the U(Mo) development. (authors)

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.

Phylogeny is a powerful tool for predicting plant biomass responses to nitrogen enrichment.

Science.gov (United States)

Wooliver, Rachel C; Marion, Zachary H; Peterson, Christopher R; Potts, Brad M; Senior, John K; Bailey, Joseph K; Schweitzer, Jennifer A

2017-08-01

Increasing rates of anthropogenic nitrogen (N) enrichment to soils often lead to the dominance of nitrophilic plant species and reduce plant diversity in natural ecosystems. Yet, we lack a framework to predict which species will be winners or losers in soil N enrichment scenarios, a framework that current literature suggests should integrate plant phylogeny, functional tradeoffs, and nutrient co-limitation. Using a controlled fertilization experiment, we quantified biomass responses to N enrichment for 23 forest tree species within the genus Eucalyptus that are native to Tasmania, Australia. Based on previous work with these species' responses to global change factors and theory on the evolution of plant resource-use strategies, we hypothesized that (1) growth responses to N enrichment are phylogenetically structured, (2) species with more resource-acquisitive functional traits have greater growth responses to N enrichment, and (3) phosphorus (P) limits growth responses to N enrichment differentially across species, wherein P enrichment increases growth responses to N enrichment more in some species than others. We built a hierarchical Bayesian model estimating effects of functional traits (specific leaf area, specific stem density, and specific root length) and P fertilization on species' biomass responses to N, which we then compared between lineages to determine whether phylogeny explains variation in responses to N. In concordance with literature on N limitation, a majority of species responded strongly and positively to N enrichment. Mean responses ranged three-fold, from 6.21 (E. pulchella) to 16.87 (E. delegatensis) percent increases in biomass per g N·m -2 ·yr -1 added. We identified a strong difference in responses to N between two phylogenetic lineages in the Eucalyptus subgenus Symphyomyrtus, suggesting that shared ancestry explains variation in N limitation. However, our model indicated that after controlling for phylogenetic non

Uranium enrichment by gas centrifuge

International Nuclear Information System (INIS)

Heriot, I.D.

1988-01-01

After recalling the physical principles and the techniques of centrifuge enrichment the report describes the centrifuge enrichment programmes of the various countries concerned and compares this technology with other enrichment technologies like gaseous diffusion, laser, aerodynamic devices and chemical processes. The centrifuge enrichment process is said to be able to replace with advantage the existing enrichment facilities in the short and medium term. Future prospects of the process are also described, like recycled uranium enrichment and economic improvements; research and development needs to achieve the economic prospects are also indicated. Finally the report takes note of the positive aspect of centrifuge enrichment as far as safeguards and nuclear safety are concerned. 27 figs, 113 refs

Derived enriched uranium market

International Nuclear Information System (INIS)

Rutkowski, E.

1996-01-01

The potential impact on the uranium market of highly enriched uranium from nuclear weapons dismantling in the Russian Federation and the USA is analyzed. Uranium supply, conversion, and enrichment factors are outlined for each country; inventories are also listed. The enrichment component and conversion components are expected to cause little disruption to uranium markets. The uranium component of Russian derived enriched uranium hexafluoride is unresolved; US legislation places constraints on its introduction into the US market

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...

Analysis of a closed-kinematic chain robot manipulator

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1988-01-01

Presented are the research results from the research grant entitled: Active Control of Robot Manipulators, sponsored by the Goddard Space Flight Center (NASA) under grant number NAG-780. This report considers a class of robot manipulators based on the closed-kinematic chain mechanism (CKCM). This type of robot manipulators mainly consists of two platforms, one is stationary and the other moving, and they are coupled together through a number of in-parallel actuators. Using spatial geometry and homogeneous transformation, a closed-form solution is derived for the inverse kinematic problem of the six-degree-of-freedom manipulator, built to study robotic assembly in space. Iterative Newton Raphson method is employed to solve the forward kinematic problem. Finally, the equations of motion of the above manipulators are obtained by employing the Lagrangian method. Study of the manipulator dynamics is performed using computer simulation whose results show that the robot actuating forces are strongly dependent on the mass and centroid locations of the robot links.

How the First Stars Regulated Star Formation. II. Enrichment by Nearby Supernovae

Energy Technology Data Exchange (ETDEWEB)

Chen, Ke-Jung [Division of Theoretical Astronomy, National Astronomical Observatory of Japan, Tokyo 181-8588 (Japan); Whalen, Daniel J. [Institute of Cosmology and Gravitation, Portsmouth University, Portsmouth (United Kingdom); Wollenberg, Katharina M. J.; Glover, Simon C. O.; Klessen, Ralf S., E-mail: ken.chen@nao.ac.jp [Zentrum für Astronomie, Institut für Theoretische Astrophysik, Universität Heidelberg (Germany)

2017-08-01

Metals from Population III (Pop III) supernovae led to the formation of less massive Pop II stars in the early universe, altering the course of evolution of primeval galaxies and cosmological reionization. There are a variety of scenarios in which heavy elements from the first supernovae were taken up into second-generation stars, but cosmological simulations only model them on the largest scales. We present small-scale, high-resolution simulations of the chemical enrichment of a primordial halo by a nearby supernova after partial evaporation by the progenitor star. We find that ejecta from the explosion crash into and mix violently with ablative flows driven off the halo by the star, creating dense, enriched clumps capable of collapsing into Pop II stars. Metals may mix less efficiently with the partially exposed core of the halo, so it might form either Pop III or Pop II stars. Both Pop II and III stars may thus form after the collision if the ejecta do not strip all the gas from the halo. The partial evaporation of the halo prior to the explosion is crucial to its later enrichment by the supernova.

Kinematic Tests of Small Arms

Science.gov (United States)

2016-03-15

muzzle devices, such as flash suppressors and muzzle compensators, if the items are designed to be operator removable. Use the ammunition that will...muzzle brake or adding a sound suppressor . A kinematics study is also a diagnostic tool to investigate weapon problems such as poor functioning with

On the kinematics of visual binary and multiple stars of the FK4 cataloque

International Nuclear Information System (INIS)

Starikova, G.A.

1981-01-01

Kinematic features of single, binary and multiple stars are considered. To compare kinematics of such stars with the kinematics of single stars the data on positions and proper motions of those stars which are given in the basic catalogue FK4. Single as well as visual binary and multiple stars united because of their limited content in FK4 have been subdivided by spectra and classes of luminosity into groups with account for known kinematic peculiarities of various spectral groups. Kinematic features for the studied spectral groups are given. By the stars of the FK4 catalogue for various spectral classes the difference of kinematic features of single, visual binary and multiple stars is obtained. However the values of these differences need to be specified due to small number of stars included in five of six groups considered

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.

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.

Radiometric enrichment of nonradioactive ores

International Nuclear Information System (INIS)

Mokrousov, V.A.; Lileev, V.A.

1979-01-01

Considered are the methods of mineral enrichment based on the use of the radioation of various types. The physical essence of enrichment processes is presented, their classification is given. Described are the ore properties influencing the efficiency of radiometric enrichment, methods of the properties study and estimation of ore enrichment. New possibilities opened by radiometric enrichment in the technology of primary processing of mineral raw materials are elucidated. A considerable attention is paid to the main and auxiliary equipment for radiometric enrichment. The foundations of the safety engineering are presented in a brief form. Presented are also results of investigations and practical works in the field of enrichment of ores of non-ferrous, ferrous and non-metallic minerals with the help of radiometric methods

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.

Kinematic analysis for the implementation of landslide mitigation measures

Science.gov (United States)

Delmonaco, Giuseppe; Margottini, Claudio; Spizzichino, Daniele

2010-05-01

The present work is finalised at the implementation of a landslide risk mitigation master plan of the ancient citadel of Machu Picchu. After the warning launched in March 2001, by the scientific community on potential collapse of the citadel from a near-disastrous landslide event different studies have been promoted to reconstruct landslide activity and suggest landslide risk mitigation measures for the protection and conservation of Machu Picchu cultural heritage. A site-scale analysis has been implemented following the application and integration of geomechanical classifications, ambient noise measurements and structural and kinematical analysis. The geology of the area is characterized by granitoid bodies that had been emplaced in the axial zones of the main rift system that are now exposed at the highest altitudes, together with country rocks (Precambrian and Lower Paleozoic metamorphics) originally constituting the rift ‘roots'. The bedrock of the Inca citadel of Machu Picchu is mainly composed by granite and subordinately granodiorite. This is mainly located in the lower part of the slopes. Superficially, the granite is jointed in blocks with variable dimensions, promoted by local structural setting. Single blocks vary from 10-1 to about 200 m3. Soil cover, widely outcropping in the area, is mainly composed by individual blocks and subordinately by coarse materials originated by chemical and physical weathering of minerals. Regional tectonic uplift and structural setting rule the general morphological features of the area and as a consequence, landslide type and evolution. Rock falls, rock slides, debris flows and debris slides are the main landslide typologies affecting the citadel slopes. In the last mission in May 2009, elastic and deformation rock parameters have been collected using a passive seismic innovative technique based on natural microtremor measurements and geostructural scan lines elaboration. A landslide zoning of the citadel has been

PWR fuel of high enrichment with erbia and enriched gadolinia

International Nuclear Information System (INIS)

Bejmer, Klaes-Håkan; Malm, Christian

2011-01-01

Today standard PWR fuel is licensed for operation up to 65-70 MWd/kgU, which in most cases corresponds to an enrichment of more than 5 w/o "2"3"5U. Due to criticality safety reason of storage and transportation, only fuel up to 5 w/o "2"3"5U enrichment is so far used. New fuel storage installations and transportation casks are necessary investments before the reactivity level of the fresh fuel can be significantly increased. These investments and corresponding licensing work takes time, and in the meantime a solution that requires burnable poisons in all pellets of the fresh high-enriched fuel might be used. By using very small amounts of burnable absorber in every pellet the initial reactivity can be reduced to today's levels. This study presents core calculations with fuel assemblies enriched to almost 6 w/o "2"3"5U mixed with a small amount of erbia. Some of the assemblies also contain gadolinia. The results are compared to a reference case containing assemblies with 4.95 w/o "2"3"5U without erbia, utilizing only gadolinia as burnable poison. The comparison shows that the number of fresh fuel assemblies can be reduced by 21% (which increases the batch burnup by 24%) by utilizing the erbia fuel concept. However, increased cost of uranium due to higher enrichment is not fully compensated for by the cost gain due to the reduction of the number assemblies. Hence, the fuel cycle cost becomes slightly higher for the high enrichment erbia case than for the reference case. (author)

A School Experiment in Kinematics: Shooting from a Ballistic Cart

Science.gov (United States)

Kranjc, T.; Razpet, N.

2011-01-01

Many physics textbooks start with kinematics. In the lab, students observe the motions, describe and make predictions, and get acquainted with basic kinematics quantities and their meaning. Then they can perform calculations and compare the results with experimental findings. In this paper we describe an experiment that is not often done, but is…

Right-handed currents at B→ K l+l− kinematic endpoint

Indian Academy of Sciences (India)

2017-10-09

Oct 9, 2017 ... The recent LHCb measured values of these observables are used to conclude an evidence of right-handed currents at the kinematic endpoint of this decay mode. As the conclusion is drawn at the maximum dilepton invariant mass square ( q 2 ) kinematic endpoint, it relies only on heavy quark symmetries ...

Temporal genomic evolution of bird sex chromosomes

DEFF Research Database (Denmark)

Wang, Zongji; Zhang, Jilin; Yang, Wei

2014-01-01

BACKGROUND: Sex chromosomes exhibit many unusual patterns in sequence and gene expression relative to autosomes. Birds have evolved a female heterogametic sex system (male ZZ, female ZW), through stepwise suppression of recombination between chrZ and chrW. To address the broad patterns and complex...... driving forces of Z chromosome evolution, we analyze here 45 newly available bird genomes and four species' transcriptomes, over their course of recombination loss between the sex chromosomes. RESULTS: We show Z chromosomes in general have a significantly higher substitution rate in introns and synonymous...... ('fast-Z' evolution). And species with a lower level of intronic heterozygosities tend to evolve even faster on the Z chromosome. Further analysis of fast-evolving genes' enriched functional categories and sex-biased expression patterns support that, fast-Z evolution in birds is mainly driven by genetic...

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.

Tibial rotation kinematics subsequent to knee arthroplasty

Science.gov (United States)

Collins, Duane J.; Khatib, Yasser H.; Parker, David A.; Jenkin, Deanne E.; Molnar, Robert B.

2015-01-01

Background The use of computer assisted joint replacement has facilitated precise intraoperative measurement of knee kinematics. The changes in “screw home mechanism” (SHM) resulting from Total Knee Arthroplasty (TKA) with different prostheses and constraints has not yet been accurately described. Methods A pilot study was first completed. Intraoperative kinematic data was collected two groups of 15 patients receiving different prostheses. Results On average, patients lost 5.3° of ER (SD = 6.1°). There was no significant difference between the prostheses or different prosthetic constraints. Conclusions There significant loss of SHM after TKA. Further research is required to understand its impact on patient function. PMID:25829754

Kinematic Analysis of Speech Sound Sequencing Errors Induced by Delayed Auditory Feedback.

Science.gov (United States)

Cler, Gabriel J; Lee, Jackson C; Mittelman, Talia; Stepp, Cara E; Bohland, Jason W

2017-06-22

Delayed auditory feedback (DAF) causes speakers to become disfluent and make phonological errors. Methods for assessing the kinematics of speech errors are lacking, with most DAF studies relying on auditory perceptual analyses, which may be problematic, as errors judged to be categorical may actually represent blends of sounds or articulatory errors. Eight typical speakers produced nonsense syllable sequences under normal and DAF (200 ms). Lip and tongue kinematics were captured with electromagnetic articulography. Time-locked acoustic recordings were transcribed, and the kinematics of utterances with and without perceived errors were analyzed with existing and novel quantitative methods. New multivariate measures showed that for 5 participants, kinematic variability for productions perceived to be error free was significantly increased under delay; these results were validated by using the spatiotemporal index measure. Analysis of error trials revealed both typical productions of a nontarget syllable and productions with articulatory kinematics that incorporated aspects of both the target and the perceived utterance. This study is among the first to characterize articulatory changes under DAF and provides evidence for different classes of speech errors, which may not be perceptually salient. New methods were developed that may aid visualization and analysis of large kinematic data sets. https://doi.org/10.23641/asha.5103067.

Epigenetic functions enriched in transcription factors binding to mouse recombination hotspots.

Science.gov (United States)

Wu, Min; Kwoh, Chee-Keong; Przytycka, Teresa M; Li, Jing; Zheng, Jie

2012-06-21

The regulatory mechanism of recombination is a fundamental problem in genomics, with wide applications in genome-wide association studies, birth-defect diseases, molecular evolution, cancer research, etc. In mammalian genomes, recombination events cluster into short genomic regions called "recombination hotspots". Recently, a 13-mer motif enriched in hotspots is identified as a candidate cis-regulatory element of human recombination hotspots; moreover, a zinc finger protein, PRDM9, binds to this motif and is associated with variation of recombination phenotype in human and mouse genomes, thus is a trans-acting regulator of recombination hotspots. However, this pair of cis and trans-regulators covers only a fraction of hotspots, thus other regulators of recombination hotspots remain to be discovered. In this paper, we propose an approach to predicting additional trans-regulators from DNA-binding proteins by comparing their enrichment of binding sites in hotspots. Applying this approach on newly mapped mouse hotspots genome-wide, we confirmed that PRDM9 is a major trans-regulator of hotspots. In addition, a list of top candidate trans-regulators of mouse hotspots is reported. Using GO analysis we observed that the top genes are enriched with function of histone modification, highlighting the epigenetic regulatory mechanisms of recombination hotspots.

Reevaluating the age of the Walden Creek Group and the kinematic evolution of the western Blue Ridge, southern Appalachians

Science.gov (United States)

Thigpen, J. Ryan; Hatcher, Robert D.; Kah, Linda C.; Repetski, John E.

2016-01-01

An integrated synthesis of existing datasets (detailed geologic mapping, geochronologic, paleontologic, geophysical) with new paleontologic and geochemical investigations of rocks previously interpreted as part of the Neoproterozoic Walden Creek Group in southeastern Tennessee suggest a necessary reevaluation of the kinematics and structural architecture of the Blue Ridge Foothills. The western Blue Ridge of Tennessee, North Carolina, and Georgia is composed of numerous northwest-directed early and late Paleozoic thrust sheets, which record pronounced variation in stratigraphic/structural architecture and timing of metamorphism. The detailed spatial, temporal, and kinematic relationships of these rocks have remained controversial. Two fault blocks that are structurally isolated between the Great Smoky and Miller Cove-Greenbrier thrust sheets, here designated the Maggies Mill and Citico thrust sheets, contain Late Ordovician-Devonian conodonts and stable isotope chemostratigraphic signatures consistent with a mid-Paleozoic age. Geochemical and paleontological analyses of Walden Creek Group rocks northwest and southeast of these two thrust sheets, however, are more consistent with a Late Neoproterozoic (550–545 Ma) depositional age. Consequently, the structural juxtaposition of mid-Paleozoic rocks within a demonstrably Neoproterozoic-Cambrian succession between the Great Smoky and Miller Cove-Greenbrier thrust sheets suggests that a simple foreland-propagating thrust sequence model is not applicable in the Blue Ridge Foothills. We propose that these younger rocks were deposited landward of the Ocoee Supergroup, and were subsequently plucked from the Great Smoky fault footwall as a horse, and breached through the Great Smoky thrust sheet during Alleghanian emplacement of that structure.

Numerical kinematic transformation calculations for a parallel link manipulator

International Nuclear Information System (INIS)

Killough, S.M.

1993-01-01

Parallel link manipulators are often considered for particular robotic applications because of the unique advantages they provide. Unfortunately, they have significant disadvantages with respect to calculating the kinematic transformations because of the high-order equations that must be solved. Presented is a manipulator design that exploits the mechanical advantages of parallel links yet also has a corresponding numerical kinematic solution that can be solved in real time on common microcomputers

An Evolutionary/Biochemical Connection Between Promoter- and Primer-Dependent Polymerases Revealed by Selective Evolution of Ligands by Exponential Enrichment (SELEX).

Science.gov (United States)

Fenstermacher, Katherine J; Achuthan, Vasudevan; Schneider, Thomas D; DeStefano, Jeffrey J

2018-01-16

DNA polymerases (DNAPs) recognize 3' recessed termini on duplex DNA and carry out nucleotide catalysis. Unlike promoter-specific RNA polymerases (RNAPs), no sequence specificity is required for binding or initiation of catalysis. Despite this, previous results indicate that viral reverse transcriptases bind much more tightly to DNA primers that mimic the polypurine tract. In the current report, primer sequences that bind with high affinity to Taq and Klenow polymerases were identified using a modified Selective Evolution of Ligands by Exponential Enrichment (SELEX) approach. Two Taq -specific primers that bound ∼10 (Taq1) and over 100 (Taq2) times more stably than controls to Taq were identified. Taq1 contained 8 nucleotides (5' -CACTAAAG-3') that matched the phage T3 RNAP "core" promoter. Both primers dramatically outcompeted primers with similar binding thermodynamics in PCR reactions. Similarly, exonuclease minus Klenow polymerase also selected a high affinity primer that contained a related core promoter sequence from phage T7 RNAP (5' -ACTATAG-3'). For both Taq and Klenow, even small modifications to the sequence resulted in large losses in binding affinity suggesting that binding was highly sequence-specific. The results are discussed in the context of possible effects on multi-primer (multiplex) PCR assays, molecular information theory, and the evolution of RNAPs and DNAPs. Importance This work further demonstrates that primer-dependent DNA polymerases can have strong sequence biases leading to dramatically tighter binding to specific sequences. These may be related to biological function, or be a consequences of the structural architecture of the enzyme. New sequence specificity for Taq and Klenow polymerases were uncovered and among them were sequences that contained the core promoter elements from T3 and T7 phage RNA polymerase promoters. This suggests the intriguing possibility that phage RNA polymerases exploited intrinsic binding affinities of

77 FR 14838 - General Electric-Hitachi Global Laser Enrichment LLC, Commercial Laser-Based Uranium Enrichment...

Science.gov (United States)

2012-03-13

... Laser Enrichment LLC, Commercial Laser-Based Uranium Enrichment Facility, Wilmington, North Carolina... a license to General Electric-Hitachi Global Laser Enrichment LLC (GLE or the applicant) to authorize construction of a laser-based uranium enrichment facility and possession and use of byproduct...

A non-linear kinematic hardening function

International Nuclear Information System (INIS)

Ottosen, N.S.

1977-05-01

Based on the classical theory of plasticity, and accepting the von Mises criterion as the initial yield criterion, a non-linear kinematic hardening function applicable both to Melan-Prager's and to Ziegler's hardening rule is proposed. This non-linear hardening function is determined by means of the uniaxial stress-strain curve, and any such curve is applicable. The proposed hardening function considers the problem of general reversed loading, and a smooth change in the behaviour from one plastic state to another nearlying plastic state is obtained. A review of both the kinematic hardening theory and the corresponding non-linear hardening assumptions is given, and it is shown that material behaviour is identical whether Melan-Prager's or Ziegler's hardening rule is applied, provided that the von Mises yield criterion is adopted. (author)

THE STELLAR AND GAS KINEMATICS OF THE LITTLE THINGS DWARF IRREGULAR GALAXY NGC 1569

Energy Technology Data Exchange (ETDEWEB)

Johnson, Megan [National Radio Astronomy Observatory, P.O. Box 2, Green Bank, WV 24944 (United States); Hunter, Deidre A.; Zhang, Hong-Xin; Herrmann, Kimberly [Lowell Observatory, 1400 West Mars Hill Road, Flagstaff, AZ 86001 (United States); Oh, Se-Heon [International Centre for Radio Astronomy Research (ICRAR), University of Western Australia, 35 Stirling Highway, Crawley, WA 6009 (Australia); Elmegreen, Bruce [IBM T. J. Watson Research Center, 1101 Kitchawan Road, Yorktown Hts., NY 10598 (United States); Brinks, Elias [Centre for Astrophysics Research, University of Hertfordshire, College Lane, Hatfield, AL10 9AB (United Kingdom); Tollerud, Erik, E-mail: mjohnson@nrao.edu, E-mail: dah@lowell.edu, E-mail: hxzhang@lowell.edu, E-mail: herrmann@lowell.edu, E-mail: se-heon.oh@uwa.edu.au, E-mail: bge@us.ibm.com, E-mail: E.Brinks@herts.ac.uk, E-mail: etolleru@uci.edu [Center For Cosmology, Department of Physics and Astronomy, 4129 Frederick Reines Hall, University of California, Irvine, CA 92697 (United States)

2012-11-01

In order to understand the formation and evolution of Magellanic-type dwarf irregular (dIm) galaxies, one needs to understand their three-dimensional structure. We present measurements of the stellar velocity dispersion in NGC 1569, a nearby post-starburst dIm galaxy. The stellar vertical velocity dispersion, {sigma}{sub z}, coupled with the maximum rotational velocity derived from H I observations, V{sub max}, gives a measure of how kinematically hot the galaxy is, and, therefore, indicates its structure. We conclude that the stars in NGC 1569 are in a thick disk with a V{sub max}/{sigma}{sub z} = 2.4 {+-} 0.7. In addition to the structure, we analyze the ionized gas kinematics from O III observations along the morphological major axis. These data show evidence for outflow from the inner starburst region and a potential expanding shell near supermassive star cluster (SSC) A. When compared to the stellar kinematics, the velocity dispersion of the stars increases in the region of SSC A supporting the hypothesis of an expanding shell. The stellar kinematics closely follow the motion of the gas. Analysis of high-resolution H I data clearly reveals the presence of an H I cloud that appears to be impacting the eastern edge of NGC 1569. Also, an ultra-dense H I cloud can be seen extending to the west of the impacting H I cloud. This dense cloud is likely the remains of a dense H I bridge that extended through what is now the central starburst area. The impacting H I cloud was the catalyst for the starburst, thus turning the dense gas into stars over a short timescale, {approx}1 Gyr. We performed a careful study of the spectral energy distribution using infrared, optical, and ultraviolet photometry, producing a state-of-the-art mass model for the stellar disk. This mass modeling shows that stars dominate the gravitational potential in the inner 1 kpc. The dynamical mass of NGC 1569, derived from V{sub max}, shows that the disk may be dark matter deficient in the inner

Abundances as Tracers of the Formation and Evolution of (Dwarf) Galaxies

OpenAIRE

Tolstoy, Eline

2004-01-01

This aims to be an overview of what detailed observations of individual stars in nearby dwarf galaxies may teach us about galaxy evolution. This includes some early results from the DART (Dwarf Abundances and Radial velocity Team) Large Programme at ESO. This project has used 2.2m/WFI and VLT/FLAMES to obtain spectra of large samples of individual stars in nearby dwarf spheroidal galaxies and determine accurate abundances and kinematics. These results can be used to trace the formation and ev...

Adding Image Constraints to Inverse Kinematics for Human Motion Capture

Science.gov (United States)

Jaume-i-Capó, Antoni; Varona, Javier; González-Hidalgo, Manuel; Perales, Francisco J.

2009-12-01

In order to study human motion in biomechanical applications, a critical component is to accurately obtain the 3D joint positions of the user's body. Computer vision and inverse kinematics are used to achieve this objective without markers or special devices attached to the body. The problem of these systems is that the inverse kinematics is "blinded" with respect to the projection of body segments into the images used by the computer vision algorithms. In this paper, we present how to add image constraints to inverse kinematics in order to estimate human motion. Specifically, we explain how to define a criterion to use images in order to guide the posture reconstruction of the articulated chain. Tests with synthetic images show how the scheme performs well in an ideal situation. In order to test its potential in real situations, more experiments with task specific image sequences are also presented. By means of a quantitative study of different sequences, the results obtained show how this approach improves the performance of inverse kinematics in this application.

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.

Fatigue effects on bar kinematics during the bench press.

Science.gov (United States)

Duffey, Michael J; Challis, John H

2007-05-01

The bench press is one of the most popular weight training exercises. Although most training regimens incorporate multiple repetition sets, there are few data describing how the kinematics of a lift change during a set to failure. To examine these changes, recreational lifters (10 men and 8 women) were recruited. The maximum weight each subject could bench press (1RM) was determined. Subjects then performed as many repetitions as possible at 75% of the 1RM load. Three-dimensional kinematic data were recorded and analyzed for all lifts. Statistical analysis revealed that differences between maximal and submaximal lifts and the kinematics of a submaximal lift change as a subject approaches failure in a set. The time to lift the bar more than doubled from the first to the last repetition, causing a decrease in both mean and peak upward velocity. Furthermore, the peak upward velocity occurred much earlier in the lift phase in these later repetitions. The path the bar followed also changed, with subjects keeping the bar more directly over the shoulder during the lift. In general, most of the kinematic variables analyzed became more similar to those of the maximal lift as the subjects progressed through the set, but there was considerable variation between subjects as to which repetition was most like the maximal lift. This study shows that there are definite changes in the lifting kinematics in recreational lifters during a set to failure and suggests it may be particularly important for coaches and less-skilled lifters to focus on developing the proper bar path, rather than reaching momentary muscular failure, in the early part of a training program.

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

Fault kinematics and depocenter evolution of oil-bearing, continental successions of the Mina del Carmen Formation (Albian) in the Golfo San Jorge basin, Argentina

Science.gov (United States)

Paredes, José Matildo; Plazibat, Silvana; Crovetto, Carolina; Stein, Julián; Cayo, Eric; Schiuma, Ariel

2013-10-01

Up to 10% of the liquid hydrocarbons of the Golfo San Jorge basin come from the Mina del Carmen Formation (Albian), an ash-dominated fluvial succession preserved in a variably integrated channel network that evolved coeval to an extensional tectonic event, poorly analyzed up to date. Fault orientation, throw distribution and kinematics of fault populations affecting the Mina del Carmen Formation were investigated using a 3D seismic dataset in the Cerro Dragón field (Eastern Sector of the Golfo San Jorge basin). Thickness maps of the seismic sub-units that integrate the Mina del Carmen Formation, named MEC-A-MEC-C in ascending order, and mapping of fluvial channels performed applying geophysical tools of visualization were integrated to the kinematical analysis of 20 main normal faults of the field. The study provides examples of changes in fault throw patterns with time, associated with faults of different orientations. The "main synrift phase" is characterized by NE-SW striking (mean Az = 49°), basement-involved normal faults that attains its maximum throw on top of the volcanic basement; this set of faults was active during deposition of the Las Heras Group and Pozo D-129 formation. A "second synrift phase" is recognized by E-W striking normal faults (mean Az = 91°) that nucleated and propagated from the Albian Mina del Carmen Formation. Fault activity was localized during deposition of the MEC-A sub-unit, but generalized during deposition of MEC-B sub-unit, producing centripetal and partially isolated depocenters. Upward decreasing in fault activity is inferred by more gradual thickness variation of MEC-C and the overlying Lower Member of Bajo Barreal Formation, evidencing passive infilling of relief associated to fault boundaries, and conformation of wider depocenters with well integrated networks of channels of larger dimensions but random orientation. Lately, the Mina del Carmen Formation was affected by the downward propagation of E-W to ESE-WNW striking

Circumgalactic Matter Matters in Galaxy Evolution

Science.gov (United States)

Werk, Jessica

2018-01-01

The circumgalactic medium (CGM; non-ISM gas within a galaxy virial radius) regulates the gas flows that shape the assembly and evolution of galaxies. Owing to the vastly improved capabilities in space-based UV spectroscopy with the installation of HST/COS, observations and simulations of the CGM have emerged as the new frontier of galaxy evolution studies. In the last decade, we have learned that the CGM of Milky Way mass galaxies likely contains enough material to harbor most of the metals lost in galaxy winds and to sustain star-formation for billions of years. Remarkably, this implies that most of the heavy elements on earth cycled back and forth multiple times through the Milky Way’s own CGM before the formation of the solar system. In this talk, I will describe constraints we have placed on the origin and fate of this material by studying the gas kinematics, metallicity and ionization state. I will conclude by posing several unanswered questions about the CGM that will be addressed with future survey data and hydrodynamic simulations in a cosmological context.

Isolated patellofemoral arthroplasty reproduces natural patellofemoral joint kinematics when the patella is resurfaced.

Science.gov (United States)

Vandenneucker, Hilde; Labey, Luc; Vander Sloten, Jos; Desloovere, Kaat; Bellemans, Johan

2016-11-01

The objectives of this in vitro project were to compare the dynamic three-dimensional patellofemoral kinematics, contact forces, contact areas and contact pressures of a contemporary patellofemoral prosthetic implant with those of the native knee and to measure the influence of patellar resurfacing and patellar thickness. The hypothesis was that these designs are capable to reproduce the natural kinematics but result in higher contact pressures. Six fresh-frozen specimens were tested on a custom-made mechanical knee rig before and after prosthetic trochlear resurfacing, without and with patellar resurfacing in three different patellar thicknesses. Full three-dimensional kinematics were analysed during three different motor tasks, using infrared motion capture cameras and retroflective markers. Patellar contact characteristics were registered using a pressure measuring device. The patellofemoral kinematic behaviour of the patellofemoral arthroplasty was similar to that of the normal knee when the patella was resurfaced, showing only significant (p patellofemoral kinematics acceptable well when the patella was resurfaced. From a kinematic point of view, patellar resurfacing may be advisable. However, the substantially elevated patellar contact pressures remain a point of concern in the decision whether or not to resurface the patella. This study therefore not only adds a new point in the discussion whether or not to resurface the patella, but also supports the claimed advantage that a patellofemoral arthroplasty is capable to reproduce the natural knee kinematics.

Application of Anisotropy of Magnetic Susceptibility to large-scale fault kinematics: an evaluation

Science.gov (United States)

Casas, Antonio M.; Roman-Berdiel, Teresa; Marcén, Marcos; Oliva-Urcia, Belen; Soto, Ruth; Garcia-Lasanta, Cristina; Calvin, Pablo; Pocovi, Andres; Gil-Imaz, Andres; Pueyo-Anchuela, Oscar; Izquierdo-Llavall, Esther; Vernet, Eva; Santolaria, Pablo; Osacar, Cinta; Santanach, Pere; Corrado, Sveva; Invernizzi, Chiara; Aldega, Luca; Caricchi, Chiara; Villalain, Juan Jose

2017-04-01

Major discontinuities in the Earth's crust are expressed by faults that often cut across its whole thickness favoring, for example, the emplacement of magmas of mantelic origin. These long-lived faults are common in intra-plate environments and show multi-episodic activity that spans for hundred of million years and constitute first-order controls on plate evolution, favoring basin formation and inversion, rotations and the accommodation of deformation in large segments of plates. Since the post-Paleozoic evolution of these large-scale faults has taken place (and can only be observed) at shallow crustal levels, the accurate determination of fault kinematics is hampered by scarcely developed fault rocks, lack of classical structural indicators and the brittle deformation accompanying fault zones. These drawbacks are also found when thick clayey or evaporite levels, with or without diapiric movements, are the main detachment levels that facilitate large displacements in the upper crust. Anisotropy of Magnetic Susceptibility (AMS) provides a useful tool for the analysis of fault zones lacking fully developed kinematic indicators. However, its meaning in terms of deformational fabrics must be carefully checked by means of outcrop and thin section analysis in order to establish the relationship between the orientation of magnetic ellipsoid axes and the transport directions, as well as the representativity of scalar parameters regarding deformation mechanisms. Timing of faulting, P-T conditions and magnetic mineralogy are also major constraints for the interpretation of magnetic fabrics and therefore, separating ferro- and para-magnetic fabric components may be necessary in complex cases. AMS results indicate that the magnetic lineation can be parallel (when projected onto the shear plane) or perpendicular (i.e. parallel to the intersection lineation) to the transport direction depending mainly on the degree of shear deformation. Changes between the two end-members can

TRIGA low enrichment fuel

International Nuclear Information System (INIS)

Gietzen, A.

1993-01-01

Sixty TRIGA reactors have been sold and the earliest of these are now passing twenty years of operation. All of these reactors use the uranium zirconium hydride fuel (UZrH) which provides certain unique advantages arising out of its large prompt negative temperature coefficient, very low fission product release, and high temperature capability. Eleven of these Sixty reactors are conversions from plate fuel to TRIGA fuel which were made as a result of these advantages. With only a few exceptions, TRIGA reactors have always used low-enriched uranium (LEU) fuel with an enrichment of 19.9%. The exceptions have either been converted from the standard low-enriched fuel to the 70% enriched FLIP fuel in order to achieve extended lifetime, or are higher powered reactors which were designed for long life using 93%-enriched uranium during the time when the use and export of highly enriched uranium (HEU) was not restricted. The advent of international policies focusing attention on nonproliferation and safeguards made the HEU fuels obsolete. General Atomic immediately undertook a development effort (nearly two years ago) in order to be in a position to comply with these policies for all future export sales and also to provide a low-enriched alternative to fully enriched plate-type fuels. This important work was subsequently partially supported by the U.S. Department of Energy. The laboratory and production tests have shown that higher uranium densities can be achieved to compensate for reducing the enrichment to 20%, and that the fuels maintain the characteristics of the very thoroughly proven standard TRIGA fuels. In May of 1978, General Atomic announced that these fuels were available for TRIGA reactors and for plate-type reactors with power levels up to 15 MW with General Atomic's standard commercial warranty

TRIGA low enrichment fuel

International Nuclear Information System (INIS)

Gietzen, A.

1993-01-01

Sixty TRIGA reactors have been sold and the earliest of these are now passing twenty years of operation. All of these reactors use the uranium-zirconium hydride fuel (UZrH) which provides certain unique advantages arising out of its large prompt negative temperature coefficient, very low fission product release, and high temperature capability. Eleven of these Sixty reactors are conversions from plate fuel to TRIGA fuel which were made as a result of these advantages. With only a few exceptions, TRIGA reactors have always used low-enriched-uranium (LEU) fuel with an enrichment of 19.9%. The exceptions have either been converted from the standard low-enriched fuel to the 70% enriched FLIP fuel in order to achieve extended lifetime, or are higher powered reactors which were designed for long life using 93%-enriched uranium during the time when the use and export of highly enriched uranium (HEU) was not restricted. The advent of international policies focusing attention on nonproliferation and safeguards made the HEU fuels obsolete. General Atomic immediately undertook a development effort (nearly two years ago) in order to be in a position to comply with these policies for all future export sales and also to provide a low-enriched alternative to fully enriched plate-type fuels. This important work was subsequently partially supported by the U.S. Department of Energy. The laboratory and production tests have shown that higher uranium densities can be achieved to compensate for reducing the enrichment to 20%, and that the fuels maintain the characteristics of the very thoroughly proven standard TRIGA fuels. In May of 1978, General Atomic announced that these fuels were available for TRIGA reactors and for plate-type reactors with power levels up to 15 MW with GA's standard commercial warranty

Climbing fibers predict movement kinematics and performance errors.

Science.gov (United States)

Streng, Martha L; Popa, Laurentiu S; Ebner, Timothy J

2017-09-01

Requisite for understanding cerebellar function is a complete characterization of the signals provided by complex spike (CS) discharge of Purkinje cells, the output neurons of the cerebellar cortex. Numerous studies have provided insights into CS function, with the most predominant view being that they are evoked by error events. However, several reports suggest that CSs encode other aspects of movements and do not always respond to errors or unexpected perturbations. Here, we evaluated CS firing during a pseudo-random manual tracking task in the monkey ( Macaca mulatta ). This task provides extensive coverage of the work space and relative independence of movement parameters, delivering a robust data set to assess the signals that activate climbing fibers. Using reverse correlation, we determined feedforward and feedback CSs firing probability maps with position, velocity, and acceleration, as well as position error, a measure of tracking performance. The direction and magnitude of the CS modulation were quantified using linear regression analysis. The major findings are that CSs significantly encode all three kinematic parameters and position error, with acceleration modulation particularly common. The modulation is not related to "events," either for position error or kinematics. Instead, CSs are spatially tuned and provide a linear representation of each parameter evaluated. The CS modulation is largely predictive. Similar analyses show that the simple spike firing is modulated by the same parameters as the CSs. Therefore, CSs carry a broader array of signals than previously described and argue for climbing fiber input having a prominent role in online motor control. NEW & NOTEWORTHY This article demonstrates that complex spike (CS) discharge of cerebellar Purkinje cells encodes multiple parameters of movement, including motor errors and kinematics. The CS firing is not driven by error or kinematic events; instead it provides a linear representation of each

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....

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.

Turkey's regulatory plans for high enriched to low enriched conversion of TR-2 reactor core

International Nuclear Information System (INIS)

Guelol Oezdere, Oya

2003-01-01

Turkey is a developing country and has three nuclear facilities two of which are research reactors and one pilot fuel production plant. One of the two research reactors is TR-2 which is located in Cekmece site in Istanbul. TR-2 Reactor's core is composed of both high enriched and low enriched fuel and from high enriched to low enriched core conversion project will take place in year 2005. This paper presents the plans for drafting regulations on the safety analysis report updates for high enriched to low enriched core conversion of TR-2 reactor, the present regulatory structure of Turkey and licensing activities of nuclear facilities. (author)

How wing kinematics affect power requirements and aerodynamic force production in a robotic bat wing

International Nuclear Information System (INIS)

Bahlman, Joseph W; Swartz, Sharon M; Breuer, Kenneth S

2014-01-01

Bats display a wide variety of behaviors that require different amounts of aerodynamic force. To control and modulate aerodynamic force, bats change wing kinematics, which, in turn, may change the power required for wing motion. There are many kinematic mechanisms that bats, and other flapping animals, can use to increase aerodynamic force, e.g. increasing wingbeat frequency or amplitude. However, we do not know if there is a difference in energetic cost between these different kinematic mechanisms. To assess the relationship between mechanical power input and aerodynamic force output across different isolated kinematic parameters, we programmed a robotic bat wing to flap over a range of kinematic parameters and measured aerodynamic force and mechanical power. We systematically varied five kinematic parameters: wingbeat frequency, wingbeat amplitude, stroke plane angle, downstroke ratio, and wing folding. Kinematic values were based on observed values from free flying Cynopterus brachyotis, the species on which the robot was based. We describe how lift, thrust, and power change with increases in each kinematic variable. We compare the power costs associated with generating additional force through the four kinematic mechanisms controlled at the shoulder, and show that all four mechanisms require approximately the same power to generate a given force. This result suggests that no single parameter offers an energetic advantage over the others. Finally, we show that retracting the wing during upstroke reduces power requirements for flapping and increases net lift production, but decreases net thrust production. These results compare well with studies performed on C. brachyotis, offering insight into natural flight kinematics. (paper)

High enrichment to low enrichment core's conversion. Technical securities

International Nuclear Information System (INIS)

Abbate, P.; Madariaga, M.R.

1990-01-01

This work presents the fulfillment of the technical securities subscribed by INVAP S.E. for the conversion of a high enriched uranium core. The reactor (of 5 thermal Mw), built in the 50's and 60's, is of the 'swimming pool' type, with light water and fuel elements of the curve plates MTR type, enriched at 93.15 %. These are neutronic and thermohydraulic securities. (Author) [es

The kinematic footprints of five stellar streams in Andromeda's halo

Science.gov (United States)

Chapman, S. C.; Ibata, R.; Irwin, M.; Koch, A.; Letarte, B.; Martin, N.; Collins, M.; Lewis, G. F.; McConnachie, A.; Peñarrubia, J.; Rich, R. M.; Trethewey, D.; Ferguson, A.; Huxor, A.; Tanvir, N.

2008-11-01

We present a spectroscopic analysis of five stellar streams (`A', `B', `Cr', `Cp' and `D') as well as the extended star cluster, EC4, which lies within Stream`C', all discovered in the halo of M31 from our Canada-France-Hawaii Telescope/MegaCam survey. These spectroscopic results were initially serendipitous, making use of our existing observations from the DEep Imaging Multi-Object Spectrograph mounted on the Keck II telescope, and thereby emphasizing the ubiquity of tidal streams that account for ~70 per cent of the M31 halo stars in the targeted fields. Subsequent spectroscopy was then procured in Stream`C' and Stream`D' to trace the velocity gradient along the streams. Nine metal-rich ([Fe/H] ~ -0.7) stars at vhel = -349.5kms-1,σv,corr ~ 5.1 +/- 2.5km s-1 are proposed as a serendipitous detection of Stream`Cr', with follow-up kinematic identification at a further point along the stream. Seven metal-poor ([Fe/H] ~-1.3) stars confined to a narrow, 15 km s-1 velocity bin centred at vhel = -285.6, σv,corr = 4.3+1.7-1.4 km s-1 represent a kinematic detection of Stream`Cp', again with follow-up kinematic identification further along the stream. For the cluster EC4, candidate member stars with average [Fe/H] ~-1.4, are found at vhel = -282 suggesting it could be related to Stream`Cp'. No similarly obvious cold kinematic candidate is found for Stream`D', although candidates are proposed in both of two spectroscopic pointings along the stream (both at ~ -400km s-1). Spectroscopy near the edge of Stream`B' suggests a likely kinematic detection at vhel ~ -330, σv,corr ~ 6.9km s-1, while a candidate kinematic detection of Stream`A' is found (plausibly associated to M33 rather than M31) with vhel ~ -170, σv,corr = 12.5km s-1. The low dispersion of the streams in kinematics, physical thickness and metallicity makes it hard to reconcile with a scenario whereby these stream structures as an ensemble are related to the giant southern stream. We conclude that the M31 stellar

Beta activity of enriched uranium

International Nuclear Information System (INIS)

Nambiar, P.P.V.J.; Ramachandran, V.

1975-01-01

Use of enriched uranium as reactor fuel necessitates its handling in various forms. For purposes of planning and organising radiation protection measures in enriched uranium handling facilities, it is necessary to have a basic knowledge of the radiation status of enriched uranium systems. The theoretical variations in beta activity and energy with U 235 enrichment are presented. Depletion is considered separately. Beta activity build up is also studied for two specific enrichments, in respect of which experimental values for specific alpha activity are available. (author)

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.

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.

Directed Neutron Beams From Inverse Kinematic Reactions

Science.gov (United States)

Vanhoy, J. R.; Guardala, N. A.; Glass, G. A.

2011-06-01

Kinematic focusing of an emitted fairly mono-energetic neutron beam by the use of inverse-kinematic reactions, i.e. where the projectile mass is greater than the target atom's mass, can provide for the utilization of a significant fraction of the fast neutron yield and also provide for a safer radiation environment. We examine the merit of various neutron production reactions and consider the practicalities of producing the primary beam using the suitable accelerator technologies. Preliminary progress at the NSWC-Carderock Positive Ion Accelerator Facility is described. Possible important applications for this type of neutron-based system can be both advanced medical imaging techniques and active "stand-off" interrogation of contraband items.

6th International Workshop on Computational Kinematics

CERN Document Server

Gracia, Alba

2014-01-01

Computational kinematics is an enthralling area of science with a rich spectrum of problems at the junction of mechanics, robotics, computer science, mathematics, and computer graphics. The covered topics include design and optimization of cable-driven robots, analysis of parallel manipulators, motion planning, numerical methods for mechanism calibration and optimization, geometric approaches to mechanism analysis and design, synthesis of mechanisms, kinematical issues in biomechanics, construction of novel mechanical devices, as well as detection and treatment of singularities. The results should be of interest for practicing and research engineers as well as Ph.D. students from the fields of mechanical and electrical engineering, computer science, and computer graphics. Indexed in Conference Proceedings Citation Index- Science (CPCI-S).

Airborne radiometric anomalies caused by late kinematic granite rocks in the Molson Lake-Red Sucker Lake area, east-central Manitoba

International Nuclear Information System (INIS)

Weber, W.; Schledewitz, D.C.P.; Soonawala, N.M.

1982-01-01

Geological mapping with simultaneous ground gamma ray spectrometer surveys in an area with a chain of airborne radiometric anomalies of greater than 2 ppm eU indicate uranium enrichment in late kinematic pink leucogranitic rocks including granites, alaskites, and syenites which form dykes, stocks and small plutons in a batholithic tonalite - granodiorite complex. Field geolocial evidence suggests that the potassium-rich rocks were formed by hydrothermal solutions and that at least some of them are metasomatic replacement bodies. Results of geophysical grid survey over a pronounced anomaly indicate that it is caused by a significant volume of leucogranitic rocks with an unusually high background concentration of uranium averaging 25 ppm eU. The uranium seems to be associated with hematite which coats mineral grains and fills small fractures

The Effect of Direction on Cursor Moving Kinematics

Directory of Open Access Journals (Sweden)

Chiu-Ping Lu

2012-02-01

Full Text Available There have been only few studies to substantiate the kinematic characteristics of cursor movement. In this study, a quantitative experimental research method was used to explore the effect of moving direction on the kinematics of cursor movement in 24 typical young persons using our previously developed computerized measuring program. The results of multiple one way repeated measures ANOVAs and post hoc LSD tests demonstrated that the moving direction had effects on average velocity, movement time, movement unit and peak velocity. Moving leftward showed better efficiency than moving rightward, upward and downward from the kinematic evidences such as velocity, movement unit and time. Moreover, the unique pattern of the power spectral density (PSD of velocity (strategy for power application explained why the smoothness was still maintained while moving leftward even under an unstable situation with larger momentum. Moreover, the information from this cursor moving study can guide us to relocate the toolbars and icons in the window interface, especially for individuals with physical disabilities whose performances are easily interrupted while controlling the cursor in specific directions.

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

Influence of the Mesh Geometry Evolution on Gearbox Dynamics during Its Maintenance

Science.gov (United States)

Dąbrowski, Z.; Dziurdź, J.; Klekot, G.

2017-12-01

Toothed gears constitute the necessary elements of power transmission systems. They are applied as stationary devices in drive systems of road vehicles, ships and crafts as well as airplanes and helicopters. One of the problems related to the toothed gears usage is the determination of their technical state or its evolutions. Assuming that the gear slippage velocity is attributed to vibrations and noises generated by cooperating toothed wheels, the application of a simple cooperation model of rolled wheels of skew teeth is proposed for the analysis of the mesh evolution influence on the gear dynamics. In addition, an example of utilising an ordinary coherence function for investigating evolutionary mesh changes related to the effects impossible to be described by means of the simple kinematic model is presented.

Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm

Science.gov (United States)

Wang, Mingming; Luo, Jianjun; Fang, Jing; Yuan, Jianping

2018-03-01

The existence of the path dependent dynamic singularities limits the volume of available workspace of free-floating space robot and induces enormous joint velocities when such singularities are met. In order to overcome this demerit, this paper presents an optimal joint trajectory planning method using forward kinematics equations of free-floating space robot, while joint motion laws are delineated with application of the concept of reaction null-space. Bézier curve, in conjunction with the null-space column vectors, are applied to describe the joint trajectories. Considering the forward kinematics equations of the free-floating space robot, the trajectory planning issue is consequently transferred to an optimization issue while the control points to construct the Bézier curve are the design variables. A constrained differential evolution (DE) scheme with premature handling strategy is implemented to find the optimal solution of the design variables while specific objectives and imposed constraints are satisfied. Differ from traditional methods, we synthesize null-space and specialized curve to provide a novel viewpoint for trajectory planning of free-floating space robot. Simulation results are presented for trajectory planning of 7 degree-of-freedom (DOF) kinematically redundant manipulator mounted on a free-floating spacecraft and demonstrate the feasibility and effectiveness of the proposed method.

Isotope enrichment

International Nuclear Information System (INIS)

Garbuny, M.

1979-01-01

The invention discloses a method for deriving, from a starting material including an element having a plurality of isotopes, derived material enriched in one isotope of the element. The starting material is deposited on a substrate at less than a critical submonatomic surface density, typically less than 10 16 atoms per square centimeter. The deposit is then selectively irradiated by a laser (maser or electronic oscillator) beam with monochromatic coherent radiation resonant with the one isotope causing the material including the one istope to escape from the substrate. The escaping enriched material is then collected. Where the element has two isotopes, one of which is to be collected, the deposit may be irradiated with radiation resonant with the other isotope and the residual material enriched in the one isotope may be evaporated from the substrate and collected

Laser and gas centrifuge enrichment

Energy Technology Data Exchange (ETDEWEB)

Heinonen, Olli [Senior Fellow, Belfer Center for Science and International Affairs, Harvard Kennedy School, Cambridge, Massachusetts (United States)

2014-05-09

Principles of uranium isotope enrichment using various laser and gas centrifuge techniques are briefly discussed. Examples on production of high enriched uranium are given. Concerns regarding the possibility of using low end technologies to produce weapons grade uranium are explained. Based on current assessments commercial enrichment services are able to cover the global needs of enriched uranium in the foreseeable future.

A serial-kinematic nanopositioner for high-speed atomic force microscopy

Energy Technology Data Exchange (ETDEWEB)

Wadikhaye, Sachin P., E-mail: sachin.wadikhaye@uon.edu.au; Yong, Yuen Kuan; Reza Moheimani, S. O. [School of Electrical Engineering and Computer Science, The University of Newcastle, Callaghan, NSW (Australia)

2014-10-15

A flexure-guided serial-kinematic XYZ nanopositioner for high-speed Atomic Force Microscopy is presented in this paper. Two aspects influencing the performance of serial-kinematic nanopositioners are studied in this work. First, mass reduction by using tapered flexures is proposed to increased the natural frequency of the nanopositioner. 25% increase in the natural frequency is achieved due to reduced mass with tapered flexures. Second, a study of possible sensor positioning in a serial-kinematic nanopositioner is presented. An arrangement of sensors for exact estimation of cross-coupling is incorporated in the proposed design. A feedforward control strategy based on phaser approach is presented to mitigate the dynamics and nonlinearity in the system. Limitations in design approach and control strategy are discussed in the Conclusion.

A serial-kinematic nanopositioner for high-speed atomic force microscopy

International Nuclear Information System (INIS)

Wadikhaye, Sachin P.; Yong, Yuen Kuan; Reza Moheimani, S. O.

2014-01-01

A flexure-guided serial-kinematic XYZ nanopositioner for high-speed Atomic Force Microscopy is presented in this paper. Two aspects influencing the performance of serial-kinematic nanopositioners are studied in this work. First, mass reduction by using tapered flexures is proposed to increased the natural frequency of the nanopositioner. 25% increase in the natural frequency is achieved due to reduced mass with tapered flexures. Second, a study of possible sensor positioning in a serial-kinematic nanopositioner is presented. An arrangement of sensors for exact estimation of cross-coupling is incorporated in the proposed design. A feedforward control strategy based on phaser approach is presented to mitigate the dynamics and nonlinearity in the system. Limitations in design approach and control strategy are discussed in the Conclusion

Enrichment technology. Dependable vendor of gas centrifuges; Enrichment Technology. Zuverlaessiger Lieferant von Gaszentrifugen

Energy Technology Data Exchange (ETDEWEB)

Anon.

2011-10-15

Enrichment Technology is an innovative, high-tech company that develops, manufactures and installs gas centrifuges for enriching uranium. In addition, Enrichment Technology designs enrichment plants that use gas centrifuge technology. This technology offers the most efficient and cost-effective method for enriching uranium yet: high-performance, safe technology that dominates the market with a global share of 45 percent. A determining factor in Enrichment Technology's success is its mission: supplying its customers with safe, reliable technology. Production of the centrifuges requires versatile know-how and collaboration between different departments as well as interdisciplinary teams at the various sites. More than 2000 operators at 8 sites in 5 countries contribute their individual knowledge and personal skills in order to produce this exceptional technology. The head office is in Beaconsfield near London and the operational headquarters are in Almelo in the Netherlands. There are other sites in Germany (Juelich und Gronau), Great Britain (Capenhurst) as well as project sites in the USA and France. Capenhurst is where experienced engineers design new enrichment plants and organise their construction. Centrifuge components are manufactured in Almelo and Juelich, while the pipework needed to connect up the centrifuges is produced at the site in Gronau. In Juelich, highly qualified scientists in interdisciplinary teams are continuously researching ways of improving the current centrifuges. Communication between specialists in the fields of chemistry, physics and engineering forms the basis for the company's success and the key to extending this leading position in the global enrichment market. (orig.)

Pure Gravities via Color-Kinematics Duality for Fundamental Matter

CERN Document Server

Johansson, Henrik

2015-01-01

We give a prescription for the computation of loop-level scattering amplitudes in pure Einstein gravity, and four-dimensional pure supergravities, using the color-kinematics duality. Amplitudes are constructed using double copies of pure (super-)Yang-Mills parts and additional contributions from double copies of fundamental matter, which are treated as ghosts. The opposite-statistics states cancel the unwanted dilaton and axion in the bosonic theory, as well as the extra matter supermultiplets in supergravities. As a spinoff, we obtain a prescription for obtaining amplitudes in supergravities with arbitrary non-self-interacting matter. As a prerequisite, we extend the color-kinematics duality from the adjoint to the fundamental representation of the gauge group. We explain the numerator relations that the fundamental kinematic Lie algebra should satisfy. We give nontrivial evidence supporting our construction using explicit tree and loop amplitudes, as well as more general arguments.

Detailed solution to a complex kinematics chain manipulator

International Nuclear Information System (INIS)

March-Leuba, S.; Jansen, J.F.; Kress, R.L.; Babcock, S.M.

1992-01-01

This paper presents a relatively simple method based on planar geometry to analyze the inverse kinematics for closed kinematics chain (CKC) mechanisms. Although the general problem and method of approach are well defined, the study of the inverse kinematics of a closed-chain mechanism is a very complicated one. The current methodology allows closed-form solutions to be found, if a solution exists, for the displacements and velocities of all manipulator joints. Critical design parameters can be identified and optimized by using symbolic models. This paper will focus on planar closed-chain structures extended with a rotational base. However, with open and CKC mechanisms combined in different planes, the extension to the case is straightforward. Further, real-time algorithms are developed that can be handled by existing microprocessor technology. To clarify the methodology, the Soldier Robot Interface Project (SRIP) manipulator is analyzed, and a graphic simulation is presented as a verification of the results. This manipulator has 17 links, 24 one-degree-of-freedom (DOF) joints, and 7 CKC loops working in a plane and a rotational base, which determine its 3 DOFs. The SRIP manipulator allows a decoupled linear motion along the vertical or horizontal directions using only one of its linear actuators. The symbolic solution for the inverse kinematics allows optimization to be performed to further decouple the Cartesian motions by changing link lengths of the manipulator. The conclusion achieved by the optimization is that only two link lengths need to be changed to tune the manipulator for a perfect decoupling at each area of the workspace

Scapular kinematics and muscle activities during pushing tasks.

Science.gov (United States)

Huang, Chun-Kai; Siu, Ka-Chun; Lien, Hen-Yu; Lee, Yun-Ju; Lin, Yang-Hua

2013-01-01

Pushing tasks are functional activities of daily living. However, shoulder complaints exist among workers exposed to regular pushing conditions. It is crucial to investigate the control of shoulder girdles during pushing tasks. The objective of the study was to demonstrate scapular muscle activities and motions on the dominant side during pushing tasks and the relationship between scapular kinematics and muscle activities in different pushing conditions. Thirty healthy adults were recruited to push a four-wheel cart in six pushing conditions. The electromyographic signals of the upper trapezius (UT) and serratus anterior (SA) muscles were recorded. A video-based system was used for measuring the movement of the shoulder girdle and scapular kinematics. Differences in scapular kinematics and muscle activities due to the effects of handle heights and weights of the cart were analyzed using two-way ANOVA with repeated measures. The relationships between scapular kinematics and muscle activities were examined by Pearson's correlation coefficients. The changes in upper trapezius and serratus anterior muscle activities increased significantly with increased pushing weights in the one-step pushing phase. The UT/SA ratio on the dominant side decreases significantly with increased handle heights in the one-step pushing phase. The changes in upward rotation, lateral slide and elevation of the scapula decreased with increased pushing loads in the trunk-forward pushing phase. This study indicated that increased pushing loads result in decreased motions of upward rotation, lateral slide and elevation of the scapula; decreased handle heights result in relatively increased activities of the serratus anterior muscles during pushing tasks.

76 FR 11523 - Atomic Safety and Licensing Board; AREVA Enrichment Services, LLC (Eagle Rock Enrichment Facility...

Science.gov (United States)

2011-03-02

... and Licensing Board; AREVA Enrichment Services, LLC (Eagle Rock Enrichment Facility); Notice of... Governmental Entities Regarding Environmental Portion of Enrichment Facility Licensing Proceeding February 24.... White. In this 10 CFR part 70 proceeding regarding the request of applicant AREVA Enrichment Services...

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.

76 FR 34103 - In the Matter of Areva Enrichment Services, LLC (Eagle Rock Enrichment Facility); Notice of...

Science.gov (United States)

2011-06-10

.... 10-899-02-ML-BD01] In the Matter of Areva Enrichment Services, LLC (Eagle Rock Enrichment Facility...'' portion of this proceeding regarding the December 2008 application by AREVA Enrichment Services, LLC (AES... gas centrifuge uranium enrichment facility--denoted as the Eagle Rock Enrichment Facility (EREF)--in...

Backward flight in hummingbirds employs unique kinematic adjustments and entails low metabolic cost.

Science.gov (United States)

Sapir, Nir; Dudley, Robert

2012-10-15

Backward flight is a frequently used transient flight behavior among members of the species-rich hummingbird family (Trochilidae) when retreating from flowers, and is known from a variety of other avian and hexapod taxa, but the biomechanics of this intriguing locomotor mode have not been described. We measured rates of oxygen uptake (V(O2)) and flight kinematics of Anna's hummingbirds, Calypte anna (Lesson), within a wind tunnel using mask respirometry and high-speed videography, respectively, during backward, forward and hovering flight. We unexpectedly found that in sustained backward flight is similar to that in forward flight at equivalent airspeed, and is about 20% lower than hovering V(O2). For a bird that was measured throughout a range of backward airspeeds up to a speed of 4.5 m s(-1), the power curve resembled that of forward flight at equivalent airspeeds. Backward flight was facilitated by steep body angles coupled with substantial head flexion, and was also characterized by a higher wingbeat frequency, a flat stroke plane angle relative to horizontal, a high stroke plane angle relative to the longitudinal body axis, a high ratio of maximum:minimum wing positional angle, and a high upstroke:downstroke duration ratio. Because of the convergent evolution of hummingbird and some hexapod flight styles, flying insects may employ similar kinematics while engaged in backward flight, for example during station keeping or load lifting. We propose that backward flight behavior in retreat from flowers, together with other anatomical, physiological, morphological and behavioral adaptations, enables hummingbirds to maintain strictly aerial nectarivory.

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.

The SLUGGS survey: wide-field stellar kinematics of early-type galaxies

Energy Technology Data Exchange (ETDEWEB)

Arnold, Jacob A. [Department of Astronomy and Astrophysics, University of California, Santa Cruz, CA 95064 (United States); Romanowsky, Aaron J.; Brodie, Jean P.; Woodley, Kristin A. [University of California Observatories, 1156 High Street, Santa Cruz, CA 95064 (United States); Forbes, Duncan A.; Blom, Christina; Kartha, Sreeja S.; Pastorello, Nicola; Pota, Vincenzo; Usher, Christopher [Centre for Astrophysics and Supercomputing, Swinburne University, Hawthorn, VIC 3122 (Australia); Strader, Jay [Department of Physics and Astronomy, Michigan State University, East Lansing, MI 48824 (United States); Spitler, Lee R. [Department of Physics and Astronomy, Faculty of Sciences, Macquarie University, Sydney, NSW 2109 (Australia); Foster, Caroline, E-mail: romanow@ucolick.org [Australian Astronomical Observatory, P.O. Box 915, North Ryde, NSW (Australia)

2014-08-20

We present stellar kinematics of 22 nearby early-type galaxies (ETGs), based on two-dimensional (2D) absorption line stellar spectroscopy out to ∼2-4 R {sub e} (effective radii), as part of the ongoing SLUGGS Survey. The galaxies span a factor of 20 in intrinsic luminosity, as well as a full range of environment and ETG morphology. Our data consist of good velocity resolution (σ{sub inst} ∼ 25 km s{sup –1}) integrated stellar-light spectra extracted from the individual slitlets of custom made Keck/DEIMOS slitmasks. We extract stellar kinematics measurements (V, σ, h {sub 3}, and h {sub 4}) for each galaxy. Combining with literature values from smaller radii, we present 2D spatially resolved maps of the large-scale kinematic structure in each galaxy. We find that the kinematic homogeneity found inside 1 R {sub e} often breaks down at larger radii, where a variety of kinematic behaviors are observed. While central slow rotators remain slowly rotating in their halos, central fast rotators show more diversity, ranging from rapidly increasing to rapidly declining specific angular momentum profiles in the outer regions. There are indications that the outer trends depend on morphological type, raising questions about the proposed unification of the elliptical and lenticular (S0) galaxy families in the ATLAS{sup 3D} survey. Several galaxies in our sample show multiple lines of evidence for distinct disk components embedded in more slowly rotating spheroids, and we suggest a joint photometric-kinematic approach for robust bulge-disk decomposition. Our observational results appear generally consistent with a picture of two-phase (in-situ plus accretion) galaxy formation.

Geometrically constrained kinematic global navigation satellite systems positioning: Implementation and performance

Science.gov (United States)

Asgari, Jamal; Mohammadloo, Tannaz H.; Amiri-Simkooei, Ali Reza

2015-09-01

GNSS kinematic techniques are capable of providing precise coordinates in extremely short observation time-span. These methods usually determine the coordinates of an unknown station with respect to a reference one. To enhance the precision, accuracy, reliability and integrity of the estimated unknown parameters, GNSS kinematic equations are to be augmented by possible constraints. Such constraints could be derived from the geometric relation of the receiver positions in motion. This contribution presents the formulation of the constrained kinematic global navigation satellite systems positioning. Constraints effectively restrict the definition domain of the unknown parameters from the three-dimensional space to a subspace defined by the equation of motion. To test the concept of the constrained kinematic positioning method, the equation of a circle is employed as a constraint. A device capable of moving on a circle was made and the observations from 11 positions on the circle were analyzed. Relative positioning was conducted by considering the center of the circle as the reference station. The equation of the receiver's motion was rewritten in the ECEF coordinates system. A special attention is drawn onto how a constraint is applied to kinematic positioning. Implementing the constraint in the positioning process provides much more precise results compared to the unconstrained case. This has been verified based on the results obtained from the covariance matrix of the estimated parameters and the empirical results using kinematic positioning samples as well. The theoretical standard deviations of the horizontal components are reduced by a factor ranging from 1.24 to 2.64. The improvement on the empirical standard deviation of the horizontal components ranges from 1.08 to 2.2.

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...

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.

Enrichment plants. A survey of major new uranium enriching projects

International Nuclear Information System (INIS)

Kovan, D.

1976-01-01

The work enrichment situation is reported. The development of enrichment in the U.S. and in Europe is outlined. A brief description is given of the technology of separation by diffusion and by centrifugation and the advantages and disadvantages of the two processes are compared. Finally the supply and demand situation is briefly considered. (U.K.)

Chemical enrichment in halo planetary nebulae

Energy Technology Data Exchange (ETDEWEB)

Torres-Peimbert, S; Rayo, J F; Peimbert, M [Universidad Nacional Autonoma de Mexico, Mexico City. Inst. de Astronomia

1981-01-01

Photoelectric spectrophotometry of emission lines in the 3400-7400 A region is presented for the planetary nebulae 108-76/sup 0/1(BB1). From these observations the relative abundances of H, He, C, N, O and Ne are derived. The abundances of the halo PN (BB1, H4-1 and K648) are compared to those predicted by stellar evolution theory under the assumption that the envelope has the chemical composition of the matter located between the H burning shell and the surface. The observed He/H and C/O values are higher than predicted which implies that halo PN contain matter from deeper layers than the H burning shell. Furthermore, the O/Ar, N/Ar and Ne/Ar values in halo PN are higher than in the solar neighbourhood, at least part of this enrichment is produced by the PN progenitors.

Quantum deformed magnon kinematics

OpenAIRE

Gómez, César; Hernández Redondo, Rafael

2007-01-01

The dispersion relation for planar N=4 supersymmetric Yang-Mills is identified with the Casimir of a quantum deformed two-dimensional kinematical symmetry, E_q(1,1). The quantum deformed symmetry algebra is generated by the momentum, energy and boost, with deformation parameter q=e^{2\\pi i/\\lambda}. Representing the boost as the infinitesimal generator for translations on the rapidity space leads to an elliptic uniformization with crossing transformations implemented through translations by t...

The gait standard deviation, a single measure of kinematic variability.

Science.gov (United States)

Sangeux, Morgan; Passmore, Elyse; Graham, H Kerr; Tirosh, Oren

2016-05-01

Measurement of gait kinematic variability provides relevant clinical information in certain conditions affecting the neuromotor control of movement. In this article, we present a measure of overall gait kinematic variability, GaitSD, based on combination of waveforms' standard deviation. The waveform standard deviation is the common numerator in established indices of variability such as Kadaba's coefficient of multiple correlation or Winter's waveform coefficient of variation. Gait data were collected on typically developing children aged 6-17 years. Large number of strides was captured for each child, average 45 (SD: 11) for kinematics and 19 (SD: 5) for kinetics. We used a bootstrap procedure to determine the precision of GaitSD as a function of the number of strides processed. We compared the within-subject, stride-to-stride, variability with the, between-subject, variability of the normative pattern. Finally, we investigated the correlation between age and gait kinematic, kinetic and spatio-temporal variability. In typically developing children, the relative precision of GaitSD was 10% as soon as 6 strides were captured. As a comparison, spatio-temporal parameters required 30 strides to reach the same relative precision. The ratio stride-to-stride divided by normative pattern variability was smaller in kinematic variables (the smallest for pelvic tilt, 28%) than in kinetic and spatio-temporal variables (the largest for normalised stride length, 95%). GaitSD had a strong, negative correlation with age. We show that gait consistency may stabilise only at, or after, skeletal maturity. Copyright © 2016 Elsevier B.V. All rights reserved.

Kinematic trajectories while walking within the Lokomat robotic gait-orthosis.

Science.gov (United States)

Hidler, Joseph; Wisman, Wessel; Neckel, Nathan

2008-12-01

Background One of the most popular robot assisted rehabilitation devices used is the Lokomat. Unfortunately, not much is known about the behaviors exhibited by subjects in this device. The goal of this study was to evaluate the kinematic patterns of individuals walking inside the Lokomat compared to those demonstrated on a treadmill. Methods Six healthy subjects walked on a treadmill and inside the Lokomat while the motions of the subject and Lokomat were tracked. Joint angles and linear motion were determined for Lokomat and treadmill walking. We also evaluated the variability of the patterns, and the repeatability of measuring techniques. Findings The overall kinematics in the Lokomat are similar to those on a treadmill, however there was significantly more hip and ankle extension, and greater hip and ankle range of motion in the Lokomat (P<0.05). Additionally, the linear movement of joints was reduced in the Lokomat. Subjects tested on repeated sessions presented consistent kinematics, demonstrating the ability to consistently setup and test subjects. Interpretation The reduced degrees of freedom in the Lokomat are believed to be the reason for the specific kinematic differences. We found that despite being firmly attached to the device there was still subject movement relative to the Lokomat. This led to variability in the patterns, where subjects altered their gait pattern from step to step. These results are clinically important as a variable step pattern has been shown to be a more effective gait training strategy than one which forces the same kinematic pattern in successive steps.

A general approach for optimal kinematic design of 6-DOF parallel ...

Indian Academy of Sciences (India)

Optimal kinematic design of parallel manipulators is a challenging problem. In this work, an attempt has been made to present a generalized approach of kinematic design for a 6-legged parallel manipulator, by considering only the minimally required design parameters. The same approach has been used to design a ...

Evolution of uranium isotope separation methods in France

International Nuclear Information System (INIS)

Frejacques, C.; Gelee, M.; Massignon, D.; Plurien, P.

This paper examines the various processes for producing enriched U, from the dual standpoint of evolution of their technical-economic performances and the proliferation risks involved. The gaseous diffusion process is first examined as a reference; then centrifugation, aerodynamic processes, chemical exchange processes, photochemical excitation processes, and ionic processes are considered. It is concluded that the first four methods may be competitive in the next decade

Deviation Among Technology Reviews: An Informative Enrichment of Technology Evolution Theory for Marketing

NARCIS (Netherlands)

A. Sood (Ashish); S. Stremersch (Stefan)

2010-01-01

textabstractUnderstanding technological change is of critical importance to marketers, as it bears new markets, new brands, new customers, and new market leaders. This paper examines the deviation among reviews of a technology’s performance and its consequences for inferences on technology evolution

Developments in uranium enrichment

International Nuclear Information System (INIS)

Mohrhauer, H.

1995-01-01

The enrichment services market is still characterized by overcapacities. While consumption worldwide will rise by some 15% to 39,000 t SWU/a over the next ten years, capacities amount to nearly 50,000 t SWU/a. The price for enrichment services probably has reached its all time low. Prices below U.S. $ 100/kg SWU are not likely to cover costs even of the economically most advanced enrichment processes. Urenco has prepared for the difficult enrichment business in the years to come by streamlining and cost cutting measures. The company intends to hold and increase its share of more than 10% in the world market. The uranium enrichment plant of Gronau will be expanded further. Expansion beyond 1000 t is subject to another permit being granted under the Atomic Energy Act, an application for which was filed in December 1994. Centrifuge technology is the superior enrichment technology, i.e., there is still considerable potential for further development. Construction of enrichment plants employing the centrifuge technology in the United States and in France is being pursued in various phases, from feasibility studies to licensing procedures. Before these plants could be implemented, however, considerable problems of organization would have to be solved, and the market would have to change greatly, respectively. The laser process, at the present time, does not seem to be able to develop into a major industrial competitor. (orig.) [de

Uranium enrichment plans

International Nuclear Information System (INIS)

Gagne, R.W.; Thomas, D.C.

1977-01-01

The status of existing uranium enrichment contracts in the US is reviewed and expected natural uranium requirements for existing domestic uranium enrichment contracts are evaluated. Uncertainty in natural uranium requirements associated with requirements-type and fixed-commitment type contracts is discussed along with implementation of variable tails assay

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.

Dynamic characteristics of mirrors' kinematic mount

International Nuclear Information System (INIS)

Wu Wenkai; Du Qiang; Li Jingze; Chen Gang; Chen Xiaojuan; Xu Yuanli

2002-01-01

Applying exact constrain design principles, kinematic mount for precision positioning large aperture mirrors is designed; theoretical method is introduced to analyze its dynamic characteristics and the result of the experiment for mirrors, stability; accordingly, the methods to improve design are put forward

Exploring the impact of constraints in quantum optimal control through a kinematic formulation

International Nuclear Information System (INIS)

Donovan, Ashley; Beltrani, Vincent; Rabitz, Herschel

2013-01-01

Highlights: • This work lays a foundation for studying constraints in quantum control simulations. • The underlying quantum control landscape in the presence of constraints is explored. • Constrained controls can encounter suboptimal traps in the landscape. • The controls are kinematic stand-ins for dynamic time-dependent controls. • A method is developed to transfer between constrained kinematic and dynamic controls. - Abstract: The control of quantum dynamics with tailored laser fields is finding growing experimental success. In practice, experiments will be subject to constraints on the controls that may prevent full optimization of the objective. A framework is presented for systematically investigating the impact of constraints in quantum optimal control simulations using a two-stage process starting with simple time-independent kinematic controls, which act as stand-ins for the traditional dynamic controls. The objective is a state-to-state transition probability, and constraints are introduced by restricting the kinematic control variables during optimization. As a second stage, the means to map from kinematic to dynamic controls is presented, thus enabling a simplified overall procedure for exploring how limited resources affect the ability to optimize the objective. A demonstration of the impact of imposing several types of kinematic constraints is investigated, thereby offering insight into constrained quantum controls

Centrifuge enrichment program

International Nuclear Information System (INIS)

Astley, E.R.

1976-01-01

Exxon Nuclear has been active in privately funded research and development of centrifuge enrichment technology since 1972. In October of 1975, Exxon Nuclear submitted a proposal to design, construct, and operate a 3000-MT SWU/yr centrifuge enrichment plant, under the provisions of the proposed Nuclear Fuel Assurance Act of 1975. The U.S. Energy Research and Development Administration (ERDA) accepted the proposal as a basis for negotiation. It was proposed to build a 1000-MT SWU/yr demonstration increment to be operational in 1982; and after successful operation for about one year, expand the facilities into a 3000-MT SWU/yr plant. As part of the overall centrifuge enrichment plant, a dedicated centrifuge manufacturing plant would be constructed; sized to support the full 3000-MT SWU/yr plant. The selection of the centrifuge process by Exxon Nuclear was based on an extremely thorough evaluation of current and projected enrichment technology; results show that the technology is mature and the process will be cost effective. The substantial savings in energy (about 93%) from utilization of the centrifuge option rather than gaseous diffusion is a compelling argument. As part of this program, Exxon Nuclear has a large hardware R and D program, plus a prototype centrifuge manufacturing capability in Malta, New York. To provide a full-scale machine and limited cascade test capability, Exxon Nuclear is constructing a $4,000,000 Centrifuge Test Facility in Richland, Washington. This facility was to initiate operations in the Fall of 1976. Exxon Nuclear is convinced that the centrifuge enrichment process is the rational selection for emergence of a commercial enrichment industry

Knee Kinematic Improvement After Total Knee Replacement Using a Simplified Quantitative Gait Analysis Method

Directory of Open Access Journals (Sweden)

Hassan Sarailoo

2013-10-01

Full Text Available Objectives: The aim of this study was to extract suitable spatiotemporal and kinematic parameters to determine how Total Knee Replacement (TKR alters patients’ knee kinematics during gait, using a rapid and simplified quantitative two-dimensional gait analysis procedure. Methods: Two-dimensional kinematic gait pattern of 10 participants were collected before and after the TKR surgery, using a 60 Hz camcorder in sagittal plane. Then, the kinematic parameters were extracted using the gait data. A student t-test was used to compare the group-average of spatiotemporal and peak kinematic characteristics in the sagittal plane. The knee condition was also evaluated using the Oxford Knee Score (OKS Questionnaire to ensure thateach subject was placed in the right group. Results: The results showed a significant improvement in knee flexion during stance and swing phases after TKR surgery. The walking speed was increased as a result of stride length and cadence improvement, but this increment was not statistically significant. Both post-TKR and control groups showed an increment in spatiotemporal and peak kinematic characteristics between comfortable and fast walking speeds. Discussion: The objective kinematic parameters extracted from 2D gait data were able to show significant improvements of the knee joint after TKR surgery. The patients with TKR surgery were also able to improve their knee kinematics during fast walking speed equal to the control group. These results provide a good insight into the capabilities of the presented method to evaluate knee functionality before and after TKR surgery and to define a more effective rehabilitation program.

Analysis and optimization of kinematic pair force in control rod drive mechanism

International Nuclear Information System (INIS)

Sun Zhenguo; Liu Sen; Ran Xiaobing; Dai Changnian; Li Yuezhong

2015-01-01

Function expressions of kinematic pair force with latch dimensions, friction coefficient, link angle and external load was obtained by theoretical analysis, and the expression was verified by the motion analysis software. Key parameters of kinematic pair were confirmed, and their effect trends with force of parts were obtained. They show that the available method of kinematic pair optimization is increasing the space of latch holes. Using the motion analysis software, the forces of parts before and after optimization was compared. The result shows that the forces of parts were improved after the optimization. (authors)

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

International Nuclear Information System (INIS)

Sasaki, Shinobu

1987-01-01

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

Three-dimensional spin-3 theories based on general kinematical algebras

Energy Technology Data Exchange (ETDEWEB)

Bergshoeff, Eric [Van Swinderen Institute for Particle Physics and Gravity, University of Groningen,Nijenborgh 4, 9747 AG Groningen (Netherlands); Grumiller, Daniel; Prohazka, Stefan [Institute for Theoretical Physics, TU Wien,Wiedner Hauptstrasse 8-10/136, A-1040 Vienna (Austria); Rosseel, Jan [Albert Einstein Center for Fundamental Physics, University of Bern,Sidlerstrasse 5, 3012 Bern (Switzerland); Faculty of Physics, University of Vienna,Boltzmanngasse 5, A-1090 Vienna (Austria)

2017-01-25

We initiate the study of non- and ultra-relativistic higher spin theories. For sake of simplicity we focus on the spin-3 case in three dimensions. We classify all kinematical algebras that can be obtained by all possible Inönü-Wigner contraction procedures of the kinematical algebra of spin-3 theory in three dimensional (anti-) de Sitter space-time. We demonstrate how to construct associated actions of Chern-Simons type, directly in the ultra-relativistic case and by suitable algebraic extensions in the non-relativistic case. We show how to give these kinematical algebras an infinite-dimensional lift by imposing suitable boundary conditions in a theory we call “Carroll Gravity”, whose asymptotic symmetry algebra turns out to be an infinite-dimensional extension of the Carroll algebra.

Amount of kinematic feedback affects learning of speech motor skills.

Science.gov (United States)

Ballard, Kirrie J; Smith, Heather D; Paramatmuni, Divija; McCabe, Patricia; Theodoros, Deborah G; Murdoch, Bruce E

2012-01-01

Knowledge of Performance (KP) feedback, such as biofeedback or kinematic feedback, is used to provide information on the nature and quality of movement responses for the purpose of guiding active learning or rehabilitation of motor skills. It has been proposed that KP feedback may interfere with long-term learning when provided throughout training. Here, twelve healthy English-speaking adults were trained to produce a trilled Russian [r] in words with KP kinematic feedback using electropalatography (EPG) and without KP (noKP). Five one-hour training sessions were provided over one week with testing pretraining and one day and one week posttraining. No group differences were found at pretraining or one day post training for production accuracy. A group by time interaction supported the hypothesis that providing kinematic feedback continually during skill acquisition interferes with retention.

Inverse Kinematics for Industrial Robots using Conformal Geometric Algebra

Directory of Open Access Journals (Sweden)

Adam L. Kleppe

2016-01-01

Full Text Available This paper shows how the recently developed formulation of conformal geometric algebra can be used for analytic inverse kinematics of two six-link industrial manipulators with revolute joints. The paper demonstrates that the solution of the inverse kinematics in this framework relies on the intersection of geometric objects like lines, circles, planes and spheres, which provides the developer with valuable geometric intuition about the problem. It is believed that this will be very useful for new robot geometries and other mechanisms like cranes and topside drilling equipment. The paper extends previous results on inverse kinematics using conformal geometric algebra by providing consistent solutions for the joint angles for the different configurations depending on shoulder left or right, elbow up or down, and wrist flipped or not. Moreover, it is shown how to relate the solution to the Denavit-Hartenberg parameters of the robot. The solutions have been successfully implemented and tested extensively over the whole workspace of the manipulators.

Kinematic analysis of parallel manipulators by algebraic screw theory

CERN Document Server

Gallardo-Alvarado, Jaime

2016-01-01

This book reviews the fundamentals of screw theory concerned with velocity analysis of rigid-bodies, confirmed with detailed and explicit proofs. The author additionally investigates acceleration, jerk, and hyper-jerk analyses of rigid-bodies following the trend of the velocity analysis. With the material provided in this book, readers can extend the theory of screws into the kinematics of optional order of rigid-bodies. Illustrative examples and exercises to reinforce learning are provided. Of particular note, the kinematics of emblematic parallel manipulators, such as the Delta robot as well as the original Gough and Stewart platforms are revisited applying, in addition to the theory of screws, new methods devoted to simplify the corresponding forward-displacement analysis, a challenging task for most parallel manipulators. Stands as the only book devoted to the acceleration, jerk and hyper-jerk (snap) analyses of rigid-body by means of screw theory; Provides new strategies to simplify the forward kinematic...

Kinematic control of walking.

Science.gov (United States)

Lacquaniti, F; Ivanenko, Y P; Zago, M

2002-10-01

The planar law of inter-segmental co-ordination we described may emerge from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle contraction intervenes at variable times to re-excite the intrinsic oscillations of the system when energy is lost. The hypothesis that a law of coordinative control results from a minimal active tuning of the passive inertial and viscoelastic coupling among limb segments is congruent with the idea that movement has evolved according to minimum energy criteria (1, 8). It is known that multi-segment motion of mammals locomotion is controlled by a network of coupled oscillators (CPGs, see 18, 33, 37). Flexible combination of unit oscillators gives rise to different forms of locomotion. Inter-oscillator coupling can be modified by changing the synaptic strength (or polarity) of the relative spinal connections. As a result, unit oscillators can be coupled in phase, out of phase, or with a variable phase, giving rise to different behaviors, such as speed increments or reversal of gait direction (from forward to backward). Supra-spinal centers may drive or modulate functional sets of coordinating interneurons to generate different walking modes (or gaits). Although it is often assumed that CPGs control patterns of muscle activity, an equally plausible hypothesis is that they control patterns of limb segment motion instead (22). According to this kinematic view, each unit oscillator would directly control a limb segment, alternately generating forward and backward oscillations of the segment. Inter-segmental coordination would be achieved by coupling unit oscillators with a variable phase. Inter-segmental kinematic phase plays the role of global control variable previously postulated for the network of central oscillators. In fact, inter-segmental phase shifts systematically with increasing speed both in man (4) and cat (38). Because this phase-shift is correlated with the net mechanical power

A Systematic Approach to Marital Enrichment.

Science.gov (United States)

Dinkmeyer, Don; Carlson, Jon

1986-01-01

Presents a systematic approach to enriching marital relationships. The history and current status of marital enrichment is reviewed. An Adlerian approach to marital enrichment is described. Applications of the program in enrichment groups, marriage therapy and couple groups are included. (Author)

Effect of trapezius muscle strength on three-dimensional scapular kinematics

OpenAIRE

Turgut, Elif; Duzgun, Irem; Baltaci, Gul

2016-01-01

[Purpose] This study aimed to investigate the effect of trapezius muscle isometric strength on three-dimensional scapular kinematics in asymptomatic shoulders. [Subjects and Methods] Thirty asymptomatic subjects were included to the study. Isometric strengths of the upper, middle, and lower trapezius muscle were measured using a handheld dynamometer. Three-dimensional scapular kinematics was recorded by an electromagnetic tracking device during frontal and sagittal plane elevation. For each m...

77 FR 13367 - General Electric-Hitachi Global Laser Enrichment, LLC, Proposed Laser-Based Uranium Enrichment...

Science.gov (United States)

2012-03-06

... NUCLEAR REGULATORY COMMISSION [NRC-2009-0157] General Electric-Hitachi Global Laser Enrichment, LLC, Proposed Laser-Based Uranium Enrichment Facility, Wilmington, NC AGENCY: Nuclear Regulatory... Impact Statement (EIS) for the proposed General Electric- Hitachi Global Laser Enrichment, LLC (GLE...

The enrichment secondary market

International Nuclear Information System (INIS)

Einbund, D.R.

1986-01-01

This paper will addresses two topics: the background to the present status of the enrichment secondary market and the future outlook of the secondary market in enrichment services, and the viability of the nuclear fuel brokerage industry. These two topics are inevitably connected, as most secondary market activity, not only in enrichment but also in natural uranium, has traditionally been conducted with the participation of brokers. Therefore, the author interrelates these topics

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.

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.

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.

Pa2 kinematic bond in translational parallel manipulators

Directory of Open Access Journals (Sweden)

A. Hernández

2018-01-01

Full Text Available The Pa2 pair is composed of two intertwined articulated parallelograms connecting in parallel two links of a kinematic chain. This pair has two translational degrees of freedom leading to a translational plane variable with the position. Currently, the Pa2 pair appears in conceptual designs presented in recent papers. However, its practical application is very limited. One of the reasons for this can be the high number of redundant constraints it has. But, it has to be considered that most of them can be eliminated by replacing wisely the revolute joints by spherical joints. On the other side, the structure of the Pa2 pair contributes to increase the global stiffness of the kinematic chain in which it is mounted. Also, its implementation is a promising alternative to the problematic passive prismatic joints. In this paper, the Pa2 pairs are used in the design of a 3 − P Pa2 parallel manipulator. The potentiality of this design is evaluated and proven after doing the following analyses: direct and inverse kinematics, singularity study, and workspace computation and assessment.

Forward kinematics solutions of a special six-degree-of-freedom parallel manipulator with three limbs

Directory of Open Access Journals (Sweden)

Jianxun Fu

2015-05-01

Full Text Available This article presents a special 6-degree-of freedom parallel manipulator, and the mechanical structure of this robot has been introduced; with this structure, the kinematic constrain equations are decoupled. Based on this character, the polynomial solutions of the forward kinematics problem are also presented. In this method, the closed-loop kinematic chain of the manipulator is divided into two parts, the solution forward position kinematics is obtained by a first-degree polynomial equation first, and then an eighth-degree polynomial equation in a single variable for the forward orientation kinematics is obtained. Based on those solutions, the configurations of the robot, including position and orientation of the end-effector, are graphically displayed. A numerical simulation is given to verify the algorithm, and the result implies that for a given set of input values, the manipulator can be assembled in eight different configurations at most. And a set of experiments illustrate the motion ability for forward kinematics of the prototype of this manipulator.

Thermal breeder fuel enrichment zoning

International Nuclear Information System (INIS)

Capossela, H.J.; Dwyer, J.R.; Luce, R.G.; McCoy, D.F.; Merriman, F.C.

1992-01-01

A method and apparatus for improving the performance of a thermal breeder reactor having regions of higher than average moderator concentration are disclosed. The fuel modules of the reactor core contain at least two different types of fuel elements, a high enrichment fuel element and a low enrichment fuel element. The two types of fuel elements are arranged in the fuel module with the low enrichment fuel elements located between the high moderator regions and the high enrichment fuel elements. Preferably, shim rods made of a fertile material are provided in selective regions for controlling the reactivity of the reactor by movement of the shim rods into and out of the reactor core. The moderation of neutrons adjacent the high enrichment fuel elements is preferably minimized as by reducing the spacing of the high enrichment fuel elements and/or using a moderator having a reduced moderating effect. 1 figure

Uranium enrichment in the United States

International Nuclear Information System (INIS)

Hill, J.H.; Parks, J.W.

1975-01-01

History, improvement programs, status of electrical power availability, demands for uranium enrichment, operating plan for the U. S. enriching facilities, working inventory of enriched uranium, possible factors affecting deviations in the operating plan, status of gaseous diffusion technology, status of U. S. gas centrifuge advances, transfer of enrichment technology, gaseous diffusion--gas centrifuge comparison, new enrichment capacity, U. S. separative work pricing, and investment in nuclear energy are discussed. (LK)

Quantifying the Effects of Gas-Rich Flyby Encounters on Galaxy Evolution

Science.gov (United States)

Dumas, Julie; Holley-Bockelmann, Kelly; Lang, Meagan

2017-01-01

Recent work has shown that flyby encounters may be a common event in a galaxy's lifetime. Galaxy flybys are a one-time encounter when two halos interpenetrate, but unlike a galaxy merger, the two halos later detach. Relatively little work has been done to assess how flybys affect galaxy evolution. We present preliminary results of a suite of high-resolution hydrodynamical + N-body simulations of gas-rich flyby encounters, concentrating on Milky Way-like primaries. We track the bulk changes in structure, star formation history, kinematics, and morphology over a broad span of flyby encounters.

PERFORMANCE AND KINEMATICS OF VARIOUS THROWING TECHNIQUES IN TEAM-HANDBALL

Directory of Open Access Journals (Sweden)

Herbert Wagner

2011-03-01

Full Text Available In team-handball competition, the players utilize various throwing techniques that differ in the lower body movements (with and without run-up or jump. These different lower body movements influence changes in the upper body movements and thus also affect the performance. A comprehensive analysis of 3D-kinematics of team-handball throws that may explain these differences in performance is lacking. Consequently, the purpose of this study was (1 to compare performance (ball velocity and throwing accuracy between the jump throw, standing throw with and without run-up, and the pivot throw; (2 to calculate the influence of kinematic parameters to ball velocity; and (3 to determine if these four throwing techniques differ significantly in kinematics. Three-dimensional kinematic data (angles, angular velocities and their timing, ball velocity and velocity of the center of mass of 14 elite team-handball players were measured using an 8 camera Vicon MX13 motion capture system (Vicon, Oxford, UK, at 250 Hz. Significant difference was found between the four throwing techniques for ball velocity (p < 0. 001, maximal velocity of the center of mass in goal-directed movement (p < 0.001, and 15 additional kinematic variables (p < 0.003. Ball velocity was significant impacted by the run-up and the pelvis and trunk movements. Depending on floor contact (standing vs. jump throws, elite players in the study used two different strategies (lead leg braces the body vs. opposed leg movements during flight to accelerate the pelvis and trunk to yield differences in ball velocity. However, these players were able to utilize the throwing arm similarly in all four throwing techniques.

Kinematic Mechanisms of How Power Training Improves Healthy Old Adults' Gait Velocity.

Science.gov (United States)

Beijersbergen, Chantal M I; Granacher, Urs; Gäbler, Martijn; Devita, Paul; Hortobágyi, Tibor

2017-01-01

Slow gait predicts many adverse clinical outcomes in old adults, but the mechanisms of how power training can minimize the age-related loss of gait velocity is unclear. We examined the effects of 10 wk of lower extremity power training and detraining on healthy old adults' lower extremity muscle power and gait kinematics. As part of the Potsdam Gait Study, participants started with 10 wk of power training followed by 10 wk of detraining (n = 16), and participants started with a 10-wk control period followed by 10 wk of power training (n = 16). We measured gait kinematics (stride characteristic and joint kinematics) and isokinetic power of the ankle plantarflexor (20°·s, 40°·s, and 60°·s) and knee extensor and flexor (60°·s, 120°·s, and 180°·s) muscles at weeks 0, 10, and 20. Power training improved isokinetic muscle power by ~30% (P ≤ 0.001) and fast (5.9%, P kinematics did not correlate with increases in fast gait velocity. The mechanisms that increased fast gait velocity involved higher cadence (r = 0.86, P ≤ 0.001) rather than longer strides (r = 0.49, P = 0.066). Detraining did not reverse the training-induced increases in muscle power and fast gait velocity. Because increases in muscle power and modifications in joint kinematics did not correlate with increases in fast gait velocity, kinematic mechanisms seem to play a minor role in improving healthy old adults' fast gait velocity after power training.

Enrichment into the 21st century

International Nuclear Information System (INIS)

Rutkowski, E.

1995-01-01

This article discusses the future of the enrichment services market into the next century. It is estimated that demand for enrichment services will reach 31 million SWU by the end of the century and remain constant for the following 10 years. The current world enrichment capacity is 44 million SWU, or some 50% ahead of the demand. This oversupply is projected to continue into the next century, but in spite of this, several suppliers are planning new enrichment facilities. HEU as a source of enriched uranium is examined. Overall, long-term prices for enrichment services are expected to decline in the coming decade

The commercial role for centrifuge enrichment

International Nuclear Information System (INIS)

Readle, P.H.; Wilcox, P.

1987-01-01

The enrichment market is extremely competitive and capacity greatly exceeds demand. BNFL [British Nuclear Fuels Ltd.] is in a unique position in having commercial experience of the two enrichment technologies currently used industrially: diffusion, and centrifuge enrichment through its associate company Urenco. In addition, BNFL is developing laser enrichment techniques as part of a UK development programme. The paper describes the enrichment market, briefly discusses the relative merits of the various methods of uranium enrichment and concludes that the gas centrifuge will be best able to respond to market needs for at least the remainder of the century. (author)

High enrichment to low enrichment core's conversion. Accidents analysis

International Nuclear Information System (INIS)

Abbate, P.; Rubio, R.; Doval, A.; Lovotti, O.

1990-01-01

This work analyzes the different accidents that may occur in the reactor's facility after the 20% high-enriched uranium core's conversion. The reactor (of 5 thermal Mw), built in the 50's and 60's, is of the 'swimming pool' type, with light water and fuel elements of the curve plates MTR type, enriched at 93.15 %. This analysis includes: a) accidents by reactivity insertion; b) accidents by coolant loss; c) analysis by flow loss and d) fission products release. (Author) [es

A digital database of wrist bone anatomy and carpal kinematics.

Science.gov (United States)

Moore, Douglas C; Crisco, Joseph J; Trafton, Theodore G; Leventhal, Evan L

2007-01-01

The skeletal wrist consists of eight small, intricately shaped carpal bones. The motion of these bones is complex, occurs in three dimensions, and remains incompletely defined. Our previous efforts have been focused on determining the in vivo three-dimensional (3-D) kinematics of the normal and abnormal carpus. In so doing we have developed an extensive database of carpal bone anatomy and kinematics from a large number of healthy subjects. The purpose of this paper is to describe that database and to make it available to other researchers. CT volume images of both wrists from 30 healthy volunteers (15 males and 15 females) were acquired in multiple wrist positions throughout the normal range of wrist motion. The outer cortical surfaces of the carpal bones, radius and ulna, and proximal metacarpals were segmented and the 3-D motion of each bone was calculated for each wrist position. The database was constructed to include high-resolution surface models, measures of bone volume and shape, and the 3-D kinematics of each segmented bone. The database does not include soft tissues of the wrist. While there are numerous digital anatomical databases, this one is unique in that it includes a large number of subjects and it contains in vivo kinematic data as well as the bony anatomy.

The evolution of CHROMOMETHYLASES and gene body DNA methylation in plants.

Science.gov (United States)

Bewick, Adam J; Niederhuth, Chad E; Ji, Lexiang; Rohr, Nicholas A; Griffin, Patrick T; Leebens-Mack, Jim; Schmitz, Robert J

2017-05-01

The evolution of gene body methylation (gbM), its origins, and its functional consequences are poorly understood. By pairing the largest collection of transcriptomes (>1000) and methylomes (77) across Viridiplantae, we provide novel insights into the evolution of gbM and its relationship to CHROMOMETHYLASE (CMT) proteins. CMTs are evolutionary conserved DNA methyltransferases in Viridiplantae. Duplication events gave rise to what are now referred to as CMT1, 2 and 3. Independent losses of CMT1, 2, and 3 in eudicots, CMT2 and ZMET in monocots and monocots/commelinids, variation in copy number, and non-neutral evolution suggests overlapping or fluid functional evolution of this gene family. DNA methylation within genes is widespread and is found in all major taxonomic groups of Viridiplantae investigated. Genes enriched with methylated CGs (mCG) were also identified in species sister to angiosperms. The proportion of genes and DNA methylation patterns associated with gbM are restricted to angiosperms with a functional CMT3 or ortholog. However, mCG-enriched genes in the gymnosperm Pinus taeda shared some similarities with gbM genes in Amborella trichopoda. Additionally, gymnosperms and ferns share a CMT homolog closely related to CMT2 and 3. Hence, the dependency of gbM on a CMT most likely extends to all angiosperms and possibly gymnosperms and ferns. The resulting gene family phylogeny of CMT transcripts from the most diverse sampling of plants to date redefines our understanding of CMT evolution and its evolutionary consequences on DNA methylation. Future, functional tests of homologous and paralogous CMTs will uncover novel roles and consequences to the epigenome.

Metal enriched gaseous halos around distant radio galaxies: Clues to feedback in galaxy formation

Energy Technology Data Exchange (ETDEWEB)

Reuland, M; van Breugel, W; de Vries, W; Dopita, A; Dey, A; Miley, G; Rottgering, H; Venemans, B; Stanford, S A; Lacy, M; Spinrad, H; Dawson, S; Stern, D; Bunker, A

2006-08-01

We present the results of an optical and near-IR spectroscopic study of giant nebular emission line halos associated with three z > 3 radio galaxies, 4C 41.17, 4C 60.07 and B2 0902+34. Previous deep narrow band Ly{alpha} imaging had revealed complex morphologies with sizes up to 100 kpc, possibly connected to outflows and AGN feedback from the central regions. The outer regions of these halos show quiet kinematics with typical velocity dispersions of a few hundred km s{sup -1}, and velocity shears that can mostly be interpreted as being due to rotation. The inner regions show shocked cocoons of gas closely associated with the radio lobes. These display disturbed kinematics and have expansion velocities and/or velocity dispersions >1000 km s{sup -1}. The core region is chemically evolved, and we also find spectroscopic evidence for the ejection of enriched material in 4C 41.17 up to a distance of {approx} 60 kpc along the radio-axis. The dynamical structures traced in the Ly{alpha} line are, in most cases, closely echoed in the Carbon and Oxygen lines. This shows that the Ly{alpha} line is produced in a highly clumped medium of small filling factor, and can therefore be used as a tracer of the dynamics of HzRGs. We conclude that these HzRGs are undergoing a final jet-induced phase of star formation with ejection of most of their interstellar medium before becoming 'red and dead' Elliptical galaxies.

Advanced Neutron Source enrichment study

International Nuclear Information System (INIS)

Bari, R.A.; Ludewig, H.; Weeks, J.R.

1996-01-01

A study has been performed of the impact on performance of using low-enriched uranium (20% 235 U) or medium-enriched uranium (35% 235 U) as an alternative fuel for the Advanced Neutron Source, which was initially designed to use uranium enriched to 93% 235 U. Higher fuel densities and larger volume cores were evaluated at the lower enrichments in terms of impact on neutron flux, safety, safeguards, technical feasibility, and cost. The feasibility of fabricating uranium silicide fuel at increasing material density was specifically addressed by a panel of international experts on research reactor fuels. The most viable alternative designs for the reactor at lower enrichments were identified and discussed. Several sensitivity analyses were performed to gain an understanding of the performance of the reactor at parametric values of power, fuel density, core volume, and enrichment that were interpolations between the boundary values imposed on the study or extrapolations from known technology

Kinematic control of redundant robots and the motion optimizability measure.

Science.gov (United States)

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

2001-01-01

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

Prospects and problems of uranium enrichment

International Nuclear Information System (INIS)

Imai, Ryukichi

1974-01-01

The problem of uranium enrichment now concerns principally peaceful nuclear power generation. With the current oil crisis, energy resources assume unprecedented importance. However, the requirements for enriched uranium vary with the vicissitude of the world situation in nuclear power generation; the enterprise of uranium enrichment is related to economic aspect. The following matters are described: dimension of enrichment problem, political factors, changes in requirements, projects in each country, and strategy of enrichment in Japan. (Mori, K.)

Ballistic representation for kinematic access

Science.gov (United States)

Alfano, Salvatore

2011-01-01

This work uses simple two-body orbital dynamics to initially determine the kinematic access for a ballistic vehicle. Primarily this analysis was developed to assess when a rocket body might conjunct with an orbiting satellite platform. A family of access opportunities can be represented as a volume for a specific rocket relative to its launch platform. Alternately, the opportunities can be represented as a geographical footprint relative to aircraft or satellite position that encompasses all possible launcher locations for a specific rocket. A thrusting rocket is treated as a ballistic vehicle that receives all its energy at launch and follows a coasting trajectory. To do so, the rocket's burnout energy is used to find its equivalent initial velocity for a given launcher's altitude. Three kinematic access solutions are then found that account for spherical Earth rotation. One solution finds the maximum range for an ascent-only trajectory while another solution accommodates a descending trajectory. In addition, the ascent engagement for the descending trajectory is used to depict a rapid access scenario. These preliminary solutions are formulated to address ground-, sea-, or air-launched vehicles.

Uranium enrichment: an overview

International Nuclear Information System (INIS)

Cazalet, J.

1995-01-01

This paper is a general presentation of uranium enrichment processes and assessments of the prevailing commercial and industrial situations. It gives first some theoretical aspects of enrichment in general and explains the differences between statistical and selective processes in particular. Then a review of the different processes is made with a comparison between them. Finally, some general remarks concerning applications are given and the risks of proliferation related to enrichment are mentioned. (J.S.). 4 refs., 5 figs., 8 tabs

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.

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

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.

Kinematic structures in galactic disc simulations

NARCIS (Netherlands)

Roca-F� brega, S.; Romero-Gómez, M.; Figueras, F.; Antoja Castelltort, Teresa; Valenzuela, O.; Henney, W.J.; Torres-Peimbert, S.

2011-01-01

N-body and test particle simulations have been used to characterize the stellar streams in the galactic discs of Milky Way type galaxies. Tools such as the second and third order moments of the velocity ellipsoid and clustering methods -EM-WEKA and FoF- allow characterizing these kinematic

Compound nucleus studies withy reverse kinematics

International Nuclear Information System (INIS)

Moretto, L.G.

1985-06-01

Reverse kinematics reactions are used to demonstrate the compound nucleus origin of intermediate mass particles at low energies and the extension of the same mechanism at higher energies. No evidence has appeared in our energy range for liquid-vapor equilibrium or cold fragmentation mechanisms. 11 refs., 12 figs

Supply of low enriched (LEU) and highly enriched uranium (HEU) for research reactors

International Nuclear Information System (INIS)

Mueller, H.

1997-01-01

Enriched uranium for research reactors in the form of LEU /= low enriched uranium at 19.75% U-235) and HEU (= highly enriched uranium at 90 to 93% U-235) was and is - due to its high U-235 enrichment - a political fuel other than enriched uranium for power reactors. The sufficient availability of LEU and HEU is a vital question for research reactors, especially in Europe, in order to perform their peaceful research reactor programs. In the past the USA were in the Western hemisphere sole supplier of LEU and HEU. Today the USA have de facto stopped the supply of LEU and HEU, for HEU mainly due to political reasons. This paper deals, among others, with the present availability of LEU and HEU for European research reactors and touches the following topics: - historical US supplies, - influence of the RERTR-program, - characteristics of LEU and HEU, - military HEU enters the civil market, -what is the supply situation for LEU and HEU today? - outlook for safe supplies of LEU and HEU. (author)

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

International Nuclear Information System (INIS)

Nam, Yun Joo; Park, Myeong Kwan

2006-01-01

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

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...

THICK-DISK EVOLUTION INDUCED BY THE GROWTH OF AN EMBEDDED THIN DISK

International Nuclear Information System (INIS)

Villalobos, Alvaro; Helmi, Amina; Kazantzidis, Stelios

2010-01-01

We perform collisionless N-body simulations to investigate the evolution of the structural and kinematical properties of simulated thick disks induced by the growth of an embedded thin disk. The thick disks used in the present study originate from cosmologically common 5:1 encounters between initially thin primary disk galaxies and infalling satellites. The growing thin disks are modeled as static gravitational potentials and we explore a variety of growing-disk parameters that are likely to influence the response of thick disks. We find that the final thick-disk properties depend strongly on the total mass and radial scale length of the growing thin disk, and much less sensitively on its growth timescale and vertical scale height as well as the initial sense of thick-disk rotation. Overall, the growth of an embedded thin disk can cause a substantial contraction in both the radial and vertical direction, resulting in a significant decrease in the scale lengths and scale heights of thick disks. Kinematically, a growing thin disk can induce a notable increase in the mean rotation and velocity dispersions of thick-disk stars. We conclude that the reformation of a thin disk via gas accretion may play a significant role in setting the structure and kinematics of thick disks, and thus it is an important ingredient in models of thick-disk formation.

STUDY OF THE flat die pellet mills kinematic diagram with active cylindrical press rolLS

Directory of Open Access Journals (Sweden)

Osokin Anton Vladislavovich

2017-03-01

Full Text Available Though being widely spread, the designs of such machines as flat die pellet mills have hardly been comprehensively theoretically studied. At the same time, the kinematic motion of the ring die pellet mill executive parts have been studied quite thoroughly. The machine executive parts kinematics determines the nature of their motion and velocity parameters, as well as the energy costs for the unit operation of the assembly. In addition, a detailed analysis of the facility kinematic diagram enables a rational approach to the design process for a new equipment. In view of this, this paper proposes a classification of flat matrix granulators over the kinematic diagrams of the executive parts interactions. We performed an analytical study of the kinematic diagram flat matrix granulator with active cylindrical press rolls. We considered the forces acting on the press roll during its operation. We determined the kinematic parameters and their interrelation with the design parameters of the press roll. We obtained the analytical equations for the of the neutral cross-section determination - the most characteristic section of the press-roll granulator

Wheel skid correction is a prerequisite to reliably measure wheelchair sports kinematics based on inertial sensors

NARCIS (Netherlands)

Van der Slikke, R.M.A.; Berger, M.A.M.; Bregman, D.J.J.; Veeger, H.E.J.

2015-01-01

Accurate knowledge of wheelchair kinematics during a match could be a significant factor in performance improvement in wheelchair basketball. To date, most systems for measuring wheelchair kinematics are not suitable for match applications or lack detail in key kinematic outcomes. This study

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 ...

Morpho-kinematic properties of field S0 bulges in the CALIFA survey

Science.gov (United States)

Méndez-Abreu, J.; Aguerri, J. A. L.; Falcón-Barroso, J.; Ruiz-Lara, T.; Sánchez-Menguiano, L.; de Lorenzo-Cáceres, A.; Costantin, L.; Catalán-Torrecilla, C.; Zhu, L.; Sánchez-Blazquez, P.; Florido, E.; Corsini, E. M.; Wild, V.; Lyubenova, M.; van de Ven, G.; Sánchez, S. F.; Bland-Hawthorn, J.; Galbany, L.; García-Benito, R.; García-Lorenzo, B.; González Delgado, R. M.; López-Sánchez, A. R.; Marino, R. A.; Márquez, I.; Ziegler, B.; Califa Collaboration

2018-02-01

We study a sample of 28 S0 galaxies extracted from the integral field spectroscopic (IFS) survey Calar Alto Legacy Integral Field Area. We combine an accurate two-dimensional (2D) multicomponent photometric decomposition with the IFS kinematic properties of their bulges to understand their formation scenario. Our final sample is representative of S0s with high stellar masses (M⋆/M⊙ > 1010). They lay mainly on the red sequence and live in relatively isolated environments similar to that of the field and loose groups. We use our 2D photometric decomposition to define the size and photometric properties of the bulges, as well as their location within the galaxies. We perform mock spectroscopic simulations mimicking our observed galaxies to quantify the impact of the underlying disc on our bulge kinematic measurements (λ and v/σ). We compare our bulge corrected kinematic measurements with the results from Schwarzschild dynamical modelling. The good agreement confirms the robustness of our results and allows us to use bulge deprojected values of λ and v/σ. We find that the photometric (n and B/T) and kinematic (v/σ and λ) properties of our field S0 bulges are not correlated. We demonstrate that this morpho-kinematic decoupling is intrinsic to the bulges and it is not due to projection effects. We conclude that photometric diagnostics to separate different types of bulges (disc-like versus classical) might not be useful for S0 galaxies. The morpho-kinematics properties of S0 bulges derived in this paper suggest that they are mainly formed by dissipational processes happening at high redshift, but dedicated high-resolution simulations are necessary to better identify their origin.

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.

Kinematic anharmonicity of internal rotation of molecules

International Nuclear Information System (INIS)

Bataev, V.A.; Pupyshev, V.I.; Godunov, I.A.

2017-01-01

The methods of analysis the strongly coupled vibrations are proposed for a number of molecules of aromatic and heterocyclic carbonyl (and some others) compounds. The qualitative principles are formulated for molecular systems with a significant kinematic anharmonicity.

THE DYNAMIC EVOLUTION OF YOUNG EXTRAGALACTIC RADIO SOURCES

International Nuclear Information System (INIS)

An Tao; Baan, Willem A.

2012-01-01

The evolution of symmetric extragalactic radio sources can be characterized by four distinct growth stages of the radio luminosity versus size of the source. The interaction of the jet with the ambient medium results in the formation and evolution of sources with non-standard (flaring) morphology. In addition, cessation or restarting of the jet power and obstruction of the jet will also result in distinct morphological structures. The radio source population may thus be classified in morphological types that indicate the prevailing physical processes. Compact symmetric objects (CSOs) occupy the earliest evolutionary phase of symmetric radio sources and their dynamical behavior is fundamental for any further evolution. Analysis of CSO dynamics is presented for a sample of 24 CSOs with known redshift and hotspot separation velocity and with a large range of radio power. Observables such as radio power, separation between two hotspots, hotspot separation velocity, and kinematic age of the source are found to be generally consistent with the self-similar predictions for individual sources that reflect the varying density structure of the ambient interstellar medium. Individual sources behave different from the group as a whole. The age and size statistics confirm that a large fraction of CSOs does not evolve into extended doubles.

THE DYNAMIC EVOLUTION OF YOUNG EXTRAGALACTIC RADIO SOURCES

Energy Technology Data Exchange (ETDEWEB)

An Tao [Shanghai Astronomical Observatory, Chinese Academy of Sciences, 200030 Shanghai (China); Baan, Willem A., E-mail: antao@shao.ac.cn, E-mail: baan@astron.nl [ASTRON, P.O. Box 2, 7990-AA Dwingeloo (Netherlands)

2012-11-20

The evolution of symmetric extragalactic radio sources can be characterized by four distinct growth stages of the radio luminosity versus size of the source. The interaction of the jet with the ambient medium results in the formation and evolution of sources with non-standard (flaring) morphology. In addition, cessation or restarting of the jet power and obstruction of the jet will also result in distinct morphological structures. The radio source population may thus be classified in morphological types that indicate the prevailing physical processes. Compact symmetric objects (CSOs) occupy the earliest evolutionary phase of symmetric radio sources and their dynamical behavior is fundamental for any further evolution. Analysis of CSO dynamics is presented for a sample of 24 CSOs with known redshift and hotspot separation velocity and with a large range of radio power. Observables such as radio power, separation between two hotspots, hotspot separation velocity, and kinematic age of the source are found to be generally consistent with the self-similar predictions for individual sources that reflect the varying density structure of the ambient interstellar medium. Individual sources behave different from the group as a whole. The age and size statistics confirm that a large fraction of CSOs does not evolve into extended doubles.

Kinematic analysis of a televised medial ankle sprain

Directory of Open Access Journals (Sweden)

Francesca E. Wade

2018-04-01

Full Text Available Ankle sprains are one of the most prevalent athletic injuries. Prior work has investigated lateral ankle sprains, but research on generally more severe medial sprains is lacking. This case report performs a kinematic analysis using novel motion analysis methods on a non-contact medial ankle sprain. Peak eversion (50° occurred 0.2 seconds following ground contact, maximum velocity of 426°/s, while peak dorsiflexion (64° occurred with a greater maximum velocity (573°/s. The combination of dorsiflexion at ground contact and rapid eversion is associated with a non-contact eversion sprain. This study provides a quantitative analysis of the eversion ankle sprain injury mechanism. Keywords: Athletic injury, Biomechanics, Ankle injury, Kinematics

Electromiographic and kinematic characteristics of Kung Fu Yau-Man palm strike.

Science.gov (United States)

Neto, O P; Magini, Marcio

2008-12-01

A kinematic and electromyographic analysis of Kung Fu (KF) Yau-Man palm strikes without impact is presented. An empirical model applied to data obtained by a high-speed camera describes the kinematic characteristics of the movement. The electromyographic patterns of the biceps brachii, brachioradialis and triceps brachii muscles were studied during the strike in the time (root mean square) and frequency (wavelet transform) domains. Eight KF practitioners participated in the investigation. A wooden board was placed in front of the subjects, and they were asked to perform the strike imagining a target above the board. The results show that the Yau-Man KF palm strike has very similar kinematic characteristics to a simple moderate speed elbow extension movement. All practitioners positioned themselves in relation to the wooden board in a way to achieve their highest hand speeds in the instant their hands crossed the board. The analyses of the electromyography data shows a well developed muscle coordination of the practitioners in agreement with kinematic results. The results of this paper are important not only for improving the performance of practitioners but also to demonstrate the applicability of KF in the process of motor control development.

Tracing chemical evolution over the extent of the Milky Way's disk with apogee red clump stars

International Nuclear Information System (INIS)

Nidever, David L.; Bovy, Jo; Bird, Jonathan C.; Andrews, Brett H.; Johnson, Jennifer A.; Weinberg, David H.; Hayden, Michael; Holtzman, Jon; Feuillet, Diane; Majewski, Steven R.; García Pérez, Ana E.; Smith, Verne; Robin, Annie C.; Sobeck, Jennifer; Cunha, Katia; Allende Prieto, Carlos; Zasowski, Gail; Schiavon, Ricardo P.; Schneider, Donald P.; Shetrone, Matthew

2014-01-01

We employ the first two years of data from the near-infrared, high-resolution SDSS-III/APOGEE spectroscopic survey to investigate the distribution of metallicity and α-element abundances of stars over a large part of the Milky Way disk. Using a sample of ≈10, 000 kinematically unbiased red-clump stars with ∼5% distance accuracy as tracers, the [α/Fe] versus [Fe/H] distribution of this sample exhibits a bimodality in [α/Fe] at intermediate metallicities, –0.9 < [Fe/H] <–0.2, but at higher metallicities ([Fe/H] ∼+0.2) the two sequences smoothly merge. We investigate the effects of the APOGEE selection function and volume filling fraction and find that these have little qualitative impact on the α-element abundance patterns. The described abundance pattern is found throughout the range 5 < R < 11 kpc and 0 < |Z| < 2 kpc across the Galaxy. The [α/Fe] trend of the high-α sequence is surprisingly constant throughout the Galaxy, with little variation from region to region (∼10%). Using simple galactic chemical evolution models, we derive an average star-formation efficiency (SFE) in the high-α sequence of ∼4.5 × 10 –10 yr –1 , which is quite close to the nearly constant value found in molecular-gas-dominated regions of nearby spirals. This result suggests that the early evolution of the Milky Way disk was characterized by stars that shared a similar star-formation history and were formed in a well-mixed, turbulent, and molecular-dominated ISM with a gas consumption timescale (SFE –1 ) of ∼2 Gyr. Finally, while the two α-element sequences in the inner Galaxy can be explained by a single chemical evolutionary track, this cannot hold in the outer Galaxy, requiring, instead, a mix of two or more populations with distinct enrichment histories.

Tracing chemical evolution over the extent of the Milky Way's disk with apogee red clump stars

Energy Technology Data Exchange (ETDEWEB)

Nidever, David L. [Department of Astronomy, University of Michigan, Ann Arbor, MI 48104 (United States); Bovy, Jo [Institute for Advanced Study, Einstein Drive, Princeton, NJ 08540 (United States); Bird, Jonathan C. [Physics and Astronomy Department, Vanderbilt University, 1807 Station B, Nashville, TN 37235 (United States); Andrews, Brett H.; Johnson, Jennifer A.; Weinberg, David H. [Department of Astronomy and the Center for Cosmology and Astro-Particle Physics, The Ohio State University, Columbus, OH 43210 (United States); Hayden, Michael; Holtzman, Jon; Feuillet, Diane [New Mexico State University, Las Cruces, NM 88003 (United States); Majewski, Steven R.; García Pérez, Ana E. [Department of Astronomy, University of Virginia, Charlottesville, VA, 22904 (United States); Smith, Verne [National Optical Astronomy Observatory, Tucson, AZ 85719 (United States); Robin, Annie C.; Sobeck, Jennifer [Institut Utinam, CNRS UMR 6213, OSU THETA, Université de Franche-Comté, 41bis avenue de l' Observatoire, F-25000 Besançon (France); Cunha, Katia [Observatorio Nacional, Rio de Janeiro (Brazil); Allende Prieto, Carlos [Instituto de Astrofsica de Canarias, E-38205 La Laguna, Tenerife (Spain); Zasowski, Gail [Department of Physics and Astronomy, Johns Hopkins University, Baltimore, MD 21218 (United States); Schiavon, Ricardo P. [Astrophysics Research Institute, IC2, Liverpool Science Park, Liverpool John Moores University, 146 Brownlow Hill, Liverpool, L3 5RF (United Kingdom); Schneider, Donald P. [Department of Astronomy and Astrophysics, The Pennsylvania State University, University Park, PA 16802 (United States); Shetrone, Matthew, E-mail: dnidever@umich.edu [University of Texas at Austin, McDonald Observatory, 32 Fowlkes Road, McDonald Observatory, TX 79734-3005 (United States); and others

2014-11-20

We employ the first two years of data from the near-infrared, high-resolution SDSS-III/APOGEE spectroscopic survey to investigate the distribution of metallicity and α-element abundances of stars over a large part of the Milky Way disk. Using a sample of ≈10, 000 kinematically unbiased red-clump stars with ∼5% distance accuracy as tracers, the [α/Fe] versus [Fe/H] distribution of this sample exhibits a bimodality in [α/Fe] at intermediate metallicities, –0.9 < [Fe/H] <–0.2, but at higher metallicities ([Fe/H] ∼+0.2) the two sequences smoothly merge. We investigate the effects of the APOGEE selection function and volume filling fraction and find that these have little qualitative impact on the α-element abundance patterns. The described abundance pattern is found throughout the range 5 < R < 11 kpc and 0 < |Z| < 2 kpc across the Galaxy. The [α/Fe] trend of the high-α sequence is surprisingly constant throughout the Galaxy, with little variation from region to region (∼10%). Using simple galactic chemical evolution models, we derive an average star-formation efficiency (SFE) in the high-α sequence of ∼4.5 × 10{sup –10} yr{sup –1}, which is quite close to the nearly constant value found in molecular-gas-dominated regions of nearby spirals. This result suggests that the early evolution of the Milky Way disk was characterized by stars that shared a similar star-formation history and were formed in a well-mixed, turbulent, and molecular-dominated ISM with a gas consumption timescale (SFE{sup –1}) of ∼2 Gyr. Finally, while the two α-element sequences in the inner Galaxy can be explained by a single chemical evolutionary track, this cannot hold in the outer Galaxy, requiring, instead, a mix of two or more populations with distinct enrichment histories.

Circadian rhythms in handwriting kinematics and legibility.

Science.gov (United States)

Jasper, Isabelle; Gordijn, Marijke; Häussler, Andreas; Hermsdörfer, Joachim

2011-08-01

The aim of the present study was to analyze the circadian rhythmicity in handwriting kinematics and legibility and to compare the performance between Dutch and German writers. Two subject groups underwent a 40 h sleep deprivation protocol under Constant Routine conditions either in Groningen (10 Dutch subjects) or in Berlin (9 German subjects). Both groups wrote every 3h a test sentence of similar structure in their native language. Kinematic handwriting performance was assessed with a digitizing tablet and evaluated by writing speed, writing fluency, and script size. Writing speed (frequency of strokes and average velocity) revealed a clear circadian rhythm, with a parallel decline during night and a minimum around 3:00 h in the morning for both groups. Script size and movement fluency did not vary with time of day in neither group. Legibility of handwriting was evaluated by intra-individually ranking handwriting specimens of the 13 sessions by 10 German and 10 Dutch raters. Whereas legibility ratings of the German handwriting specimens deteriorated during night in parallel with slower writing speed, legibility of the Dutch handwriting deteriorated not until the next morning. In conclusion, the circadian rhythm of handwriting kinematics seems to be independent of script language at least among the two tested western countries. Moreover, handwriting legibility is also subject to a circadian rhythm which, however, seems to be influenced by variations in the assessment protocol. Copyright © 2010 Elsevier B.V. All rights reserved.

The competitive enrichment market

International Nuclear Information System (INIS)

Parks, J.W.; Huffman, F.C.

1984-01-01

With the enactment of the ''Private Ownership of Special Nuclear Materials Act'' in 1964, the U.S. Government made provisions to enter into the uranium enrichment services business. Since nuclear power was in its infancy and the Government was promoting its growth as well as trying to help U.S. industry sell reactors overseas, the initial contracts (Requirements Contracts) for enrichment services placed most of the risks associated with the supplying of the services on the Government. Projections of nuclear power additions continued to grow and in 1972 the Atomic Energy Commission (AEC) stopped contracting under Requirements Contracts in order to study which mode of contracting best suited the commercial development of the industry. In mid-1973, the AEC introduced the Long-Term Fixed Commitment (LTFC) contract which shifted the risk to the customer. By mid-1974, AEC had contracts which completely used the enrichment capacity of its complex and refused to accept requests for additional contracts. This action further convinced European nations that they should continue to develop their own enrichment capacity and resulted in the EURODIF and URENCO projects. Before this time the U.S. supplied 100% of the world market for enriching services

Enrichment: Dealing with overcapacity

International Nuclear Information System (INIS)

Peterson, C.H.

1989-01-01

Today's surplus of enrichment capacity will continue until at least the end of this century. This will challenge the ingenuity of the separative work unit (SWU) suppliers as they attempt to keep market share and remain profitable in a very competitive marketplace. The utilities will be faced with attractive choices, but making the best choice will require careful analysis and increased attention to market factors. Current demand projections will probably prove too high to the extent that more reactors are canceled or delayed. The DOE has the vast majority of the unused capacity, so it will feel the most immediate impact of this large surplus in productive capacity. The DOE has responded to these market challenges by planning another reorganization of its enriching operations. Without a major agreement among the governments affected by the current surplus in enrichment capacity, the future will see lower prices, more competitive terms, and the gradual substitution of centrifuge or laser enrichment for the gaseous diffusion plants. The competition that is forcing the gaseous diffusion prices down to marginal cost will provide the long-term price basis for the enrichment industry

Kinematic classification of iliotibial band syndrome in runners.

Science.gov (United States)

Grau, S; Krauss, I; Maiwald, C; Axmann, D; Horstmann, T; Best, R

2011-04-01

Several inconsistent causative biomechanical factors are considered to be crucial in the occurrence of iliotibial band syndrome (ITBS). The focus of this study was on assessing differences in the kinematic characteristics between healthy runners [control group (CO)] and runners with ITBS in order to recommend treatment strategies to deal with this injury. Three-dimensional kinematics of barefoot running was used in the biomechanical setup. Both groups were matched with respect to gender, height and weight. After determining drop outs, the final population comprised 36 subjects (26 male and 10 female): 18 CO and 18 ITBS (13 male and five female, each). Kinematic evaluations indicate less hip adduction and frontal range of motion at the hip joint in runners with ITBS. Furthermore, maximum hip flexion velocity and maximum knee flexion velocity were lower in runners with ITBS. Lack of joint coordination, expressed as earlier hip flexion and a tendency toward earlier knee flexion, was found to be another discriminating variable in subjects with ITBS compared with CO subjects. We assume that an increase in range of motion at the hip joint, stretching of the hip abductors, as well as stretching the hamstrings, calf muscles and hip flexors will help treat ITBS. © 2009 John Wiley & Sons A/S.

Kinematic decomposition and classification of octopus arm movements.

Science.gov (United States)

Zelman, Ido; Titon, Myriam; Yekutieli, Yoram; Hanassy, Shlomi; Hochner, Binyamin; Flash, Tamar

2013-01-01

The octopus arm is a muscular hydrostat and due to its deformable and highly flexible structure it is capable of a rich repertoire of motor behaviors. Its motor control system uses planning principles and control strategies unique to muscular hydrostats. We previously reconstructed a data set of octopus arm movements from records of natural movements using a sequence of 3D curves describing the virtual backbone of arm configurations. Here we describe a novel representation of octopus arm movements in which a movement is characterized by a pair of surfaces that represent the curvature and torsion values of points along the arm as a function of time. This representation allowed us to explore whether the movements are built up of elementary kinematic units by decomposing each surface into a weighted combination of 2D Gaussian functions. The resulting Gaussian functions can be considered as motion primitives at the kinematic level of octopus arm movements. These can be used to examine underlying principles of movement generation. Here we used combination of such kinematic primitives to decompose different octopus arm movements and characterize several movement prototypes according to their composition. The representation and methodology can be applied to the movement of any organ which can be modeled by means of a continuous 3D curve.

Effects of load on good morning kinematics and EMG activity

Directory of Open Access Journals (Sweden)

Andrew David Vigotsky

2015-01-01

Full Text Available Many strength and conditioning coaches utilize the good morning (GM to strengthen the hamstrings and spinal erectors. However, little research exists on its electromyography (EMG activity and kinematics, and how these variables change as a function of load. The purpose of this investigation was to examine how estimated hamstring length, integrated EMG (IEMG activity of the hamstrings and spinal erectors, and kinematics of the lumbar spine, hip, knee, and ankle are affected by changes in load. Fifteen trained male participants (age = 24.6 ± 5.3 years; body mass = 84.7 ± 11.3 kg; height = 180.9 ± 6.8 cm were recruited for this study. Participants performed five sets of the GM, utilizing 50, 60, 70, 80, and 90% of one-repetition maximum (1RM in a randomized fashion. IEMG activity of hamstrings and spinal erectors tended to increase with load. Knee flexion increased with load on all trials. Estimated hamstring length decreased with load. However, lumbar flexion, hip flexion, and plantar flexion experienced no remarkable changes between trials. These data provide insight as to how changing the load of the GM affects EMG activity, kinematic variables, and estimated hamstring length. Implications for hamstring injury prevention are discussed. More research is needed for further insight as to how load affects EMG activity and kinematics of other exercises.

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

Science.gov (United States)

Hayati, Samad A.; Roston, Gerald P.

1986-01-01

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

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...

Locomotion mode identification for lower limbs using neuromuscular and joint kinematic signals.

Science.gov (United States)

Afzal, Taimoor; White, Gannon; Wright, Andrew B; Iqbal, Kamran

2014-01-01

Recent development in lower limb prosthetics has seen an emergence of powered prosthesis that have the capability to operate in different locomotion modes. However, these devices cannot transition seamlessly between modes such as level walking, stair ascent and descent and up slope and down slope walking. They require some form of user input that defines the human intent. The purpose of this study was to develop a locomotion mode detection system and evaluate its performance for different sensor configurations and to study the effect of locomotion mode detection with and without electromyography (EMG) signals while using kinematic data from hip joint of non-dominant/impaired limb and an accelerometer. Data was collected from four able bodied subjects that completed two circuits that contained standing, level-walking, ramp ascent and descent and stair ascent and descent. By using only the kinematic data from the hip joint and accelerometer data the system was able to identify the transitions, stance and swing phases with similar performance as compared to using only EMG and accelerometer data. However, significant improvement in classification error was observed when EMG, kinematic and accelerometer data were used together to identify the locomotion modes. The higher recognition rates when using the kinematic data along with EMG shows that the joint kinematics could be beneficial in intent recognition systems of locomotion modes.

Evaluation of handwriting kinematics and pressure for differential diagnosis of Parkinson's disease.

Science.gov (United States)

Drotár, Peter; Mekyska, Jiří; Rektorová, Irena; Masarová, Lucia; Smékal, Zdeněk; Faundez-Zanuy, Marcos

2016-02-01

We present the PaHaW Parkinson's disease handwriting database, consisting of handwriting samples from Parkinson's disease (PD) patients and healthy controls. Our goal is to show that kinematic features and pressure features in handwriting can be used for the differential diagnosis of PD. The database contains records from 37 PD patients and 38 healthy controls performing eight different handwriting tasks. The tasks include drawing an Archimedean spiral, repetitively writing orthographically simple syllables and words, and writing of a sentence. In addition to the conventional kinematic features related to the dynamics of handwriting, we investigated new pressure features based on the pressure exerted on the writing surface. To discriminate between PD patients and healthy subjects, three different classifiers were compared: K-nearest neighbors (K-NN), ensemble AdaBoost classifier, and support vector machines (SVM). For predicting PD based on kinematic and pressure features of handwriting, the best performing model was SVM with classification accuracy of Pacc=81.3% (sensitivity Psen=87.4% and specificity of Pspe=80.9%). When evaluated separately, pressure features proved to be relevant for PD diagnosis, yielding Pacc=82.5% compared to Pacc=75.4% using kinematic features. Experimental results showed that an analysis of kinematic and pressure features during handwriting can help assess subtle characteristics of handwriting and discriminate between PD patients and healthy controls. Copyright © 2016 Elsevier B.V. All rights reserved.

Deuterium enrichments in chondritic macromolecular material—Implications for the origin and evolution of organics, water and asteroids

Science.gov (United States)

Alexander, C. M. O.'D.; Newsome, S. D.; Fogel, M. L.; Nittler, L. R.; Busemann, H.; Cody, G. D.

2010-08-01

Here we report the elemental and isotopic compositions of the insoluble organic material (IOM) isolated from several previously unanalyzed meteorites, as well as the reanalyses of H isotopic compositions of some previously measured samples ( Alexander et al., 2007). The IOM in ordinary chondrites (OCs) has very large D enrichments that increase with increasing metamorphism and decreasing H/C, the most extreme δD value measured being almost 12,000‰. We propose that such large isotopic fractionations could be produced in the OC parent bodies through the loss of isotopically very light H 2 generated when Fe was oxidized by water at low temperatures (IOM of CV and CO chondrites with similar metamorphic grades and IOM H/C ratios because proportionately less water was consumed during metamorphism, and the remaining water buffered the H isotopic composition of the IOM even a H was being lost from it. Hydrogen would also have been generated during the alteration of CI, CM and CR carbonaceous chondrites. The IOM in these meteorites exhibit a considerable range in isotopic compositions, but all are enriched in D, as well as 15N, relative to terrestrial values. We explore whether these enrichments could also have been produced by the loss of H 2, but conclude that the most isotopically anomalous IOM compositions in meteorites from these groups are probably closest to their primordial values. The less isotopically anomalous IOM has probably been modified by parent body processes. The response of IOM to these processes was complex and varied, presumably reflecting differences in conditions within and between parent bodies. The D enrichments associated with H 2 generation, along with exchange between D-rich IOM and water in the parent bodies, means that it is unlikely that any chondrites retain the primordial H isotopic composition of the water ice that they accreted. The H isotopic compositions of the most water-rich chondrites, the CMs and CIs, are probably the least

Development of on-line uranium enrichment monitor of gaseous UF6 for uranium enrichment plant

International Nuclear Information System (INIS)

Lu Xuesheng; Liu Guorong; Jin Huimin; Zhao Yonggang; Li Jinghuai; Hao Xueyuan; Ying Bin; Yu Zhaofei

2013-01-01

An on-line enrichment monitor was developed to measure the enrichment of UF 6 , flowing through the processing pipes in uranium enrichment plant. A Nal (Tl) detector was used to measure the count rates of the 185.7 keV γ-ray emitted from 235 U, and the total quantity of uranium was determined from thermodynamic characteristics of gaseous uranium hexafluoride. The results show that the maximum relative standard deviation is less than 1% when the measurement time is 120 s or more and the pressure is more than 2 kPa in the measurement chamber. Uranium enrichment of gaseous uranium hexafluoride in the output end of cascade can be monitored continuously by using the device. It should be effective for nuclear materials accountability verifications and materials balance verification at uranium enrichment plant. (authors)

Oxygen enrichment incineration

International Nuclear Information System (INIS)

Kim, Jeong Guk; Yang, Hee Chul; Park, Geun Il; Kim, Joon Hyung

2000-10-01

Oxygen enriched combustion technology has recently been used in waste incineration. To apply the oxygen enrichment on alpha-bearing waste incineration, which is being developed, a state-of-an-art review has been performed. The use of oxygen or oxygen-enriched air instead of air in incineration would result in increase of combustion efficiency and capacity, and reduction of off-gas product. Especially, the off-gas could be reduced below a quarter, which might reduce off-gas treatment facilities, and also increase an efficiency of off-gas treatment. However, the use of oxygen might also lead to local overheating and high nitrogen oxides (NOx) formation. To overcome these problems, an application of low NOx oxy-fuel burner and recycling of a part of off-gas to combustion chamber have been suggested

Oxygen enrichment incineration

Energy Technology Data Exchange (ETDEWEB)

Kim, Jeong Guk; Yang, Hee Chul; Park, Geun Il; Kim, Joon Hyung

2000-10-01

Oxygen enriched combustion technology has recently been used in waste incineration. To apply the oxygen enrichment on alpha-bearing waste incineration, which is being developed, a state-of-an-art review has been performed. The use of oxygen or oxygen-enriched air instead of air in incineration would result in increase of combustion efficiency and capacity, and reduction of off-gas product. Especially, the off-gas could be reduced below a quarter, which might reduce off-gas treatment facilities, and also increase an efficiency of off-gas treatment. However, the use of oxygen might also lead to local overheating and high nitrogen oxides (NOx) formation. To overcome these problems, an application of low NOx oxy-fuel burner and recycling of a part of off-gas to combustion chamber have been suggested.

Halo mass dependence of H I and O VI absorption: evidence for differential kinematics

Energy Technology Data Exchange (ETDEWEB)

Mathes, Nigel L.; Churchill, Christopher W.; Nielsen, Nikole M.; Trujillo-Gomez, Sebastian [New Mexico State University, Las Cruces, NM 88003 (United States); Kacprzak, Glenn G. [Swinburne University of Technology, Victoria 3122 (Australia); Charlton, Jane; Muzahid, Sowgat [The Pennsylvania State University, University Park, PA 16802 (United States)

2014-09-10

We studied a sample of 14 galaxies (0.1 < z < 0.7) using HST/WFPC2 imaging and high-resolution HST/COS or HST/STIS quasar spectroscopy of Lyα, Lyβ, and O VI λλ1031, 1037 absorption. The galaxies, having 10.8 ≤ log (M {sub h}/M {sub ☉}) ≤ 12.2, lie within D = 300 kpc of quasar sightlines, probing out to D/R {sub vir} = 3. When the full range of M {sub h} and D/R {sub vir} of the sample are examined, ∼40% of the H I absorbing clouds can be inferred to be escaping their host halo. The fraction of bound clouds decreases as D/R {sub vir} increases such that the escaping fraction is ∼15% for D/R {sub vir} < 1, ∼45% for 1 ≤ D/R {sub vir} < 2, and ∼90% for 2 ≤ D/R {sub vir} < 3. Adopting the median mass log M {sub h}/M {sub ☉} = 11.5 to divide the sample into 'higher' and 'lower' mass galaxies, we find a mass dependency for the hot circumgalactic medium kinematics. To our survey limits, O VI absorption is found in only ∼40% of the H I clouds in and around lower mass halos as compared to ∼85% around higher mass halos. For D/R {sub vir} < 1, lower mass halos have an escape fraction of ∼65%, whereas higher mass halos have an escape fraction of ∼5%. For 1 ≤ D/R {sub vir} < 2, the escape fractions are ∼55% and ∼35% for lower mass and higher mass halos, respectively. For 2 ≤ D/R {sub vir} < 3, the escape fraction for lower mass halos is ∼90%. We show that it is highly likely that the absorbing clouds reside within 4R {sub vir} of their host galaxies and that the kinematics are dominated by outflows. Our finding of 'differential kinematics' is consistent with the scenario of 'differential wind recycling' proposed by Oppenheimer et al. We discuss the implications for galaxy evolution, the stellar to halo mass function, and the mass-metallicity relationship of galaxies.

Pythagoras Theorem and Relativistic Kinematics

Science.gov (United States)

Mulaj, Zenun; Dhoqina, Polikron

2010-01-01

In two inertial frames that move in a particular direction, may be registered a light signal that propagates in an angle with this direction. Applying Pythagoras theorem and principles of STR in both systems, we can derive all relativistic kinematics relations like the relativity of simultaneity of events, of the time interval, of the length of objects, of the velocity of the material point, Lorentz transformations, Doppler effect and stellar aberration.

75 FR 10525 - In the Matter of: AREVA Enrichment Services, LLC (Eagle Rock Enrichment Facility) and All Other...

Science.gov (United States)

2010-03-08

...: AREVA Enrichment Services, LLC (Eagle Rock Enrichment Facility) and All Other Persons Who Seek or Obtain... for the Implementation of a Safeguards Information Program (Effective Immediately) I AREVA Enrichment... it to construct and operate a uranium enrichment facility in Bonneville County, Idaho. AES submitted...

A nonlinear dynamics of trunk kinematics during manual lifting tasks.

Science.gov (United States)

Khalaf, Tamer; Karwowski, Waldemar; Sapkota, Nabin

2015-01-01

Human responses at work may exhibit nonlinear properties where small changes in the initial task conditions can lead to large changes in system behavior. Therefore, it is important to study such nonlinearity to gain a better understanding of human performance under a variety of physical, perceptual, and cognitive tasks conditions. The main objective of this study was to investigate whether the human trunk kinematics data during a manual lifting task exhibits nonlinear behavior in terms of determinist chaos. Data related to kinematics of the trunk with respect to the pelvis were collected using Industrial Lumbar Motion Monitor (ILMM), and analyzed applying the nonlinear dynamical systems methodology. Nonlinear dynamics quantifiers of Lyapunov exponents and Kaplan-Yorke dimensions were calculated and analyzed under different task conditions. The study showed that human trunk kinematics during manual lifting exhibits chaotic behavior in terms of trunk sagittal angular displacement, velocity and acceleration. The findings support the importance of accounting for nonlinear dynamical properties of biomechanical responses to lifting tasks.

THE DiskMass SURVEY. III. STELLAR KINEMATICS VIA CROSS-CORRELATION

International Nuclear Information System (INIS)

Westfall, Kyle B.; Bershady, Matthew A.; Verheijen, Marc A. W.

2011-01-01

We describe a new cross-correlation (CC) approach used by our survey to derive stellar kinematics from galaxy-continuum spectroscopy. This approach adopts the formal error analysis derived by Statler, but properly handles spectral masks. Thus, we address the primary concerns regarding application of the CC method to censored data, while maintaining its primary advantage by consolidating kinematic and template-mismatch information toward different regions of the CC function. We identify a systematic error in the nominal CC method of approximately 10% in velocity dispersion incurred by a mistreatment of detector-censored data, which is eliminated by our new method. We derive our approach from first principles, and we use Monte Carlo simulations to demonstrate its efficacy. An identical set of Monte Carlo simulations performed using the well-established penalized-pixel-fitting code of Cappellari and Emsellem compares favorably with the results from our newly implemented software. Finally, we provide a practical demonstration of this software by extracting stellar kinematics from SparsePak spectra of UGC 6918.

Do Running Kinematic Characteristics Change over a Typical HIIT for Endurance Runners?

Science.gov (United States)

García-Pinillos, Felipe; Soto-Hermoso, Víctor M; Latorre-Román, Pedro Á

2016-10-01

García-Pinillos, F, Soto-Hermoso, VM, and Latorre-Román, PÁ. Do running kinematic characteristics change over a typical HIIT for endurance runners?. J Strength Cond Res 30(10): 2907-2917, 2016-The purpose of this study was to describe kinematic changes that occur during a common high-intensity intermittent training (HIIT) session for endurance runners. Twenty-eight male endurance runners participated in this study. A high-speed camera was used to measure sagittal-plane kinematics at the first and the last run during a HIIT (4 × 3 × 400 m). The dependent variables were spatial-temporal variables, joint angles during support and swing, and foot strike pattern. Physiological variables, rate of perceived exertion, and athletic performance were also recorded. No significant changes (p ≥ 0.05) in kinematic variables were found during the HIIT session. Two cluster analyses were performed, according to the average running pace-faster vs. slower, and according to exhaustion level reached-exhausted group vs. nonexhausted group (NEG). At first run, no significant differences were found between groups. As for the changes induced by the running protocol, significant differences (p ≤ 0.05) were found between faster and slower athletes at toe-off in θhip and θknee, whereas some changes were found in NEG in θhip during toe-off (+4.3°) and θknee at toe-off (-5.2°) during swing. The results show that a common HIIT session for endurance runners did not consistently or substantially perturb the running kinematics of trained male runners. Additionally, although some differences between groups have been found, neither athletic performance nor exhaustion level reached seems to be determinant in the kinematic response during a HIIT, at least for this group of moderately trained endurance runners.

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

Directory of Open Access Journals (Sweden)

Hussein de la Torre

2016-06-01

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

Lower Extremity Kinematics Differed Between a Controlled Drop-Jump and Volleyball-Takeoffs.

Science.gov (United States)

Beardt, Bradley S; McCollum, Myranda R; Hinshaw, Taylour J; Layer, Jacob S; Wilson, Margaret A; Zhu, Qin; Dai, Boyi

2018-04-03

Previous studies utilizing jump-landing biomechanics to predict anterior cruciate ligament injuries have shown inconsistent findings. The purpose of this study was to quantify the differences and correlations in jump-landing kinematics between a drop-jump, a controlled volleyball-takeoff, and a simulated-game volleyball-takeoff. Seventeen female volleyball players performed these three tasks on a volleyball court while three-dimensional kinematic data were collected by three calibrated camcorders. Participants demonstrated significantly increased jump height, shorter stance time, increased time differences in initial contact between two feet, increased knee and hip flexion at initial contact and decreased peak knee and hip flexion for both left and right legs, and decreased knee-ankle distance ratio at the lowest height of mid-hip for the two volleyball-takeoffs compared with the drop-jump (p jump and two volleyball-takeoffs. Controlled drop-jump kinematics may not represent jump-landing kinematics exhibited during volleyball competition. Jump-landing mechanics during sports-specific tasks may better represent those exhibited during sports competition and their associated risk of ACL injury compared with the drop-jump.

Difference in kinematical behavior between two landing tasks in male volleyball athletes

Directory of Open Access Journals (Sweden)

Glauber Ribeiro Pereira

2010-09-01

Full Text Available Anterior cruciate ligament (ACL injuries are common in sports. Studies investigating injury mechanisms have demonstrated that most injuries arise from landing tasks. Despite the demonstration of differences between male and female kinematics, there are no studies showing how males behave during different landing tasks. The objective of this study was to compare the angular and temporal kinematics of the lower limbs between two different landing tasks. Double leg and single leg landings were recorded in the frontal and sagittal plane in 15 male volleyball athletes by videogrammetry. Reduced hip and knee flexion and increased knee valgus were observed in the single leg landing task compared to the double leg landing task. No significant difference in landing time was observed between the two tasks. In conclusion, the results support the premise that lower limb kinematics change according to the task performed. Further studies are necessary to explore the impact of these kinematic differences on knee loading and to relate them to ACL injury mechanisms in men.

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

Science.gov (United States)

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

2013-01-01

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

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

Science.gov (United States)

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

2017-12-01

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

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.

Estimation of uncertainty of measurements of 3D mechanisms after kinematic calibration

International Nuclear Information System (INIS)

Takamasu, K; Sato, O; Shimojima, K; Takahashi, S; Furutani, R

2005-01-01

Calibration methods for 3D mechanisms are necessary to use the mechanisms as coordinate measuring machines. The calibration method of coordinate measuring machine using artifacts, the artifact calibration method, is proposed in taking account of traceability of the mechanism. There are kinematic parameters and form-deviation parameters in geometric parameters for describing the forward kinematic of the mechanism. In this article, the estimation methods of uncertainties using the calibrated coordinate measuring machine after the calibration are formulated. Firstly, the calculation method which takes out the values of kinematic parameters using least squares method is formulated. Secondly, the estimation value of uncertainty of the measuring machine is calculated using the error propagation method

Chemical evolution of galaxies

International Nuclear Information System (INIS)

Pagel, B.E.J.

1979-01-01

The chemical evolution of disk galaxies is discussed with special reference to results obtained from studies of the oxygen abundance in H II regions. Normal spirals (including our own) display the by now well known radial abundance gradient, which is discussed on the basis of the simple enrichment model and other models. The Magellanic Clouds, on the other hand, and the barred spiral NGC 1365, have been found to have little or no abundance gradient, implying a very different sort of evolution that may involve large-scale mixing. Finally, the simple model is tested against a number of results in H II regions where the ratio of total mass to mass of residual gas can be estimated. It turns out to fit adequately the Magellanic Clouds and a number of H II regions in the outer parts of spiral galaxies, but in more inner parts it fails, as do more sophisticated models involving infall during the formation of galactic disks that have proved very successful in other respects. (Auth.)

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.

76 FR 387 - Atomic Safety and Licensing Board; AREVA Enrichment Services, LLC (Eagle Rock Enrichment Facility)

Science.gov (United States)

2011-01-04

... and Licensing Board; AREVA Enrichment Services, LLC (Eagle Rock Enrichment Facility) December 17, 2010... construction and operation of a gas centrifuge uranium enrichment facility--denoted as the Eagle Rock... site at http://www.nrc.gov/materials/fuel-cycle-fac/arevanc.html . These and other documents relating...

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

International Nuclear Information System (INIS)

Krug, J.; Nocken, U.

1976-01-01

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

The low-enrichment fuel development program

International Nuclear Information System (INIS)

Stahl, D.

1993-01-01

In the 1950s and 1960s, low-power research reactors were built around the world utilized MTR-type fuel elements containing 20% enriched uranium. However, the demand for higher specific power created a need for greater uranium-235 concentrations. Early difficulties in increasing uranium content led to the substitution of highly enriched uranium in place of the 20% enriched fuel previously utilized. The highly enriched material also yielded other benefits including longer core residence time, higher specific reactivity, and somewhat lower cost. Highly enriched material then became readily available and was used for high-power reactors as well as in low-power reactors where 20% enriched material would have sufficed. The trend toward higher and higher specific power also led to the development of the dispersion-type fuels which utilized highly enriched uranium at a concentration of about 40 wt%. In the 1970's, however, concerns were raised about the proliferation resistance of fuels and fuel cycles. As a consequence, the U.S. Department of State has recently prohibited the foreign shipment of highly enriched material, except where prior contractual obligation or special merit exists. This will impact on the availability and utilization of highly enriched uranium for research and test reactor fuel. It has also stimulated development programs on fuels with higher uranium content which would allow the use of uranium of lower enrichment. The purpose of this report is to briefly describe the overall fuel-development program which is coordinated by Argonne National Laboratory for the Department of Energy, and to indicate the current and potential uranium loadings. Other reports will address the individual fuel-development activities in greater detail

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

Directory of Open Access Journals (Sweden)

Qingcheng Chen

2015-10-01

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

Effects of Kinesio taping on scapular kinematics of overhead athletes following muscle fatigue.

Science.gov (United States)

Zanca, Gisele Garcia; Grüninger, Bruno; Mattiello, Stela Márcia

2016-08-01

Scapular kinematics alterations have been found following muscle fatigue. Considering the importance of the lower trapezius in coordinated scapular movement, this study aimed to investigate the effects of elastic taping (Kinesio taping, KT) for muscle facilitation on scapular kinematics of healthy overhead athletes following muscle fatigue. Twenty-eight athletes were evaluated in a crossover, single-blind, randomized design, in three sessions: control (no taping), KT (KT with tension) and sham (KT without tension). Scapular tridimensional kinematics and EMG of clavicular and acromial portions of upper trapezius, lower trapezius and serratus anterior were evaluated during arm elevation and lowering, before and after a fatigue protocol involving repetitive throwing. Median power frequency decline of serratus anterior was significantly lower in KT session compared to sham, possibly indicating lower muscle fatigue. However, the effects of muscle fatigue on scapular kinematics were not altered by taping conditions. Although significant changes were found in scapular kinematics following muscle fatigue, they were small and not considered relevant. It was concluded that healthy overhead athletes seem to present an adaptive mechanism that avoids the disruption of scapular movement pattern following muscle fatigue. Therefore, these athletes do not benefit from the use of KT to assist scapular movement under the conditions tested. Copyright © 2015 Elsevier Ltd. All rights reserved.

The coupling between gaze behavior and opponent kinematics during anticipation of badminton shots.

Science.gov (United States)

Alder, David; Ford, Paul R; Causer, Joe; Williams, A Mark

2014-10-01

We examined links between the kinematics of an opponent's actions and the visual search behaviors of badminton players responding to those actions. A kinematic analysis of international standard badminton players (n = 4) was undertaken as they completed a range of serves. Video of these players serving was used to create a life-size temporal occlusion test to measure anticipation responses. Expert (n = 8) and novice (n = 8) badminton players anticipated serve location while wearing an eye movement registration system. During the execution phase of the opponent's movement, the kinematic analysis showed between-shot differences in distance traveled and peak acceleration at the shoulder, elbow, wrist and racket. Experts were more accurate at responding to the serves compared to novice players. Expert players fixated on the kinematic locations that were most discriminating between serve types more frequently and for a longer duration compared to novice players. Moreover, players were generally more accurate at responding to serves when they fixated vision upon the discriminating arm and racket kinematics. Findings extend previous literature by providing empirical evidence that expert athletes' visual search behaviors and anticipatory responses are inextricably linked to the opponent action being observed. Copyright © 2014 Elsevier B.V. All rights reserved.

Landslide kinematics and their potential controls from hourly to decadal timescales: Insights from integrating ground-based InSAR measurements with structural maps and long-term monitoring data

Science.gov (United States)

Schulz, William H.; Coe, Jeffrey A.; Ricci, Pier P.; Smoczyk, Gregory M.; Shurtleff, Brett L.; Panosky, Joanna

2017-05-01

along the landslide's marginal faults, highlighting their importance in controlling landslide stability. Hourly results also suggested that motion propagated along the 3.9-km length of the active landslide, even following sub-millimeter displacements, while strengthening of landslide shear boundaries during faster movement was likely critical in regulating the landslide's motion. Hence, detailed kinematic characterizations obtained from traditional and emerging approaches helped to reveal that mechanisms controlling landslide movement and evolution over decades also are critical to sub-millimeter movement on a nearly continuous basis.

Interactive scan control for kinematic study in open MRI

International Nuclear Information System (INIS)

Goto, Tomohiro; Hamada, Kiyomi; Ito, Taeko; Nagao, Hisako; Takahashi, Tetsuhiko; Hayashida, Yoshiko; Hiai, Yasuhiro; Yamashita, Yasuyuki

2007-01-01

A tool to support the subject is generally used for kinematic joint imaging with an open MRI apparatus because of difficulty setting the image plane correctly. However, use of a support tool requires a complicated procedure to position the subject, and setting the image plane when the joint angle changes is time consuming. Allowing the subject to move freely enables better diagnoses when kinematic joint imaging is performed. We therefore developed an interactive scan control (ISC) to facilitate the easy, quick, and accurate setting of the image plane even when a support tool is not used. We used a 0.4T magnetic resonance (MR) imaging system open in the horizontal direction. The ISC determines the image plane interactively on the basis of fluoroscopy images displayed on a user interface. The imaging pulse is a balanced steady-state acquisition with rewound gradient echo (SARGE) sequence with update time less than 2 s. Without using a tool to support the knee, we positioned the knee of a healthy volunteer at 4 different joint angles and set the image plane through the patella and femur at each of the angles. Lumbar imaging is also demonstrated with ISC. Setting the image plane was easy and quick at all knee angles, and images obtained clearly showed the patella and femur. Total imaging time was less than 10 min, a fourth of the time needed when a support tool is used. We also used our ISC in kinematic imaging of the lumbar. The ISC shortens total time for kinematic joint imaging, and because a support tool is not needed, imaging can be done more freely in an open MR imaging apparatus. (author)