Observations of far-infrared line profiles in the Orion-KL region

International Nuclear Information System (INIS)

Crawford, M.K.; Lugten, J.B.; Fitelson, W.; Genzel, R.; Melnick, G.; Harvard-Smithsonian Center for Astrophysics, Cambridge, MA)

1986-01-01

Measurements of several far-infrared emission line profiles in the Orion-KL region are reported. The emission from the CO, OH, and forbidden O I emission lines toward the BN-KL and H2 peak 1 positions probably comes from dense, hot molecular gas in the Orion-KL shock. The CO and forbidden O I lines have similar profiles, suggesting that the high-velocity forbidden O I emission also arises in magnetohydrodynamic cloud shocks. The velocity centroids of the lines are somewhat blueshifted. The far-infrared data thus support the interpretation that the blue asymmetry of the H2 2 micron lines is not mainly due to differential dust extinction, but rather to the kinematics and geometry of the shocked gas in the Orion-KL outflow. The forbidden O I and CO lines, however, have significantly less extreme blueshifted emission than the H2 lines. Both the forbidden O I 63 micron and forbidden C II 158 micron lines have features strongly supporting a common origin near the surface of the Orion molecular cloud. 28 references

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 }.

Diagnosing the Kinematics of the Tori in Active Galactic Nuclei with the Velocity-resolved Reverberation Mapping of the Narrow Iron K α Line

Energy Technology Data Exchange (ETDEWEB)

Liu Yuan; Li Xiaobo, E-mail: liuyuan@ihep.ac.cn, E-mail: lixb@ihep.ac.cn [Key Laboratory of Particle Astrophysics, Institute of High Energy Physics, Chinese Academy of Sciences, P.O. Box 918-3, Beijing 100049 (China)

2017-07-20

The properties of the dusty tori in active galactic nuclei (AGNs) have been investigated in detail, mainly focusing on the geometry and components; however, the kinematics of the torus are still not clear. The narrow iron K α line at 6.4 keV is thought to be produced by the X-ray reflection from the torus. Thus, the velocity-resolved reverberation mapping of it is able to constrain the kinematics of the torus. Such effort is limited by the spectral resolution of current charged coupled device (CCD) detectors and should be possible with the microcalorimeter on the next generation X-ray satellite. In this paper, we first construct the response functions of the torus under a uniform inflow, a Keplerian rotation, and a uniform outflow. Then the energy-dependent light curve of the narrow iron K α line is simulated according to the performance of the X-ray Integral Field Unit in Athena. Finally, the energy-dependent cross-correlation function is calculated to reveal the kinematic signal. According to our results, 100 observations with 5 ks exposure of each are sufficient to distinguish the above three velocity fields. Although the real geometry and velocity field of the torus could be more complex than we assumed, the present result proves the feasibility of the velocity-resolved reverberation mapping of the narrow iron K α line. The combination of the dynamics of the torus with those of the broad-line region and the host galaxy is instructive for the understanding of the feeding and feedback process of AGNs.

KINEMATICS OF THE CO GAS IN THE INNER REGIONS OF THE TW Hya DISK

Energy Technology Data Exchange (ETDEWEB)

Rosenfeld, Katherine A.; Qi Chunhua; Andrews, Sean M.; Wilner, David J. [Harvard-Smithsonian Center for Astrophysics, 60 Garden Street, Cambridge, MA 02138 (United States); Corder, Stuartt A. [National Radio Astronomy Observatory, 520 Edgemont Road, Charlottesville, VA 22903 (United States); Dullemond, C. P. [Institut fuer Theoretische Astrophysik, Universitaet Heidelberg, Albert-Ueberle-Str. 2, D-69120 Heidelberg (Germany); Lin Shinyi [Department of Physics, University of California San Diego, 9500 Gilman Drive, La Jolla, CA 92093 (United States); Hughes, A. M. [Department of Astronomy, University of California at Berkeley, 601 Campbell Hall, Berkeley, CA 94720 (United States); D' Alessio, Paola [Centro de Radioastronomia y Astrofisica, Universidad Nacional Autonoma de Mexico, Apartado Postal 72-3 (Xangari), 58089 Morelia, Michoacan (Mexico); Ho, P. T. P. [Academia Sinica Institute of Astronomy and Astrophysics, P.O. Box 23-141, Taipei 106, Taiwan (China)

2012-10-01

We present a detailed analysis of the spatially and spectrally resolved {sup 12}CO J = 2-1 and J = 3-2 emission lines from the TW Hya circumstellar disk, based on science verification data from the Atacama Large Millimeter/submillimeter Array (ALMA). These lines exhibit substantial emission in their high-velocity wings (with projected velocities out to 2.1 km s{sup -1}, corresponding to intrinsic orbital velocities >20 km s{sup -1}) that trace molecular gas as close as 2 AU from the central star. However, we are not able to reproduce the intensity of these wings and the general spatio-kinematic pattern of the lines with simple models for the disk structure and kinematics. Using three-dimensional non-local thermodynamic equilibrium molecular excitation and radiative transfer calculations, we construct some alternative models that successfully account for these features by modifying either (1) the temperature structure of the inner disk (inside the dust-depleted disk cavity; r < 4 AU), (2) the intrinsic (Keplerian) disk velocity field, or (3) the distribution of disk inclination angles (a warp). The latter approach is particularly compelling because a representative warped disk model qualitatively reproduces the observed azimuthal modulation of optical light scattered off the disk surface. In any model scenario, the ALMA data clearly require a substantial molecular gas reservoir located inside the region where dust optical depths are known to be substantially diminished in the TW Hya disk, in agreement with previous studies based on infrared spectroscopy. The results from these updated model prescriptions are discussed in terms of their potential physical origins, which might include dynamical perturbations from a low-mass companion with an orbital separation of a few AU.

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

Science.gov (United States)

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

2017-12-01

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

Hidden Broad-line Regions in Seyfert 2 Galaxies: From the Spectropolarimetric Perspective

International Nuclear Information System (INIS)

Du, Pu; Wang, Jian-Min; Zhang, Zhi-Xiang

2017-01-01

The hidden broad-line regions (BLRs) in Seyfert 2 galaxies, which display broad emission lines (BELs) in their polarized spectra, are a key piece of evidence in support of the unified model for active galactic nuclei (AGNs). However, the detailed kinematics and geometry of hidden BLRs are still not fully understood. The virial factor obtained from reverberation mapping of type 1 AGNs may be a useful diagnostic of the nature of hidden BLRs in type 2 objects. In order to understand the hidden BLRs, we compile six type 2 objects from the literature with polarized BELs and dynamical measurements of black hole masses. All of them contain pseudobulges. We estimate their virial factors, and find the average value is 0.60 and the standard deviation is 0.69, which agree well with the value of type 1 AGNs with pseudobulges. This study demonstrates that (1) the geometry and kinematics of BLR are similar in type 1 and type 2 AGNs of the same bulge type (pseudobulges), and (2) the small values of virial factors in Seyfert 2 galaxies suggest that, similar to type 1 AGNs, BLRs tend to be very thick disks in type 2 objects.

Constraints on the outer radius of the broad emission line region of active galactic nuclei

Science.gov (United States)

Landt, Hermine; Ward, Martin J.; Elvis, Martin; Karovska, Margarita

2014-03-01

Here we present observational evidence that the broad emission line region (BELR) of active galactic nuclei (AGN) generally has an outer boundary. This was already clear for sources with an obvious transition between the broad and narrow components of their emission lines. We show that the narrow component of the higher-order Paschen lines is absent in all sources, revealing a broad emission line profile with a broad, flat top. This indicates that the BELR is kinematically separate from the narrow emission line region. We use the virial theorem to estimate the BELR outer radius from the flat top width of the unblended profiles of the strongest Paschen lines, Paα and Paβ, and find that it scales with the ionizing continuum luminosity roughly as expected from photoionization theory. The value of the incident continuum photon flux resulting from this relationship corresponds to that required for dust sublimation. A flat-topped broad emission line profile is produced by both a spherical gas distribution in orbital motion and an accretion disc wind if the ratio between the BELR outer and inner radius is assumed to be less than ˜100-200. On the other hand, a pure Keplerian disc can be largely excluded, since for most orientations and radial extents of the disc the emission line profile is double-horned.

Kinematic model of some types of motion of matter in active regions

International Nuclear Information System (INIS)

Platov, Yu.V.

1983-01-01

The kinematics of matter motion in variable magnetic fields of active regions on the Sun in the MHD approximation of a strong field and cold plasma is investigated. It is shown that the variation of sunspot magnetic moments lead to the development of different active phenomena in the solar atmosphere. The development of such phenomena at first can occur at the phase of active region growth, when new sunspots together with developed sunspots emerge in an active region or relative motions take place in a sunspot group

CHEERS Results from NGC 3393. II. Investigating the Extended Narrow-line Region Using Deep Chandra Observations and Hubble Space Telescope Narrow-line Imaging

Energy Technology Data Exchange (ETDEWEB)

Maksym, W. Peter; Fabbiano, Giuseppina; Elvis, Martin; Karovska, Margarita; Paggi, Alessandro; Raymond, John [Harvard-Smithsonian Center for Astrophysics, 60 Garden St., Cambridge, MA 02138 (United States); Wang, Junfeng [Department of Astronomy, Physics Building, Xiamen University Xiamen, Fujian, 361005 (China); Storchi-Bergmann, Thaisa, E-mail: walter.maksym@cfa.harvard.edu [Departamento de Astronomia, Universidade Federal do Rio Grande do Sul, IF, CP 15051, 91501-970 Porto Alegre, RS (Brazil)

2017-07-20

The CHandra Extended Emission Line Region Survey (CHEERS) is an X-ray study of nearby active galactic nuclei (AGNs) designed to take full advantage of Chandra 's unique angular resolution by spatially resolving feedback signatures and effects. In the second paper of a series on CHEERS target NGC 3393, we examine deep high-resolution Chandra images and compare them with Hubble Space Telescope narrow-line images of [O iii], [S ii], and H α , as well as previously unpublished mid-ultraviolet (MUV) images. The X-rays provide unprecedented evidence that the S-shaped arms that envelope the nuclear radio outflows extend only ≲0.″2 (≲50 pc) across. The high-resolution multiwavelength data suggest that the extended narrow-line region is a complex multiphase structure in the circumnuclear interstellar medium (ISM). Its ionization structure is highly stratified with respect to outflow-driven bubbles in the bicone and varies dramatically on scales of ∼10 pc. Multiple findings show likely contributions from shocks to the feedback in regions where radio outflows from the AGN most directly influence the ISM. These findings include H α evidence for gas compression and extended MUV emission and are in agreement with existing STIS kinematics. Extended filamentary structure in the X-rays and optical suggests the presence of an undetected plasma component, whose existence could be tested with deeper radio observations.

CHEERS Results from NGC 3393. II. Investigating the Extended Narrow-line Region Using Deep Chandra Observations and Hubble Space Telescope Narrow-line Imaging

Science.gov (United States)

Maksym, W. Peter; Fabbiano, Giuseppina; Elvis, Martin; Karovska, Margarita; Paggi, Alessandro; Raymond, John; Wang, Junfeng; Storchi-Bergmann, Thaisa

2017-07-01

The CHandra Extended Emission Line Region Survey (CHEERS) is an X-ray study of nearby active galactic nuclei (AGNs) designed to take full advantage of Chandra's unique angular resolution by spatially resolving feedback signatures and effects. In the second paper of a series on CHEERS target NGC 3393, we examine deep high-resolution Chandra images and compare them with Hubble Space Telescope narrow-line images of [O III], [S II], and Hα, as well as previously unpublished mid-ultraviolet (MUV) images. The X-rays provide unprecedented evidence that the S-shaped arms that envelope the nuclear radio outflows extend only ≲0.″2 (≲50 pc) across. The high-resolution multiwavelength data suggest that the extended narrow-line region is a complex multiphase structure in the circumnuclear interstellar medium (ISM). Its ionization structure is highly stratified with respect to outflow-driven bubbles in the bicone and varies dramatically on scales of ˜10 pc. Multiple findings show likely contributions from shocks to the feedback in regions where radio outflows from the AGN most directly influence the ISM. These findings include Hα evidence for gas compression and extended MUV emission and are in agreement with existing STIS kinematics. Extended filamentary structure in the X-rays and optical suggests the presence of an undetected plasma component, whose existence could be tested with deeper radio observations.

CHEERS Results from NGC 3393. II. Investigating the Extended Narrow-line Region Using Deep Chandra Observations and Hubble Space Telescope Narrow-line Imaging

International Nuclear Information System (INIS)

Maksym, W. Peter; Fabbiano, Giuseppina; Elvis, Martin; Karovska, Margarita; Paggi, Alessandro; Raymond, John; Wang, Junfeng; Storchi-Bergmann, Thaisa

2017-01-01

The CHandra Extended Emission Line Region Survey (CHEERS) is an X-ray study of nearby active galactic nuclei (AGNs) designed to take full advantage of Chandra 's unique angular resolution by spatially resolving feedback signatures and effects. In the second paper of a series on CHEERS target NGC 3393, we examine deep high-resolution Chandra images and compare them with Hubble Space Telescope narrow-line images of [O iii], [S ii], and H α , as well as previously unpublished mid-ultraviolet (MUV) images. The X-rays provide unprecedented evidence that the S-shaped arms that envelope the nuclear radio outflows extend only ≲0.″2 (≲50 pc) across. The high-resolution multiwavelength data suggest that the extended narrow-line region is a complex multiphase structure in the circumnuclear interstellar medium (ISM). Its ionization structure is highly stratified with respect to outflow-driven bubbles in the bicone and varies dramatically on scales of ∼10 pc. Multiple findings show likely contributions from shocks to the feedback in regions where radio outflows from the AGN most directly influence the ISM. These findings include H α evidence for gas compression and extended MUV emission and are in agreement with existing STIS kinematics. Extended filamentary structure in the X-rays and optical suggests the presence of an undetected plasma component, whose existence could be tested with deeper radio observations.

A catapult model for the narrow-line region in Seyferts and radio galaxies

International Nuclear Information System (INIS)

Smith, M.D.

1984-01-01

The kinematics and stability of clouds falling radially into a supersonic wind are studied. A critical parameter is found, the ejection coefficient, which separates clouds which continue to gravitate inwards from those which are catapulted out by the ram pressure of the wind. This leads to a maximum size for ejected clouds. The clouds are partially broken up by fluid dynamic instabilities and the fragments expelled with enhanced velocities. This model is applied to the narrow-line region of Seyferts and radio galaxies. A quasi-steady picture may be established for the wind-ambient medium interaction zone. The wind is shocked and escapes through jets or bubbles; the ambient medium cools, forming the clouds which gravitate inwards. (author)

Spatial and kinematic structure of Monoceros star-forming region

Science.gov (United States)

Costado, M. T.; Alfaro, E. J.

2018-05-01

The principal aim of this work is to study the velocity field in the Monoceros star-forming region using the radial velocity data available in the literature, as well as astrometric data from the Gaia first release. This region is a large star-forming complex formed by two associations named Monoceros OB1 and OB2. We have collected radial velocity data for more than 400 stars in the area of 8 × 12 deg2 and distance for more than 200 objects. We apply a clustering analysis in the subspace of the phase space formed by angular coordinates and radial velocity or distance data using the Spectrum of Kinematic Grouping methodology. We found four and three spatial groupings in radial velocity and distance variables, respectively, corresponding to the Local arm, the central clusters forming the associations and the Perseus arm, respectively.

Nonpartonic Effects in Pion Electroproduction in the Hermes Kinematical Region

International Nuclear Information System (INIS)

Uleshchenko, V.; Szczurek, A.

2002-01-01

The presentation is concerned with higher twist corrections of nonpartonic origin to semi-inclusive observables in the kinematical region relevant for the HERMES experiment. We demonstrate a strong impact of the VDM-like interaction and the exclusive production of ρ 0 meson on the extraction of the (anti)d - (anti)u asymmetry from charged pion DIS multiplicities. We also show that it is the exclusive- ρ 0 channel which accounts for the experimentally observed effect of the excess of charged over neutral pions produced at large z. (author)

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.

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

Science.gov (United States)

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

2018-03-01

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

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.

The case for inflow of the broad-line region of active galactic nuclei

Science.gov (United States)

Gaskell, C. Martin; Goosmann, René W.

2016-02-01

The high-ionization lines of the broad-line region (BLR) of thermal active galactic nuclei (AGNs) show blueshifts of a few hundred km/s to several thousand km/sec with respect to the low-ionization lines. This has long been thought to be due to the high-ionization lines of the BLR arising in a wind of which the far side of the outflow is blocked from our view by the accretion disc. Evidence for and against the disc-wind model is discussed. The biggest problem for the model is that velocity-resolved reverberation mapping repeatedly fails to show the expected kinematic signature of outflow of the BLR. The disc-wind model also cannot readily reproduce the red side of the line profiles of high-ionization lines. The rapidly falling density in an outflow makes it difficult to obtain high equivalent widths. We point out a number of major problems with associating the BLR with the outflows producing broad absorption lines. An explanation which avoids all these problems and satisfies the constraints of both the line profiles and velocity-resolved reverberation-mapping is a model in which the blueshifting is due to scattering off material spiraling inwards with an inflow velocity of half the velocity of the blueshifting. We discuss how recent reverberation mapping results are consistent with the scattering-plus-inflow model but do not support a disc-wind model. We propose that the anti-correlation of the apparent redshifting of Hβ with the blueshifting of C iv is a consequence of contamination of the red wings of Hβ by the broad wings of [O iii].

MICROLENSING OF QUASAR BROAD EMISSION LINES: CONSTRAINTS ON BROAD LINE REGION SIZE

Energy Technology Data Exchange (ETDEWEB)

Guerras, E.; Mediavilla, E. [Instituto de Astrofisica de Canarias, Via Lactea S/N, La Laguna E-38200, Tenerife (Spain); Jimenez-Vicente, J. [Departamento de Fisica Teorica y del Cosmos, Universidad de Granada, Campus de Fuentenueva, E-18071 Granada (Spain); Kochanek, C. S. [Department of Astronomy and the Center for Cosmology and Astroparticle Physics, The Ohio State University, 4055 McPherson Lab, 140 West 18th Avenue, Columbus, OH 43221 (United States); Munoz, J. A. [Departamento de Astronomia y Astrofisica, Universidad de Valencia, E-46100 Burjassot, Valencia (Spain); Falco, E. [Center for Astrophysics, 60 Garden Street, Cambridge, MA 02138 (United States); Motta, V. [Departamento de Fisica y Astronomia, Universidad de Valparaiso, Avda. Gran Bretana 1111, Valparaiso (Chile)

2013-02-20

We measure the differential microlensing of the broad emission lines between 18 quasar image pairs in 16 gravitational lenses. We find that the broad emission lines are in general weakly microlensed. The results show, at a modest level of confidence (1.8{sigma}), that high ionization lines such as C IV are more strongly microlensed than low ionization lines such as H{beta}, indicating that the high ionization line emission regions are more compact. If we statistically model the distribution of microlensing magnifications, we obtain estimates for the broad line region size of r{sub s} = 24{sup +22} {sub -15} and r{sub s} = 55{sup +150} {sub -35} lt-day (90% confidence) for the high and low ionization lines, respectively. When the samples are divided into higher and lower luminosity quasars, we find that the line emission regions of more luminous quasars are larger, with a slope consistent with the expected scaling from photoionization models. Our estimates also agree well with the results from local reveberation mapping studies.

Studies of kinematic elements in two multicenter sunspot groups

International Nuclear Information System (INIS)

Korobova, Z.B.

1983-01-01

Some features of kinematic elements (KE) in two multicenter sunspot groups were studied using Tashkent full-disc white light heliograms. KE and morphological elements do not reveal any relationship. A KE coincides with a unipolar or multipolar spot or with part of a spot. It may also contain an extended stream including several spots. Relation of KE to large-scale photospheric magnetic fields is less clear. The line of polarity reversal is, in most cases, the deviding line between two adjacent KE. At the same time, a KE can contain spots of both polarities. Sunspot trajectories in the leading polarity regions show the best similarity. Interactions of KE are greatly influenced by the meridional drift. (author)

Kinematic Study of Ionized and Molecular Gases in Ultracompact HII Region in Monoceros R2

Science.gov (United States)

Kim, Hwihyun; Lacy, John H.; Jaffe, Daniel Thomas

2017-06-01

Monoceros R2 (Mon R2) is an UltraCompact HII region (UCHII) surrounded by several PhotoDissociation Regions (PDRs). It is an excellent example to investigate the chemistry and physics of early stage of massive star formation due to its proximity (830pc) and brightness. Previous studies suggest that the wind from the star holds the ionized gas up against the dense molecular core and the higher pressure at the head drives the ionized gas along the shell. In order for the model to work, there should be evidence for dense molecular gas along the shell walls, irradiated by the UCHII region and perhaps entrained into the flow along the walls.We obtained the Immersion Grating INfrared Spectrograph (IGRINS) spectra of Mon R2 to study the kinematic patterns in the areas where ionized and molecular gases interact. The position-velocity maps from the high resolution (R~45,000) H- and K-band (1.4-2.5μm) IGRINS spectra demonstrate that the ionized gases (Brackett and Pfund series, He and Fe emission lines; Δv ≈ 40km/s) flow along the walls of the surrounding clouds. This is consistent with the model by Zhu et al. (2008). In the PV maps of the H2 emission lines there is no obvious motion (Δv ≈ 10km/s) of the molecular hydrogen right at the ionization boundary. This implies that the molecular gas is not taking part in the flow as the ionized gas is moving along the cavity walls.This work used the Immersion Grating Infrared Spectrograph (IGRINS) that was developed under a collaboration between the University of Texas at Austin and the Korea Astronomy and Space Science Institute (KASI) with the financial support of the US National Science Foundation (NSF; grant AST-1229522), of the University of Texas at Austin, and of the Korean GMTProject of KASI.

Fault-Tolerant Region-Based Control of an Underwater Vehicle with Kinematically Redundant Thrusters

Directory of Open Access Journals (Sweden)

Zool H. Ismail

2014-01-01

Full Text Available This paper presents a new control approach for an underwater vehicle with a kinematically redundant thruster system. This control scheme is derived based on a fault-tolerant decomposition for thruster force allocation and a region control scheme for the tracking objective. Given a redundant thruster system, that is, six or more pairs of thrusters are used, the proposed redundancy resolution and region control scheme determine the number of thruster faults, as well as providing the reference thruster forces in order to keep the underwater vehicle within the desired region. The stability of the presented control law is proven in the sense of a Lyapunov function. Numerical simulations are performed with an omnidirectional underwater vehicle and the results of the proposed scheme illustrate the effectiveness in terms of optimizing the thruster forces.

THE PHOTOMETRIC AND KINEMATIC STRUCTURE OF FACE-ON DISK GALAXIES. II. INTEGRATED LINE PROFILE CHARACTERIZATION AND THE ORIGIN OF LINE PROFILE ASYMMETRY

International Nuclear Information System (INIS)

Andersen, David R.; Bershady, Matthew A.

2009-01-01

We perform a moments analysis of H I and H II global line profiles for 33 nearly face-on disk galaxies for the threefold purpose of rationalizing and interpreting line profile indices in the literature, presenting robust moment definitions with analytic error functions calibrated against Monte Carlo simulation, and probing the physical origin of line profile asymmetries. The first four profile moments serve as viable surrogates for the recession velocity, line width, asymmetry, and profile shape, respectively. The first three moments are superior, by a factor of ∼2 in precision, to related quantities defined in the literature. First and third profile moments are related; skew can be used to calculate more accurate recession velocities from global profiles. Second and fourth profile moments are linked, corresponding to the known trend that narrow (but well resolved) line widths tend to be more Gaussian. Hα kurtosis also appears correlated with the spatially resolved line width of the ionized gas. No systematics appear between various measures of line width and true rotation speed other than the wide range of normalizations, which we calibrate. This conclusion and calibration, however, is highly sample dependent. The ratio of H II to H I widths is consistent with unity, even at low projected line width. There may be a trend toward a decrease in the ratio of H II to H I widths consistent with previous studies, but we also observe greater scatter. While there is good agreement between H I and H II first, second, and fourth moments, we find no positive correlation between skew measured from H I and H II profiles. Detailed analysis of the spatially resolved Hα distribution demonstrates that H II global profile asymmetries are dominated by differences in the gas distribution, not kinematic asymmetries.

Anisotropic ionizing radiation in Seyfert galaxies. I - The extended narrow-line region in Markarian 573

Science.gov (United States)

Tsvetanov, Zlatan; Walsh, J. R.

1992-01-01

The morphology, kinematics, and ionization state of the nuclear extended narrow-line region (ENLR) of the Seyfert 2 galaxy Mrk 573 are studied using narrow-band images of a grid of long-slit spectra. The entire ENLR is mapped spectroscopically, and velocity structure is studied. The velocity field map shows a typical galactic rotation picture with some important deviations. A simple geometric model, in accordance with the 'unified schemes', is employed to study the effects of various parameters of the observed picture. The best match is achieved when a biconical radiation field illuminates the ISM of the host galaxy that takes part in a normal galaxy rotation but also has radial motions close to the nucleus. The emission-line images reveal an ENLR elongated along the radio axis in the northwest-southeast direction, but a map of the flux ratio forbidden O III 5007/(H-alpha + forbidden N II) shows a different structure, with the highest excitation peak offset by about 4 arcsec along the radio axis to the southeast.

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.

GASP. II. A MUSE View of Extreme Ram-Pressure Stripping along the Line of Sight: Kinematics of the Jellyfish Galaxy JO201

Science.gov (United States)

Bellhouse, C.; Jaffé, Y. L.; Hau, G. K. T.; McGee, S. L.; Poggianti, B. M.; Moretti, A.; Gullieuszik, M.; Bettoni, D.; Fasano, G.; D'Onofrio, M.; Fritz, J.; Omizzolo, A.; Sheen, Y.-K.; Vulcani, B.

2017-07-01

This paper presents a spatially resolved kinematic study of the jellyfish galaxy JO201, one of the most spectacular cases of ram-pressure stripping (RPS) in the GAs Stripping Phenomena in galaxies with MUSE (GASP) survey. By studying the environment of JO201, we find that it is moving through the dense intracluster medium of Abell 85 at supersonic speeds along our line of sight, and that it is likely accompanied by a small group of galaxies. Given the density of the intracluster medium and the galaxy’s mass, projected position, and velocity within the cluster, we estimate that JO201 must so far have lost ˜50% of its gas during infall via RPS. The MUSE data indeed reveal a smooth stellar disk accompanied by large projected tails of ionized ({{H}}α ) gas, composed of kinematically cold (velocity dispersion 100 km s-1) diffuse emission, that extend out to at least ˜ 50 {kpc} from the galaxy center. The ionized {{H}}α -emitting gas in the disk rotates with the stars out to ˜6 kpc but, in the disk outskirts, it becomes increasingly redshifted with respect to the (undisturbed) stellar disk. The observed disturbances are consistent with the presence of gas trailing behind the stellar component resulting from intense face-on RPS along the line of sight. Our kinematic analysis is consistent with the estimated fraction of lost gas and reveals that stripping of the disk happens outside-in, causing shock heating and gas compression in the stripped tails.

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.

Spectral properties of the narrow-line region in Seyfert galaxies selected from the SDSS-DR7

Science.gov (United States)

Vaona, L.; Ciroi, S.; Di Mille, F.; Cracco, V.; La Mura, G.; Rafanelli, P.

2012-12-01

Although the properties of the narrow-line region (NLR) of active galactic nuclei (AGN) have been deeply studied by many authors in the past three decades, many questions are still open. The main goal of this work is to explore the NLR of Seyfert galaxies by collecting a large statistical spectroscopic sample of Seyfert 2 and Intermediate-type Seyfert galaxies having a high signal-to-noise ratio in order to take advantage of a high number of emission lines to be accurately measured. 2153 Seyfert 2 and 521 Intermediate-type Seyfert spectra were selected from Sloan Digital Sky Survey Data Release 7 (SDSS-DR7) with a diagnostic diagram based on the oxygen emission-line ratios. All the emission lines, broad components included, were measured by means of a self-developed code, after the subtraction of the stellar component. Physical parameters, such as internal reddening, ionization parameter, temperature, density, gas and stellar velocity dispersion were determined for each object. Furthermore, we estimated mass and radius of the NLR, kinetic energy of the ionized gas and black hole accretion rate. From the emission-line analysis and the estimated physical properties, it appears that the NLR is similar in Seyfert 2 and Intermediate-Seyfert galaxies. The only differences, lower extinction, gas kinematics in general not dominated by the host galaxy gravitational potential and higher percentage of [O III]λ5007 blue asymmetries in Intermediate-Seyfert, can be ascribed to an effect of inclination of our line of sight with respect to the torus axis.

Unveiling the inner morphology and gas kinematics of NGC 5135 with ALMA

Science.gov (United States)

Sabatini, G.; Gruppioni, C.; Massardi, M.; Giannetti, A.; Burkutean, S.; Cimatti, A.; Pozzi, F.; Talia, M.

2018-06-01

The local Seyfert 2 galaxy NGC 5135, thanks to its almost face-on appearance, a bulge overdensity of stars, the presence of a large-scale bar, an active galactic nucleus (AGN) and a supernova remnant, is an excellent target to investigate the dynamics of inflows, outflows, star formation, and AGN feedback. Here, we present a reconstruction of the gas morphology and kinematics in the inner regions of this galaxy, based on the analysis of Atacama Large Millimeter Array (ALMA) archival data. For this purpose, we combine the available ˜100 pc resolution ALMA 1.3 and 0.45 mm observations of dust continuum emission, the spectroscopic maps of two transitions of the CO molecule (tracer of molecular gas mass in star-forming and nuclear regions), and of the CS molecule (tracer of the dense star-forming regions) with the outcome of the spectral energy distribution decomposition. By applying the 3DBAROLO software (3D-Based Analysis of Rotating Objects from Line Observations), we have been able to fit the galaxy rotation curve using a 3D tilted-ring model of the disc. Most of the observed emitting features are described by our kinematic model. We also attempt an interpretation for the emission in a few regions that the axisymmetric model fails to reproduce. The most relevant of these is a region at the northern edge of the inner bar, where multiple velocity components overlap, as a possible consequence of the expansion of a superbubble.

Parallel kinematics type, kinematics, and optimal design

CERN Document Server

Liu, Xin-Jun

2014-01-01

Parallel Kinematics- Type, Kinematics, and Optimal Design presents the results of 15 year's research on parallel mechanisms and parallel kinematics machines. This book covers the systematic classification of parallel mechanisms (PMs) as well as providing a large number of mechanical architectures of PMs available for use in practical applications. It focuses on the kinematic design of parallel robots. One successful application of parallel mechanisms in the field of machine tools, which is also called parallel kinematics machines, has been the emerging trend in advanced machine tools. The book describes not only the main aspects and important topics in parallel kinematics, but also references novel concepts and approaches, i.e. type synthesis based on evolution, performance evaluation and optimization based on screw theory, singularity model taking into account motion and force transmissibility, and others.   This book is intended for researchers, scientists, engineers and postgraduates or above with interes...

Water line positions in the 782–840 nm region

International Nuclear Information System (INIS)

Hu, S.-M.; Chen, B.; Tan, Y.; Wang, J.; Cheng, C.-F.; Liu, A.-W.

2015-01-01

A set of water transitions in the 782–840 nm region, including 38 H 2 16 O lines, 12 HD 16 O lines, and 30 D 2 16 O lines, were recorded with a cavity ring-down spectrometer calibrated using precise atomic lines. Absolute frequencies of the lines were determined with an accuracy of about 5 MHz. Systematic shifts were found in the line positions given in the HITRAN database and the upper energy levels given in recent MARVEL studies. - Highlights: • Cavity ring-down spectra of H 2 16 O, HD 16 O, and D 2 16 O lines in the 782–840 nm region were measured. • Absolute line positions of 80 water lines were determined with an accuracy of about 5 MHz. • The H 2 16 O positions given in HITRAN have a systematic shift of 0.001 cm −1 in the 796–840 nm region. • MARVEL D 2 16 O energies have a systematic deviation of about −0.008 cm −1

Kinematics of the inner thousand AU region around the young massive star AFGL 2591-VLA3: a massive disk candidate?

NARCIS (Netherlands)

Wang, K. -S.; van der Tak, F. F. S.; Hogerheijde, M. R.

Context. Recent detections of disks around young high-mass stars support the idea of massive star formation through accretion rather than coalescence, but the detailed kinematics in the equatorial region of the disk candidates is not well known, which limits our understanding of the accretion

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

International Nuclear Information System (INIS)

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

2010-01-01

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

Suspension kinematic analysis of UTeM’s FV Malaysia electric vehicle racing car

NARCIS (Netherlands)

Abdul Manaf, M.Z.; Latif, M.F.A.; Razak, M.S.A.; Hassan, M.Z.B.; Rosley, M.I.F.

2016-01-01

The purpose of this paper is to investigate the kinematic performance of students’ racing car, namely UTeM’s FV Malaysia Electric Vehicle. An elasto-kinematic analysis approach is used to predict the car’s performance during straight line drive and curvature drive. Two suspension design factors

The End of the Lines for OX 169: No Binary Broad-Line Region

Science.gov (United States)

Halpern, J. P.; Eracleous, M.

2000-03-01

We show that unusual Balmer emission-line profiles of the quasar OX 169, frequently described as either self-absorbed or double peaked, are actually neither. The effect is an illusion resulting from two coincidences. First, the forbidden lines are quite strong and broad. Consequently, the [N II] λ6583 line and the associated narrow-line component of Hα present the appearance of twin Hα peaks. Second, the redshift of 0.2110 brings Hβ into coincidence with Na I D at zero redshift, and ISM absorption in Na I D divides the Hβ emission line. In spectra obtained over the past decade, we see no substantial change in the character of the line profiles and no indication of intrinsic double-peaked structure. The Hγ, Mg II, and Lyα emission lines are single peaked, and all of the emission-line redshifts are consistent once they are correctly attributed to their permitted and forbidden-line identifications. A systematic shift of up to 700 km s-1 between broad and narrow lines is seen, but such differences are common and could be due to gravitational and transverse redshift in a low-inclination disk. Stockton & Farnham had called attention to an apparent tidal tail in the host galaxy of OX 169 and speculated that a recent merger had supplied the nucleus with a coalescing pair of black holes that was now revealing its existence in the form of two physically distinct broad-line regions. Although there is no longer any evidence for two broad emission-line regions in OX 169, binary black holes should form frequently in galaxy mergers, and it is still worthwhile to monitor the radial velocities of emission lines that could supply evidence of their existence in certain objects.

THE DISCREPANT KINEMATICS OF ORLs AND CELs IN NGC 7009 AS A FUNCTION OF IONIZATION STRUCTURE

Energy Technology Data Exchange (ETDEWEB)

Richer, Michael G. [Instituto de Astronomia, Universidad Nacional Autonoma de Mexico, Apartado Postal 106, 22800 Ensenada, BC (Mexico); Georgiev, Leonid; Torres-Peimbert, Silvia [Instituto de Astronomia, Universidad Nacional Autonoma de Mexico, Apartado Postal 70-264, CP 04510 Mexico DF (Mexico); Arrieta, Anabel, E-mail: richer@astrosen.unam.mx, E-mail: silvia@astroscu.unam.mx, E-mail: anabel.arrieta@ibero.mx [Departamento de Fisica y Matematicas, Universidad Iberoamericana, Prolongacion Paseo de la Reforma 880, Lomas de Santa Fe, CP 01210 Mexico DF (Mexico)

2013-08-20

We present spatially and velocity-resolved echelle spectroscopy for NGC 7009 obtained with the UVES spectrograph at the European Southern Observatory's Very Large Telescope. Our objective is to analyze the kinematics of emission lines excited by recombination and collisions with electrons to determine whether similarities or differences could be useful in elucidating the well-known abundance discrepancy derived from them. We construct position-velocity maps for recombination, fluorescence, charge transfer, and collisionally excited lines. We find a plasma component emitting in the C II, N II, O II, and Ne II recombination lines whose kinematics are discrepant: they are incompatible with the ionization structure derived from all other evidence and the kinematics derived from all of these lines are unexpectedly very similar. We find direct evidence for a recombination contribution to [N II] {lambda}5755. Once taken into account, the electron temperatures from [N II], [O III], and [Ne III] agree at a given position and velocity. The electron densities derived from [O II] and [Ar IV] are consistent with direct imaging and the distribution of hydrogen emission. The kinematics of the C II, N II, O II, and Ne II lines does not coincide with the kinematics of the [O III] and [Ne III] forbidden emission, indicating that there is an additional plasma component to the recombination emission that arises from a different volume from that giving rise to the forbidden emission from the parent ions within NGC 7009. Thus, the chemical abundances derived from either type of line are correct only for the plasma component from which they arise. Apart from [N II] {lambda}5755, we find no anomaly with the forbidden lines usually used to determine chemical abundances in ionized nebulae, so the abundances derived from them should be reliable for the medium from which they arise.

On the Intermediate Line Region in AGNs

Energy Technology Data Exchange (ETDEWEB)

Adhikari, Tek P.; Różańska, Agata; Hryniewicz, Krzysztof [Nicolaus Copernicus Astronomical Center, Polish Academy of Sciences, Warsaw (Poland); Czerny, Bozena [Nicolaus Copernicus Astronomical Center, Polish Academy of Sciences, Warsaw (Poland); Center for Theoretical Physics, Polish Academy of Sciences, Warsaw (Poland); Ferland, Gary J., E-mail: tek@camk.edu.pl [Department of Physics and Astronomy, The University of Kentucky, Lexington, KY (United States)

2017-09-29

In this paper we explore the intermediate line region (ILR) by using the photoionisation simulations of the gas clouds present at different radial distances from the center, corresponding to the locations from BLR out to NLR in four types of AGNs. We let for the presence of dust whenever conditions allow for dust existence. All spectral shapes are taken from the recent multi-wavelength campaigns. The cloud density decreases with distance as a power law. We found that the slope of the power law density profile does not affect the line emissivity radial profiles of major emission lines: Hβ, He II, Mg II, C III, and O III. When the density of the cloud at the sublimation radius is as high as 10{sup 11.5} cm{sup −3}, the ILR should clearly be seen in the observations independently of the shape of the illuminating radiation. Moreover, our result is valid for low ionization nuclear emission regions of active galaxies.

Probing the physics of Seyfert galaxies using their emission-line regions

Energy Technology Data Exchange (ETDEWEB)

Shastri, P., E-mail: prajval.shastri@gmail.com; Kharb, P.; Jose, J.; Ramya, S.; Bhatt, H. C.; Gupta, M. [Indian Institute of Astrophysics, Bangalore (India); Dopita, M.; Kewley, L.; Davies, R.; Sutherland, R.; Hampton, E. [RSAA, Australian National University, Canberra (Australia); Scharwächter, J. [LERMA, Paris Observatory (France); Banfield, J. [CSIRO Astronomy and Space Science, Epping (Australia); Srivastava, S. [Department of Physics, DDU Gorakhpur University, Gorakhpur (India); Jin, J. [Department of Physics, University of Durham (United Kingdom); Basurah, H. [Astronomy Department, King Abdulaziz University, Jeddah (Saudi Arabia); Fischer, S. [German Aerospace Center, Bonn (Germany); Panda, S. [National Institute of Technology, Rourkela (India); Indian Institute of Astrophysics, Bangalore (India); Sundar, M. N. [Jain University, Bangalore (India); Radhakrishnan, V. [Broadcom Corporation, Bangalore (India)

2015-12-31

Active galaxies have powerhouses of radiation in their nuclear regions that are driven by accreting super-massive black holes. The accretion system also generates outflows of ionized gas and synchrotron-emitting bipolar jets of plasma, which could have a significant impact on the host galaxy. We have initiated an investigation into the physics of nearby active galaxies by studying the morphology, kinematics, excitation abundance structure, and radio structure of about 120 nearby targets. We present a few early results from this investigation.

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.

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.

Observability of planet-disc interactions in CO kinematics

Science.gov (United States)

Pérez, Sebastián; Casassus, S.; Benítez-Llambay, P.

2018-06-01

Empirical evidence of planets in gas-rich circumstellar discs is required to constrain giant planet formation theories. Here we study the kinematic patterns which arise from planet-disc interactions and their observability in CO rotational emission lines. We perform three-dimensional hydrodynamical simulations of single giant planets, and predict the emergent intensity field with radiative transfer. Pressure gradients at planet-carved gaps, spiral wakes and vortices bear strong kinematic counterparts. The iso-velocity contours in the CO(2-1) line centroids vo reveal large-scale perturbations, corresponding to abrupt transitions from below sub-Keplerian to super-Keplerian rotation along with radial and vertical flows. The increase in line optical depth at the edge of the gap also modulates vo, but this is a mild effect compared to the dynamical imprint of the planet-disc interaction. The large-scale deviations from the Keplerian rotation thus allow the planets to be indirectly detected via the first moment maps of molecular gas tracers, at ALMA angular resolutions. The strength of these deviations depends on the mass of the perturber. This initial study paves the way to eventually determine the mass of the planet by comparison with more detailed models.

Evidence for non-axisymmetry in M 31 from wide-field kinematics of stars and gas

Science.gov (United States)

Opitsch, M.; Fabricius, M. H.; Saglia, R. P.; Bender, R.; Blaña, M.; Gerhard, O.

2018-03-01

Aim. As the nearest large spiral galaxy, M 31 provides a unique opportunity to study the structure and evolutionary history of this galaxy type in great detail. Among the many observing programs aimed at M 31 are microlensing studies, which require good three-dimensional models of the stellar mass distribution. Possible non-axisymmetric structures like a bar need to be taken into account. Due to M 31's high inclination, the bar is difficult to detect in photometry alone. Therefore, detailed kinematic measurements are needed to constrain the possible existence and position of a bar in M 31. Methods: We obtained ≈220 separate fields with the optical integral-field unit spectrograph VIRUS-W, covering the whole bulge region of M 31 and parts of the disk. We derived stellar line-of-sight velocity distributions from the stellar absorption lines, as well as velocity distributions and line fluxes of the emission lines Hβ, [O III] and [N I]. Our data supersede any previous study in terms of spatial coverage and spectral resolution. Results: We find several features that are indicative of a bar in the kinematics of the stars, we see intermediate plateaus in the velocity and the velocity dispersion, and correlation between the higher moment h3 and the velocity. The gas kinematics is highly irregular, but is consistent with non-triaxial streaming motions caused by a bar. The morphology of the gas shows a spiral pattern, with seemingly lower inclination than the stellar disk. We also look at the ionization mechanisms of the gas, which happens mostly through shocks and not through starbursts. This paper includes data taken at The McDonald Observatory of The University of Texas at Austin.This research was supported by the DFG cluster of excellence "Origin and Structure of the Universe".Full Tables B.4-B.7 are 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/611/A38

SPATIALLY RESOLVED GAS KINEMATICS WITHIN A Lyα NEBULA: EVIDENCE FOR LARGE-SCALE ROTATION

Energy Technology Data Exchange (ETDEWEB)

Prescott, Moire K. M. [Dark Cosmology Centre, Niels Bohr Institute, University of Copenhagen, Juliane Maries Vej 30, DK-2100 Copenhagen (Denmark); Martin, Crystal L. [Department of Physics, Broida Hall, Mail Code 9530, University of California, Santa Barbara, CA 93106 (United States); Dey, Arjun, E-mail: mkmprescott@dark-cosmology.dk [National Optical Astronomy Observatory, 950 North Cherry Avenue, Tucson, AZ 85719 (United States)

2015-01-20

We use spatially extended measurements of Lyα as well as less optically thick emission lines from an ≈80 kpc Lyα nebula at z ≈ 1.67 to assess the role of resonant scattering and to disentangle kinematic signatures from Lyα radiative transfer effects. We find that the Lyα, C IV, He II, and C III] emission lines all tell a similar story in this system, and that the kinematics are broadly consistent with large-scale rotation. First, the observed surface brightness profiles are similar in extent in all four lines, strongly favoring a picture in which the Lyα photons are produced in situ instead of being resonantly scattered from a central source. Second, we see low kinematic offsets between Lyα and the less optically thick He II line (∼100-200 km s{sup –1}), providing further support for the argument that the Lyα and other emission lines are all being produced within the spatially extended gas. Finally, the full velocity field of the system shows coherent velocity shear in all emission lines: ≈500 km s{sup –1} over the central ≈50 kpc of the nebula. The kinematic profiles are broadly consistent with large-scale rotation in a gas disk that is at least partially stable against collapse. These observations suggest that the Lyα nebula represents accreting material that is illuminated by an offset, hidden active galactic nucleus or distributed star formation, and that is undergoing rotation in a clumpy and turbulent gas disk. With an implied mass of M(

Line-shape asymmetry of water vapor absorption lines in the 720-nm wavelength region

Science.gov (United States)

Grossmann, Benoist E.; Browell, Edward V.

1991-01-01

Spectral line-shape analyses were performed for water vapor lines broadened by argon, oxygen, and xenon in the 720-nm wavelength region. A line-shape asymmetry was observed, which is attributed to statistical dependence or correlation between velocity- and state-changing collisions. The generalized (asymmetric) Galatry profile, which results from the soft-collision profile and includes correlation between velocity- and state-changing collisions, was fitted to the observed line shapes and was found to compare favorably with the observed data. The most prominent asymmetries were observed with xenon as the buffer gas.

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

MALT90 Kinematic Distances to Dense Molecular Clumps

Energy Technology Data Exchange (ETDEWEB)

Whitaker, J. Scott [Physics Department, Boston University, 590 Commonwealth Avenue, Boston, MA 02215 (United States); Jackson, James M.; Sanhueza, Patricio; Stephens, Ian W. [Institute for Astrophysical Research, Boston University, Boston, MA 02215 (United States); Rathborne, J. M. [CSIRO Astronomy and Space Science, P.O. Box 76, Epping NSW 1710 (Australia); Foster, J. B. [Department of Astronomy, Yale University, P.O. Box 28101, New Haven, CT 06520-8101 (United States); Contreras, Y. [Leiden Observatory, Leiden University, P.O. Box 9513, 2300 RA Leiden (Netherlands); Longmore, S. N., E-mail: scott@bu.edu [Astrophysics Research Institute, Liverpool John Moores University, Egerton Wharf, Birkenhead CH41 1LD (United Kingdom)

2017-10-01

Using molecular-line data from the Millimetre Astronomy Legacy Team 90 GHz Survey (MALT90), we have estimated kinematic distances to 1905 molecular clumps identified in the ATLASGAL 870 μ m continuum survey over the longitude range 295° <  l  < 350°. The clump velocities were determined using a flux-weighted average of the velocities obtained from Gaussian fits to the HCO{sup +}, HNC, and N{sub 2}H{sup +} (1–0) transitions. The near/far kinematic distance ambiguity was addressed by searching for the presence or absence of absorption or self-absorption features in 21 cm atomic hydrogen spectra from the Southern Galactic Plane Survey. Our algorithm provides an estimation of the reliability of the ambiguity resolution. The Galactic distribution of the clumps indicates positions where the clumps are bunched together, and these locations probably trace the locations of spiral arms. Several clumps fall at the predicted location of the far side of the Scutum–Centaurus arm. Moreover, a number of clumps with positive radial velocities are unambiguously located on the far side of the Milky Way at galactocentric radii beyond the solar circle. The measurement of these kinematic distances, in combination with continuum or molecular-line data, now enables the determination of fundamental parameters such as mass, size, and luminosity for each clump.

Outflows in the narrow-line region of bright Seyfert galaxies - I. GMOS-IFU data

Science.gov (United States)

Freitas, I. C.; Riffel, R. A.; Storchi-Bergmann, T.; Elvis, M.; Robinson, A.; Crenshaw, D. M.; Nagar, N. M.; Lena, D.; Schmitt, H. R.; Kraemer, S. B.

2018-05-01

We present two-dimensional maps of emission-line fluxes and kinematics, as well as of the stellar kinematics of the central few kpc of five bright nearby Seyfert galaxies - Mrk 6, Mrk 79, Mrk 348, Mrk 607, and Mrk 1058 - obtained from observations with the Gemini Multi-Object Spectrograph Integral Field Unit on the Gemini North Telescope. The data cover the inner 3.5 arcsec × 5.0 arcsec - corresponding to physical scales in the range 0.6 × 0.9-1.5 × 2.2 kpc2 - at a spatial resolution ranging from 110 to 280 pc with a spectral coverage of 4300-7100 Å and velocity resolution of ≈90 km s-1. The gas excitation is Seyfert like everywhere but show excitation gradients that are correlated with the gas kinematics, reddening and/or the gas density. The gas kinematics show in all cases two components: a rotation one similar to that observed in the stellar velocity field, and an outflow component. In the case of Mrk607, the gas is counter-rotating relative to the stars. Enhanced gas velocity dispersion is observed in association with the outflows according to two patterns: at the locations of the highest outflow velocities along the ionization axis or perpendicularly to it in a strip centred at the nucleus that we attribute to an equatorial outflow. Bipolar outflows are observed in Mrk 348 and Mrk 79, while in Mrk 1058 only the blueshifted part is clearly observed, while in cases of Mrk 6 and Mrk 607, the geometry of the outflow needs further constraints from modelling to be presented in a forthcoming study, where the mass flow rate and powers will also be obtained.

IONIZED GAS KINEMATICS AT HIGH RESOLUTION. V. [Ne ii], MULTIPLE CLUSTERS, HIGH EFFICIENCY STAR FORMATION, AND BLUE FLOWS IN HE 2–10

International Nuclear Information System (INIS)

Beck, Sara; Turner, Jean; Lacy, John; Greathouse, Thomas

2015-01-01

We measured the 12.8 μm [Ne ii] line in the dwarf starburst galaxy He 2–10 with the high-resolution spectrometer TEXES on the NASA IRTF. The data cube has a diffraction-limited spatial resolution of ∼1″ and a total velocity resolution, including thermal broadening, of ∼5 km s −1 . This makes it possible to compare the kinematics of individual star-forming clumps and molecular clouds in the three dimensions of space and velocity, and allows us to determine star formation efficiencies. The kinematics of the ionized gas confirm that the starburst contains multiple dense clusters. From the M/R of the clusters and the ≃30%–40% star formation efficiencies, the clusters are likely to be bound and long lived, like globulars. Non-gravitational features in the line profiles show how the ionized gas flows through the ambient molecular material, as well as a narrow velocity feature, which we identify with the interface of the H ii region and a cold dense clump. These data offer an unprecedented view of the interaction of embedded H ii regions with their environment

Non-Maxwellian Analysis of the Transition-region Line Profiles Observed by the Interface Region Imaging Spectrograph

Energy Technology Data Exchange (ETDEWEB)

Dudík, Jaroslav; Dzifčáková, Elena [Astronomical Institute of the Czech Academy of Sciences, Fričova 298, 251 65 Ondřejov (Czech Republic); Polito, Vanessa; Testa, Paola [Smithsonian Astrophysical Observatory, 60 Garden Street, MS 58, Cambridge, MA 02138 (United States); Zanna, Giulio Del, E-mail: dudik@asu.cas.cz [Department of Applied Mathematics and Theoretical Physics, CMS, University of Cambridge, Wilberforce Road, Cambridge CB3 0WA (United Kingdom)

2017-06-10

We investigate the nature of the spectral line profiles for transition-region (TR) ions observed with the Interface Region Imaging Spectrograph (IRIS) . In this context, we analyzed an active-region observation performed by IRIS in its 1400 Å spectral window. The TR lines are found to exhibit significant wings in their spectral profiles, which can be well fitted with a non-Maxwellian κ distribution. The fit with a κ distribution can perform better than a double-Gaussian fit, especially for the strongest line, Si iv 1402.8 Å. Typical values of κ found are about 2, occurring in a majority of spatial pixels where the TR lines are symmetric, i.e., the fit can be performed. Furthermore, all five spectral lines studied (from Si iv, O iv, and S iv) appear to have the same full-width at half-maximum irrespective of whether the line is an allowed or an intercombination transition. A similar value of κ is obtained for the electron distribution by the fitting of the line intensities relative to Si iv 1402.8 Å, if photospheric abundances are assumed. The κ distributions, however, do not remove the presence of non-thermal broadening. Instead, they actually increase the non-thermal width. This is because, for κ distributions, TR ions are formed at lower temperatures. The large observed non-thermal width lowers the opacity of the Si iv line sufficiently enough for this line to become optically thin.

A GMOS-N IFU study of the central H II region in the blue compact dwarf galaxy NGC 4449: kinematics, nebular metallicity and star formation

Science.gov (United States)

Kumari, Nimisha; James, Bethan L.; Irwin, Mike J.

2017-10-01

We use integral field spectroscopic (IFS) observations from the Gemini Multi-Object Spectrograph North (GMOS-N) to study the central H II region in a nearby blue compact dwarf (BCD) galaxy NGC 4449. The IFS data enable us to explore the variation of physical and chemical conditions of the star-forming region and the surrounding gas on spatial scales as small as 5.5 pc. Our kinematical analysis shows possible signatures of shock ionization and shell structures in the surroundings of the star-forming region. The metallicity maps of the region, created using direct Te and indirect strong line methods (R23, O3N2 and N2), do not show any chemical variation. From the integrated spectrum of the central H II region, we find a metallicity of 12 + log(O/H) = 7.88 ± 0.14 ({˜ }0.15^{+0.06}_{-0.04} Z⊙) using the direct method. Comparing the central H II region metallicity derived here with those of H II regions throughout this galaxy from previous studies, we find evidence of increasing metallicity with distance from the central nucleus. Such chemical inhomogeneities can be due to several mechanisms, including gas loss via supernova blowout, galactic winds or metal-poor gas accretion. However, we find that the localized area of decreased metallicity aligns spatially with the peak of star-forming activity in the galaxy, suggesting that gas accretion may be at play here. Spatially resolved IFS data for the entire galaxy are required to confirm the metallicity inhomogeneity found in this study and determine its possible cause.

TIMASSS: the IRAS 16293-2422 millimeter and submillimeter spectral survey. I. Observations, calibration, and analysis of the line kinematics

Science.gov (United States)

Caux, E.; Kahane, C.; Castets, A.; Coutens, A.; Ceccarelli, C.; Bacmann, A.; Bisschop, S.; Bottinelli, S.; Comito, C.; Helmich, F. P.; Lefloch, B.; Parise, B.; Schilke, P.; Tielens, A. G. G. M.; van Dishoeck, E.; Vastel, C.; Wakelam, V.; Walters, A.

2011-08-01

Context. Unbiased spectral surveys are powerful tools to study the chemistry and the physics of star forming regions, because they can provide a complete census of the molecular content and the observed lines probe the physical structure of the source. Aims: While unbiased surveys at the millimeter and sub-millimeter wavelengths observable from ground-based telescopes have previously been performed towards several high mass protostars, very little exists on low mass protostars, which are believed to resemble our own Sun's progenitor. To help fill up this gap in our understanding, we carried out a complete spectral survey of the bands at 3, 2, 1, and 0.9 mm towards the solar type protostar IRAS 16293-2422. Methods: The observations covered a range of about 200 GHz and were obtained with the IRAM-30 m and JCMT-15 m telescopes during about 300 h of observations. Particular attention was devoted to the inter-calibration of the acquired spectra with previous observations. All the lines detected with more than 3σ confidence-interval certainty and free from obvious blending effects were fitted with Gaussians to estimate their basic kinematic properties. Results: More than 4000 lines were detected (with σ ≥ 3) and identified, yielding a line density of approximatively 20 lines per GHz, comparable to previous surveys in massive hot cores. The vast majority (about two-thirds) of the lines are weak and produced by complex organic molecules. The analysis of the profiles of more than 1000 lines belonging to 70 species firmly establishes the presence of two distinct velocity components associated with the two objects, A and B, forming the IRAS 16293-2422 binary system. In the source A, the line widths of several species increase with the upper level energy of the transition, a behavior compatible with gas infalling towards a ~1 M⊙ object. The source B, which does not show this effect, might have a much lower central mass of ~0.1 M⊙. The difference in the rest velocities

Aperture synthesis observations of recombination lines from compact HII regions

International Nuclear Information System (INIS)

Gorkom, J.H. van.

1980-01-01

This thesis describes a continuation of early attempts to attain a high spectral dynamic range in general and to study recombination lines from compact HII regions in particular. These observations are made with the WSRT, until recently, the only instrument with sufficient angular resolution and sensitivity to provide at 6 cm detailed line maps of compact HII regions. An investigation into the spectral stability of the WSRT is described. Chromatic errors were found and their effects on maps are shown. These errors were found in the 80 channel filter spectrometer which was still in use at that time. The advent of the digital line backend (DLB) improved the dynamic range by an order of magnitude. An experiment is described which was partially aimed at testing the spectral stability of the DLB. It concerns a search for HI emission from the high velocity system of NGC 1275. Recombination line observations of the compact components in five giant HII regions are presented. The author discusses the radiative transfer problem in recombination lines and shows that non-LTE effects and pressure broadening can be of importance in compact HII regions. Observations obtained with the DLB are also presented. Because of the much better instrumental quality and improved insight into calibration procedures, mapping the H110α emission of DR21 and both the H110α and H166α emission of W3 was succeeded. (Auth.)

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

DEFF Research Database (Denmark)

Engell-Nørregård, Morten Pol; Erleben, Kenny

2011-01-01

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

Spectroscopic observations of Nova Cygni 1975: The coronal line region revisited

International Nuclear Information System (INIS)

Ferland, G.J.; Lambert, D.L.; Woodman, J.H.

1986-01-01

A synopsis of the McDonald Observatory spectrophotometric observations of Nova Cyg 1975 (V1500 Cyg) is presented. We present these data in a form in which they can be readily accessed in the future, and also study the continous spectrum during the early nebular phase. We show that (1) the remnant probably maintained a luminosity at or above the Eddington limit for at least a year after outburst, (2) free-free emission from the coronal line region made a significant contribution to the optical continuum, and (3) the coronal line region was probably a significant source of ionizing radiation. The energetics of this nova appear to be dominated by the lift-off energy from the white dwarf and radiation from the coronal line region. Thus the light curve of Nova Cyg may tell more about the cooling of the coronal line region than about the decline of the central object. In appendices we discuss the argon abundance of Nova Cyg (less than 8 times solar) and describe how to obtain copies of the McDonald nova data

The Southern HII Region Discovery Survey: Preliminary Results

Science.gov (United States)

Shea, Jeanine; Wenger, Trey; Balser, Dana S.; Anderson, Loren D.; Armentrout, William P.; Bania, Thomas M.; Dawson, Joanne; Miller Dickey, John; Jordan, Christopher; McClure-Griffiths, Naomi M.

2017-01-01

HII regions are some of the brightest sources at radio frequencies in the Milky Way and are the sites of massive O and B-type star formation. They have relatively short (Bank Telescope. Candidate HII regions were selected from mid-infrared emission coincident with radio continuum emission, and confirmed as HII regions by the detection of radio recombination lines. Here we discuss the Southern HII Region Discovery Survey (SHRDS), a continuation of the HRDS using the Australia Telescope Compact Array over the Galactic longitude range 230 to 360 degrees. We have reduced and analyzed a small sub-set of the SHRDS sources and discuss preliminary results, including kinematic distances and metallicities.

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.

A SAMPLE OF SEYFERT-2 GALAXIES WITH ULTRALUMINOUS GALAXY-WIDE NARROW-LINE REGIONS: QUASAR LIGHT ECHOES?

International Nuclear Information System (INIS)

Schirmer, M.; Diaz, R.; Levenson, N. A.; Winge, C.; Holhjem, K.

2013-01-01

We report the discovery of Seyfert-2 galaxies in SDSS-DR8 with galaxy-wide, ultraluminous narrow-line regions (NLRs) at redshifts z = 0.2-0.6. With a space density of 4.4 Gpc –3 at z ∼ 0.3, these 'green beans' (GBs) are amongst the rarest objects in the universe. We are witnessing an exceptional and/or short-lived phenomenon in the life cycle of active galactic nuclei (AGNs). The main focus of this paper is on a detailed analysis of the GB prototype galaxy J2240–0927 (z = 0.326). Its NLR extends over 26 × 44 kpc and is surrounded by an extended NLR. With a total [O III] λ5008 luminosity of (5.7 ± 0.9) × 10 43 erg s –1 , this is one of the most luminous NLRs known around any type-2 galaxy. Using VLT/XSHOOTER, we show that the NLR is powered by an AGN, and we derive resolved extinction, density, and ionization maps. Gas kinematics is disturbed on a global scale, and high-velocity outflows are absent or faint. This NLR is unlike any other NLR or extended emission line region known. Spectroscopy with Gemini/GMOS reveals extended, high-luminosity [O III] emission also in other GBs. WISE 24 μm luminosities are 5-50 times lower than predicted by the [O III] fluxes, suggesting that the NLRs reflect earlier, very active quasar states that have strongly subsided in less than a galaxy's light-crossing time. These light echoes, or ionization echoes, are about 100 times more luminous than any other such echo known to date. X-ray data are needed for photoionization modeling and to verify the light echoes.

[NEII] Line Velocity Structure of Ultracompact HII Regions

Science.gov (United States)

Okamoto, Yoshiko K.; Kataza, Hirokazu; Yamashita, Takuya; Miyata, Takashi; Sako, Shigeyuki; Honda, Mitsuhiko; Onaka, Takashi; Fujiyoshi, Takuya

Newly formed massive stars are embedded in their natal molecular clouds and are observed as ultracompact HII regions. They emit strong ionic lines such as [NeII] 12.8 micron. Since Ne is ionized by UV photons of E>21.6eV which is higher than the ionization energy of hydrogen atoms the line probes the ionized gas near the ionizing stars. This enables to probe gas motion in the vicinity of recently-formed massive stars. High angular and spectral resolution observations of the [NeII] line will thus provide siginificant information on structures (e.g. disks and outflows) generated through massive star formation. We made [NeII] spectroscopy of ultracompact HII regions using the Cooled Mid-Infrared Camera and Spectrometer (COMICS) on the 8.2m Subaru Telescope in July 2002. Spatial and spectral resolutions were 0.5"" and 10000 respectively. Among the targets G45.12+0.13 shows the largest spatial variation in velocity. The brightest area of G45.12+0.13 has the largest line width in the object. The total velocity deviation amounts to 50km/s (peak to peak value) in the observed area. We report the velocity structure of [NeII] emission of G45.12+0.13 and discuss the gas motion near the ionizing star.

Integrating concepts and skills: Slope and kinematics graphs

Science.gov (United States)

Tonelli, Edward P., Jr.

The concept of force is a foundational idea in physics. To predict the results of applying forces to objects, a student must be able to interpret data representing changes in distance, time, speed, and acceleration. Comprehension of kinematics concepts requires students to interpret motion graphs, where rates of change are represented as slopes of line segments. Studies have shown that majorities of students who show proficiency with mathematical concepts fail accurately to interpret motion graphs. The primary aim of this study was to examine how students apply their knowledge of slope when interpreting kinematics graphs. To answer the research questions a mixed methods research design, which included a survey and interviews, was adopted. Ninety eight (N=98) high school students completed surveys which were quantitatively analyzed along with qualitative information collected from interviews of students (N=15) and teachers ( N=2). The study showed that students who recalled methods for calculating slopes and speeds calculated slopes accurately, but calculated speeds inaccurately. When comparing the slopes and speeds, most students resorted to calculating instead of visual inspection. Most students recalled and applied memorized rules. Students who calculated slopes and speeds inaccurately failed to recall methods of calculating slopes and speeds, but when comparing speeds, these students connected the concepts of distance and time to the line segments and the rates of change they represented. This study's findings will likely help mathematics and science educators to better assist their students to apply their knowledge of the definition of slope and skills in kinematics concepts.

Thermal wind model for the broad emission line region of quasars

International Nuclear Information System (INIS)

Weymann, R.J.; Scott, J.S.; Schiano, A.V.R.; Christiansen, W.A.

1982-01-01

Arguments are summarized for supposing that the clouds giving rise to the broad emission lines of QSOs are confined by the pressure of an expanding thermal gas and that a flux of relativistic particles with luminosity comparable to the photon luminosity streams through this gas. The resulting heating and momentum deposition produces a transonic thermal wind whose dynamical properties are calculated in detail. This wind accelerates and confines the emission line clouds, thereby producing the broad emission line (BEL) profiles. In a companion paper, the properties of the wind at much larger distances (approx.kpc) than the BEL region are used to explain the production of the broad absorption lines (BAL) observed in some QSOs. The same set of wind parameters can account for the properties of both the BEL and BAL regions, and this unification in the physical description of the BEL and BAL regions is one of the most important advantages of this model. A characteristic size of approx.1 pc for the QSO emission line region is one consequence of the model. This characteristic size is shown to depend upon luminosity in such a way that the ionization parameter is roughly constant over a wide range of luminosities. An X-ray luminosity due to thermal bremsstrahlung of approx.1%--10% of the optical luminosity is another consequence of the model. The trajectories of clouds under the combined influence of ram pressure acceleration and radiative acceleration are calculated. From these trajectories emission line profiles are also calculated, as well as the wind and cloud parameters yielding profiles in fair agreement with observed profiles explored. Opacity in the wind due to electron scattering displaces the line cores of optically thin lines to the blue. This is roughly compensated for by the redward skewing of optically thick lines due to preferential emission of photons from the back side of the clouds.void rapid depletion due to Compton losses are discussed

Mechanical versus kinematical shortening reconstructions of the Zagros High Folded Zone (Kurdistan region of Iraq)

Science.gov (United States)

Frehner, Marcel; Reif, Daniel; Grasemann, Bernhard

2012-06-01

This paper compares kinematical and mechanical techniques for the palinspastic reconstruction of folded cross sections in collision orogens. The studied area and the reconstructed NE-SW trending, 55.5 km long cross section is located in the High Folded Zone of the Zagros fold-and-thrust belt in the Kurdistan region of Iraq. The present-day geometry of the cross section has been constructed from field as well as remote sensing data. In a first step, the structures and the stratigraphy are simplified and summarized in eight units trying to identify the main geometric and mechanical parameters. In a second step, the shortening is kinematically estimated using the dip domain method to 11%-15%. Then the same cross section is used in a numerical finite element model to perform dynamical unfolding simulations taking various rheological parameters into account. The main factor allowing for an efficient dynamic unfolding is the presence of interfacial slip conditions between the mechanically strong units. Other factors, such as Newtonian versus power law viscous rheology or the presence of a basement, affect the numerical simulations much less strongly. If interfacial slip is accounted for, fold amplitudes are reduced efficiently during the dynamical unfolding simulations, while welded layer interfaces lead to unrealistic shortening estimates. It is suggested that interfacial slip and decoupling of the deformation along detachment horizons is an important mechanical parameter that controlled the folding processes in the Zagros High Folded Zone.

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

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

X-ray Emission Line Spectroscopy of Nearby Galaxies

Science.gov (United States)

Wang, Daniel

What are the origins of the diffuse soft X-ray emission from non-AGN galaxies? Preliminary analysis of XMM-Newton RGS spectra shows that a substantial fraction of the emission cannot arise from optically-thin thermal plasma, as commonly assumed, and may originate in charge exchange at the interface with neutral gas. We request the support for a comprehensive observing, data analysis, and modeling program to spectroscopically determine the origins of the emission. First, we will use our scheduled XMM-Newton AO-10 368 ks observations of the nearest compact elliptical galaxy M32 to obtain the first spectroscopic calibration of the cumulative soft X-ray emission from the old stellar population and will develop a spectral model for the charge exchange, as well as analysis tools to measure the spatial and kinematic properties of the X-ray line- emitting plasma. Second, we will characterize the truly diffuse emission from the hot plasma and/or its interplay with the neutral gas in a sample of galactic spheroids and active star forming/starburst regions in nearby galaxies observed by XMM-Newton. In particular, we will map out the spatial distributions of key emission lines and measure (or tightly constrain) the kinematics of hot plasma outflows for a few X-ray-emitting regions with high-quality RGS data. For galaxies with insufficient counting statistics in individual emission lines, we will conduct a spectral stacking analysis to constrain the average properties of the X-ray-emitting plasma. We will use the results of these X-ray spectroscopic analyses, together with complementary X-ray CCD imaging/spectral data and observations in other wavelength bands, to test the models of the emission. In addition to the charge exchange, alternative scenarios such as resonance scattering and relic AGN photo-ionization will also be examined for suitable regions. These studies are important to the understanding of the relationship between the diffuse soft X-ray emission and various

Self-Consistent Dynamical Model of the Broad Line Region

Energy Technology Data Exchange (ETDEWEB)

Czerny, Bozena [Center for Theoretical Physics, Polish Academy of Sciences, Warsaw (Poland); Li, Yan-Rong [Key Laboratory for Particle Astrophysics, Institute of High Energy Physics, Chinese Academy of Sciences, Beijing (China); Sredzinska, Justyna; Hryniewicz, Krzysztof [Copernicus Astronomical Center, Polish Academy of Sciences, Warsaw (Poland); Panda, Swayam [Center for Theoretical Physics, Polish Academy of Sciences, Warsaw (Poland); Copernicus Astronomical Center, Polish Academy of Sciences, Warsaw (Poland); Wildy, Conor [Center for Theoretical Physics, Polish Academy of Sciences, Warsaw (Poland); Karas, Vladimir, E-mail: bcz@cft.edu.pl [Astronomical Institute, Czech Academy of Sciences, Prague (Czech Republic)

2017-06-22

We develop a self-consistent description of the Broad Line Region based on the concept of a failed wind powered by radiation pressure acting on a dusty accretion disk atmosphere in Keplerian motion. The material raised high above the disk is illuminated, dust evaporates, and the matter falls back toward the disk. This material is the source of emission lines. The model predicts the inner and outer radius of the region, the cloud dynamics under the dust radiation pressure and, subsequently, the gravitational field of the central black hole, which results in asymmetry between the rise and fall. Knowledge of the dynamics allows us to predict the shapes of the emission lines as functions of the basic parameters of an active nucleus: black hole mass, accretion rate, black hole spin (or accretion efficiency) and the viewing angle with respect to the symmetry axis. Here we show preliminary results based on analytical approximations to the cloud motion.

Self-Consistent Dynamical Model of the Broad Line Region

Directory of Open Access Journals (Sweden)

Bozena Czerny

2017-06-01

Full Text Available We develop a self-consistent description of the Broad Line Region based on the concept of a failed wind powered by radiation pressure acting on a dusty accretion disk atmosphere in Keplerian motion. The material raised high above the disk is illuminated, dust evaporates, and the matter falls back toward the disk. This material is the source of emission lines. The model predicts the inner and outer radius of the region, the cloud dynamics under the dust radiation pressure and, subsequently, the gravitational field of the central black hole, which results in asymmetry between the rise and fall. Knowledge of the dynamics allows us to predict the shapes of the emission lines as functions of the basic parameters of an active nucleus: black hole mass, accretion rate, black hole spin (or accretion efficiency and the viewing angle with respect to the symmetry axis. Here we show preliminary results based on analytical approximations to the cloud motion.

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.

Argument for a non-standard broad-line region

International Nuclear Information System (INIS)

Collin, S.

1987-01-01

The region emitting the broad lines (BLR) in quasars and AGN has a ''Standard Status''. It is shown that this status raises strong problems concerning the energetic budget and the thermal state of the BLR. A possible solution is proposed [fr

Modeling and interpretation of line observations*

Directory of Open Access Journals (Sweden)

Kamp Inga

2015-01-01

Full Text Available Models for the interpretation of line observations from protoplanetary disks are summarized. The spectrum ranges from 1D LTE slab models to 2D thermo-chemical radiative transfer models and their use depends largely on the type/nature of observational data that is analyzed. I discuss the various types of observational data and their interpretation in the context of disk physical and chemical properties. The most simple spatially and spectral unresolved data are line fluxes, which can be interpreted using so-called Boltzmann diagrams. The interpretation is often tricky due to optical depth and non-LTE effects and requires care. Line profiles contain kinematic information and thus indirectly the spatial origin of the emission. Using series of line profiles, we can for example deduce radial temperature gradients in disks (CO pure rotational ladder. Spectro-astrometry of e.g. CO ro-vibrational line profiles probes the disk structure in the 1–30 AU region, where planet formation through core accretion should be most efficient. Spatially and spectrally resolved line images from (submm interferometers are the richest datasets we have to date and they enable us to unravel exciting details of the radial and vertical disk structure such as winds and asymmetries.

VizieR Online Data Catalog: The kinematics of the C II λ6578 line in PNe (Richer+, 2017)

Science.gov (United States)

Richer, M. G.; Suarez, G.; Lopez, J. A.; Garcia Diaz, M. T.

2018-05-01

All of our observations are drawn from the San Pedro Martir Kinematic Catalogue of Planetary Nebulae (henceforth, SPM Catalogue; Lopez et al. 2012RMxAA..48....3L; http://kincatpn.astrosen.unam.mx/). Most of these spectra were acquired with the Manchester Echelle Spectrograph (MES: Meaburn et al. 1984MNRAS.210..463M, 2003RMxAA..39..185M) attached to the 2.1 m telescope at the Observatorio Astronomico Nacional on the Sierra San Pedro Martir (OAN-SPM). The MES uses interference filters to isolate the spectral order of interest, order 87 in this case, covering approximately the wavelength range 6545-6595 Å and containing the [N II] λλ6548, 6584, He II λ6560 (when present), Hα, and C II λ6578 emission lines. For most of the observations, a 150 μm slit was used, resulting in a spectral resolution of approximately 11 km/s when converted to velocity. (2 data files).

Kinematical Comparison of the 200 m Backstroke Turns between National and Regional Level Swimmers

Directory of Open Access Journals (Sweden)

Santiago Veiga

2013-12-01

Full Text Available The aims of this investigation were to determine the evolution of selected turn variables during competitive backstroke races and to compare these kinematic variables between two different levels of swimmers. Sixteen national and regional level male swimmers participant in the 200 m backstroke event at the Spanish Swimming Championships in short course (25 m were selected to analyze their turn performances. The individual distances method with two-dimensional Direct Linear Transformation (2D-DLT algorithms was used to perform race analyses. National level swimmers presented a shorter “turn time”, a longer “distance in”, a faster “underwater velocity” and “normalized underwater velocity”, and a faster “stroking velocity” than regional level swimmers, whereas no significant differences were detected between levels for the “underwater distance”. National level swimmers maintained similar “turn times” over the event and increased “underwater velocity” and “normalized underwater velocity” in the last (seventh turn segment, whereas regional level swimmers increased “turn time” in the last half of the race. For both national and regional level swimmers, turn “underwater distance” during the last three turns of the race was significantly shorter while no significant differences in distance into the wall occurred throughout the race. The skill level of the swimmers has an impact on the competitive backstroke turn segments. In a 200 m event, the underwater velocity should be maximized to maintain turn proficiency, whereas turn distance must be subordinated to the average velocity.

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 ...

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.

Microphysical and Kinematic Characteristics of Regions of Flash Initiation in a Supercell Storm and a Multicell Storm Observed During the DC3 Field Program

Science.gov (United States)

DiGangi, E.; MacGorman, D. R.; Ziegler, C.; Betten, D.; Biggerstaff, M. I.

2017-12-01

Lightning initiation in thunderstorms requires that the local electric field magnitude exceed breakdown values somewhere, and this tends to occur between regions of positive and negative charge, where the largest electric field magnitudes tend to occur. Past studies have demonstrated that, near updrafts, storms with very strong updrafts tend to elevate regions of charge and of flash initiations higher, as well as to have more flashes initiated by small pockets of charge, than in storms with much weaker updrafts. In all thunderstorms, the source of these charge regions is generally thought to be microscopic charge separation via the relative growth rate noninductive mechanism, followed by macroscopic charge separation via sedimentation, although other charge generation mechanisms can contribute to charge in some regions. Charge generation and lightning initiation are therefore inherently dependent on the microphysical and kinematic characteristics of a given storm. This study compares the results of a hydrometeor classification algorithm applied to C-band mobile radar data with mixing ratios calculated by a diabatic Lagrangian analysis retrieval from the dual-Doppler wind fields for two storms, the 29-30 May 2012 supercell storm and the 21 June 2012 multicell storm, observed during the Deep Convective Clouds and Chemistry experiment. Using these data, we then compare the inferred microphysical and kinematic characteristics of regions in which the Oklahoma Lightning Mapping Array indicated that flashes were initiated in these two very different storms.

Design, Modeling and Control of a Biped Line-Walking Robot

Directory of Open Access Journals (Sweden)

Ludan Wang

2010-12-01

Full Text Available The subject of this paper is the design and analysis of a biped line walking robot for inspection of power transmission lines. With a novel mechanism the centroid of the robot can be concentrated on the axis of hip joint to minimize the drive torque of the hip joint. The mechanical structure of the robot is discussed, as well as forward kinematics. Dynamic model is established in this paper to analyze the inverse kinematics for motion planning. The line-walking cycle of the line-walking robot is composed of a single-support phase and a double-support phase. Locomotion of the line-walking robot is discussed in details and the obstacle-navigation process is planed according to the structure of power transmission line. To fulfill the demands of line-walking, a control system and trajectories generation method are designed for the prototype of the line-walking robot. The feasibility of this concept is then confirmed by performing experiments with a simulated line environment.

WHY IS NON-THERMAL LINE BROADENING OF SPECTRAL LINES IN THE LOWER TRANSITION REGION OF THE SUN INDEPENDENT OF SPATIAL RESOLUTION?

International Nuclear Information System (INIS)

De Pontieu, B.; Martinez-Sykora, J.; McIntosh, S.; Peter, H.; Pereira, T. M. D.

2015-01-01

Spectral observations of the solar transition region (TR) and corona show broadening of spectral lines beyond what is expected from thermal and instrumental broadening. The remaining non-thermal broadening is significant (5–30 km s −1 ) and correlated with intensity. Here we study spectra of the TR Si iv 1403 Å line obtained at high resolution with the Interface Region Imaging Spectrograph (IRIS). We find that the large improvement in spatial resolution (0.″33) of IRIS compared to previous spectrographs (2″) does not resolve the non-thermal line broadening which, in most regions, remains at pre-IRIS levels of about 20 km s −1 . This invariance to spatial resolution indicates that the processes behind the broadening occur along the line-of-sight (LOS) and/or on spatial scales (perpendicular to the LOS) smaller than 250 km. Both effects appear to play a role. Comparison with IRIS chromospheric observations shows that, in regions where the LOS is more parallel to the field, magneto-acoustic shocks driven from below impact the TR and can lead to significant non-thermal line broadening. This scenario is supported by MHD simulations. While these do not show enough non-thermal line broadening, they do reproduce the long-known puzzling correlation between non-thermal line broadening and intensity. This correlation is caused by the shocks, but only if non-equilibrium ionization is taken into account. In regions where the LOS is more perpendicular to the field, the prevalence of small-scale twist is likely to play a significant role in explaining the invariance and correlation with intensity. (letters)

Ultraviolet interstellar absorption toward stars in the small Magellanic Cloud. III. THe structure and kinematics of Small Magellanic Cloud

International Nuclear Information System (INIS)

Fitzpatrick, A.L.

1985-01-01

The structure and kinematical properties of the Small Magellanic Cloud (SMC) are investigated by combining ultraviolet data obtained from the International Ultraviolet Explorer (IUE) satellite with existing optical and radio data. The SMC structure is complicated, undoubtedly a result of gravitational interaction with the Milky Way and the Large Magellanic Cloud, and is poorly understood. It has been known for some time that most of the H I in the SMC is concentrated in two complexes at velocities of approximately 134 and 167 km s -1 (heliocentric). Recent 21 cm emission surveys have revealed two additional, widespread H I components at approx.100 and approx.200 km s -1 . With the radio data alone, however, the relative line-of-sight locations of those complexes cannot be determined, nor can the associations of stars with the complexes be deduced. By using the ultraviolet interstellar absorption-line data in conjunction with radio and optical data, the stellar-interstellar kinematical and morphological relationships can be established. We find that in the southwest region of the SMC, most of the stars observed by IUE, including a group with only low-dispersion IUE spectra, are associated with the 134 km s -1 H I complex

Molecular and Recombination Lines in the Central Region of Sagittarius B2

Science.gov (United States)

Curtis, J.; Langston, G.

2005-12-01

We present observations of recombination and molecular lines towards Sgr B2 in the frequency range 12.4 to 15.0 GHz. In this frequency range, Hα , β , and γ lines, Heα recombination lines and emission from the SO molecule are detected. Molecular absorption lines from OH, H2CO, and CH3CO are detected at velocity 62±3 km/s. Measurements of the line widths and intensities are presented for the central region of Sgr B2. We detect two previously un-reported molecular absorption lines at 12388.0 and 14625.8 MHz (v=0. in LSR Frame). For selected recombination and molecular lines, we present images of a 10x10 arc-minute region centered on Sgr B2(M). We discuss the sources of three H2CO absorption features detected at 62±3, 6±5, and 100±10 km/s. This was done as a summer REU project in 2005 at the National Radio Astronomy Observatory's Green Bank site, and was funded by the National Science Foundation's REU program.

THE ORIGIN AND KINEMATICS OF COLD GAS IN GALACTIC WINDS: INSIGHT FROM NUMERICAL SIMULATIONS

International Nuclear Information System (INIS)

Fujita, Akimi; Martin, Crystal L.; Low, Mordecai-Mark Mac; New, Kimberly C. B.; Weaver, Robert

2009-01-01

We study the origin of Na I-absorbing gas in ultraluminous infrared galaxies motivated by the recent observations by Martin of extremely superthermal linewidths in this cool gas. We model the effects of repeated supernova explosions driving supershells in the central regions of molecular disks with M d = 10 10 M sun , using cylindrically symmetric gas dynamical simulations run with ZEUS-3D. The shocked swept-up shells quickly cool and fragment by Rayleigh-Taylor (R-T) instability as they accelerate out of the dense, stratified disks. The numerical resolution of the cooling and compression at the shock fronts determines the peak shell density, and so the speed of R-T fragmentation. We identify cooled shells and shell fragments as Na I-absorbing gas and study its kinematics along various sightlines across the grid. We find that simulations with a numerical resolution of ≤0.2 pc produce multiple R-T fragmented shells in a given line of sight that appear to explain the observed kinematics. We suggest that the observed wide Na I absorption lines, (v) = 320 ± 120 km s -1 , are produced by these multiple fragmented shells traveling at different velocities. We also suggest that some shell fragments can be accelerated above the observed average terminal velocity of 750 km s -1 by the same energy-driven wind with an instantaneous starburst of ∼10 9 M sun . The mass carried by these fragments is only a small fraction of the total shell mass, while the bulk of mass is traveling with velocities consistent with the observed average shell velocity 330 ± 100 km s -1 . Our results show that an energy-driven bubble causing R-T instabilities can explain the kinematics of cool gas seen in the Na I observations without invoking additional physics relying primarily on momentum conservation, such as entrainment of gas by Kelvin-Helmholtz instabilities, ram pressure driving of cold clouds by a hot wind, or radiation pressure acting on dust.

Morphology of AGN Emission Line Regions in SDSS-IV MaNGA Survey

Science.gov (United States)

He, Zhicheng; Sun, Ai-Lei; Zakamska, Nadia L.; Wylezalek, Dominika; Kelly, Michael; Greene, Jenny E.; Rembold, Sandro B.; Riffel, Rogério; Riffel, Rogemar A.

2018-05-01

Extended narrow-line regions (NLRs) around active galactic nuclei (AGN) are shaped by the distribution of gas in the host galaxy and by the geometry of the circumnuclear obscuration, and thus they can be used to test the AGN unification model. In this work, we quantify the morphologies of the narrow-line regions in 308 nearby AGNs (z = 0 - 0.14, Lbol˜1042.4 - 44.1 erg s-1) from the MaNGA survey. Based on the narrow-line region maps, we find that a large fraction (81%) of these AGN have bi-conical NLR morphology. The distribution of their measured opening angles suggests that the intrinsic opening angles of the ionization cones has a mean value of 85-98° with a finite spread of 39-44° (1-σ). Our inferred opening angle distribution implies a number ratio of type I to type II AGN of 1:1.6-2.3, consistent with other measurements of the type I / type II ratio at low AGN luminosities. Combining these measurements with the WISE photometry data, we find that redder mid-IR color (lower effective temperature of dust) corresponds to stronger and narrower photo-ionized bicones. This relation is in agreement with the unification model that suggests that the bi-conical narrow-line regions are shaped by a toroidal dusty structure within a few pc from the AGN. Furthermore, we find a significant alignment between the minor axis of host galaxy disks and AGN ionization cones. Together, these findings suggest that obscuration on both circumnuclear (˜pc) and galactic (˜ kpc) scales are important in shaping and orienting the AGN narrow-line regions.

Probing the Physics of Narrow-line Regions in Active Galaxies. IV. Full Data Release of the Siding Spring Southern Seyfert Spectroscopic Snapshot Survey (S7)

Energy Technology Data Exchange (ETDEWEB)

Thomas, Adam D.; Dopita, Michael A.; Davies, Rebecca; Hampton, Elise; Kewley, Lisa; Banfield, Julie; Groves, Brent; Sutherland, Ralph [RSAA, Australian National University, Cotter Road, Weston Creek, ACT 2611 (Australia); Shastri, Prajval; Sairam, Lalitha [Indian Institute of Astrophysics, Sarjapur Road, Bengaluru 560034 (India); James, Bethan L. [Space Telescope Science Institute, 3700 San Martin Drive, Baltimore, MD 21218 (United States); Jin, Chichuan [Max-Planck-Institut für Extraterrestrische Physik, Garching (Germany); Juneau, Stéphanie [CEA-Saclay, DSM/IRFU/SAp, F-91191 Gif-sur-Yvette (France); Kharb, Preeti [National Centre for Radio Astrophysics—Tata Institute of Fundamental Research, Pune University Campus, Post Bag 3, Ganeshkhind Pune 411007 (India); Scharwächter, Julia [Gemini Observatory, Northern Operations Center, 670 N. A’ohoku Place, Hilo, Hawaii 96720 (United States); Shalima, P. [Regional Institute of Education, Manasagangotri, Mysore 570006 (India); Sundar, M. N. [Jain University, 3rd Block Jayanagar, Bengaluru 560011 (India); Zaw, Ingyin, E-mail: adam.thomas@anu.edu.au [New York University (Abu Dhabi), 70 Washington Sq. S, New York, NY 10012 (United States)

2017-09-01

We present the second and final data release of the Siding Spring Southern Seyfert Spectroscopic Snapshot Survey (S7). Data are presented for 63 new galaxies not included in the first data release, and we provide 2D emission-line fitting products for the full S7 sample of 131 galaxies. The S7 uses the WiFeS instrument on the ANU 2.3 m telescope to obtain spectra with a spectral resolution of R  = 7000 in the red (540–700 nm) and R  = 3000 in the blue (350–570 nm), over an integral field of 25 × 38 arcsec{sup 2} with 1 × 1 arcsec{sup 2} spatial pixels. The S7 contains both the largest sample of active galaxies and the highest spectral resolution of any comparable integral field survey to date. The emission-line fitting products include line fluxes, velocities, and velocity dispersions across the WiFeS field of view, and an artificial neural network has been used to determine the optimal number of Gaussian kinematic components for emission-lines in each spaxel. Broad Balmer lines are subtracted from the spectra of nuclear spatial pixels in Seyfert 1 galaxies before fitting the narrow lines. We bin nuclear spectra and measure reddening-corrected nuclear fluxes of strong narrow lines for each galaxy. The nuclear spectra are classified on optical diagnostic diagrams, where the strength of the coronal line [Fe vii] λ 6087 is shown to be correlated with [O iii]/H β . Maps revealing gas excitation and kinematics are included for the entire sample, and we provide notes on the newly observed objects.

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.

THE NATURE OF ACTIVE GALACTIC NUCLEI WITH VELOCITY OFFSET EMISSION LINES

Energy Technology Data Exchange (ETDEWEB)

Müller-Sánchez, F.; Comerford, J. [Department of Astrophysical and Planetary Sciences, University of Colorado, Boulder, CO 80309 (United States); Stern, D. [Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109 (United States); Harrison, F. A. [California Institute of Technology, 1200 East California Boulevard, Pasadena, CA 91125 (United States)

2016-10-10

We obtained Keck/OSIRIS near-IR adaptive optics-assisted integral-field spectroscopy to probe the morphology and kinematics of the ionized gas in four velocity-offset active galactic nuclei (AGNs) from the Sloan Digital Sky Survey. These objects possess optical emission lines that are offset in velocity from systemic as measured from stellar absorption features. At a resolution of ∼0.″18, OSIRIS allows us to distinguish which velocity offset emission lines are produced by the motion of an AGN in a dual supermassive black hole system, and which are produced by outflows or other kinematic structures. In three galaxies, J1018+2941, J1055+1520, and J1346+5228, the spectral offset of the emission lines is caused by AGN-driven outflows. In the remaining galaxy, J1117+6140, a counterrotating nuclear disk is observed that contains the peak of Pa α emission 0.″2 from the center of the galaxy. The most plausible explanation for the origin of this spatially and kinematically offset peak is that it is a region of enhanced Pa α emission located at the intersection zone between the nuclear disk and the bar of the galaxy. In all four objects, the peak of ionized gas emission is not spatially coincident with the center of the galaxy as traced by the peak of the near-IR continuum emission. The peaks of ionized gas emission are spatially offset from the galaxy centers by 0.″1–0.″4 (0.1–0.7 kpc). We find that the velocity offset originates at the location of this peak of emission, and the value of the offset can be directly measured in the velocity maps. The emission-line ratios of these four velocity-offset AGNs can be reproduced only with a mixture of shocks and AGN photoionization. Shocks provide a natural explanation for the origin of the spatially and spectrally offset peaks of ionized gas emission in these galaxies.

Peculiar A star HD 43819 - A photographic region line-identification study

International Nuclear Information System (INIS)

Adelman, S.J.; The Citadel, Charleston, SC)

1985-01-01

A line identification study of the sharp-lined silicon star HD 43819 has been performed for the photographic region 3759-4924 A. Comparison of this star's spectrum with those of other silicon stars shows that it shares many of their apparent abundance anomalies. The TiII, CrII, FeI, and FeII spectra are well represented while the singly ionized rare earths are represented by at best a few lines per species. 21 references

THE KINEMATICS OF THE NEBULAR SHELLS AROUND LOW MASS PROGENITORS OF PNe WITH LOW METALLICITY

Energy Technology Data Exchange (ETDEWEB)

Pereyra, Margarita; López, José Alberto; Richer, Michael G., E-mail: mally@astrosen.unam.mx, E-mail: jal@astrosen.unam.mx, E-mail: richer@astrosen.unam.mx [Instituto de Astronomía, Universidad Nacional Autónoma de México, Apartado Postal 106, C.P. 22800 Ensenada, BC, México (Mexico)

2016-03-15

We analyze the internal kinematics of 26 planetary nebulae (PNe) with low metallicity that appear to derive from progenitor stars of the lowest masses, including the halo PN population. Based upon spatially resolved, long-slit, echelle spectroscopy drawn from the San Pedro Mártir Kinematic Catalog of PNe, we characterize the kinematics of these PNe measuring their global expansion velocities based upon the largest sample used to date for this purpose. We find kinematics that follow the trends observed and predicted in other studies, but also find that most of the PNe studied here tend to have expansion velocities less than 20 km s{sup −1} in all of the emission lines considered. The low expansion velocities that we observe in this sample of low metallicity PNe with low mass progenitors are most likely a consequence of a weak central star (CS) wind driving the kinematics of the nebular shell. This study complements previous results that link the expansion velocities of the PN shells with the characteristics of the CS.

WEAK LINE QUASARS AT HIGH REDSHIFT: EXTREMELY HIGH ACCRETION RATES OR ANEMIC BROAD-LINE REGIONS?

International Nuclear Information System (INIS)

Shemmer, Ohad; Trakhtenbrot, Benny; Netzer, Hagai; Anderson, Scott F.; Brandt, W. N.; Schneider, Donald P.; Diamond-Stanic, Aleksandar M.; Fan Xiaohui; Lira, Paulina; Plotkin, Richard M.; Richards, Gordon T.; Strauss, Michael A.

2010-01-01

We present Gemini-North K-band spectra of two representative members of the class of high-redshift quasars with exceptionally weak rest-frame ultraviolet emission lines (WLQs), SDSS J114153.34+021924.3 at z = 3.55 and SDSS J123743.08+630144.9 at z = 3.49. In both sources, we detect an unusually weak broad Hβ line and place tight upper limits on the strengths of their [O III] lines. Virial, Hβ-based black hole mass determinations indicate normalized accretion rates of L/L Edd =0.4 for these sources, which is well within the range observed for typical quasars with similar luminosities and redshifts. We also present high-quality XMM-Newton imaging spectroscopy of SDSS J114153.34+021924.3 and find a hard-X-ray photon index of Γ = 1.91 +0.24 -0.22 , which supports the virial L/L Edd determination in this source. Our results suggest that the weakness of the broad emission lines in WLQs is not a consequence of an extreme continuum-emission source but instead due to abnormal broad emission line region properties.

The dependence of C IV broad absorption line properties on accompanying Si IV and Al III absorption: relating quasar-wind ionization levels, kinematics, and column densities

Energy Technology Data Exchange (ETDEWEB)

Filiz Ak, N.; Brandt, W. N.; Schneider, D. P.; Trump, J. R. [Department of Astronomy and Astrophysics, Pennsylvania State University, University Park, PA 16802 (United States); Hall, P. B. [Department of Physics and Astronomy, York University, 4700 Keele Street, Toronto, Ontario M3J 1P3 (Canada); Anderson, S. F. [Astronomy Department, University of Washington, Seattle, WA 98195 (United States); Hamann, F. [Department of Astronomy, University of Florida, Gainesville, FL 32611-2055 (United States); Myers, Adam D. [Department of Physics and Astronomy, University of Wyoming, Laramie, WY 82071 (United States); Pâris, I. [Departamento de Astronomía, Universidad de Chile, Casilla 36-D, Santiago (Chile); Petitjean, P. [Institut d' Astrophysique de Paris, Universite Paris 6, F-75014 Paris (France); Ross, Nicholas P. [Lawrence Berkeley National Laboratory, 1 Cyclotron Road, Berkeley, CA 94720 (United States); Shen, Yue [Carnegie Observatories, 813 Santa Barbara Street, Pasadena, CA 91101 (United States); York, Don, E-mail: nfilizak@astro.psu.edu [Department of Astronomy and Astrophysics, The University of Chicago, Chicago, IL 60637 (United States)

2014-08-20

We consider how the profile and multi-year variability properties of a large sample of C IV Broad Absorption Line (BAL) troughs change when BALs from Si IV and/or Al III are present at corresponding velocities, indicating that the line of sight intercepts at least some lower ionization gas. We derive a number of observational results for C IV BALs separated according to the presence or absence of accompanying lower ionization transitions, including measurements of composite profile shapes, equivalent width (EW), characteristic velocities, composite variation profiles, and EW variability. We also measure the correlations between EW and fractional-EW variability for C IV, Si IV, and Al III. Our measurements reveal the basic correlated changes between ionization level, kinematics, and column density expected in accretion-disk wind models; e.g., lines of sight including lower ionization material generally show deeper and broader C IV troughs that have smaller minimum velocities and that are less variable. Many C IV BALs with no accompanying Si IV or Al III BALs may have only mild or no saturation.

Partial dust obscuration in active galactic nuclei as a cause of broad-line profile and lag variability, and apparent accretion disc inhomogeneities

Science.gov (United States)

Gaskell, C. Martin; Harrington, Peter Z.

2018-04-01

The profiles of the broad emission lines of active galactic nuclei (AGNs) and the time delays in their response to changes in the ionizing continuum ("lags") give information about the structure and kinematics of the inner regions of AGNs. Line profiles are also our main way of estimating the masses of the supermassive black holes (SMBHs). However, the profiles often show ill-understood, asymmetric structure and velocity-dependent lags vary with time. Here we show that partial obscuration of the broad-line region (BLR) by outflowing, compact, dusty clumps produces asymmetries and velocity-dependent lags similar to those observed. Our model explains previously inexplicable changes in the ratios of the hydrogen lines with time and velocity, the lack of correlation of changes in line profiles with variability of the central engine, the velocity dependence of lags, and the change of lags with time. We propose that changes on timescales longer than the light-crossing time do not come from dynamical changes in the BLR, but are a natural result of the effect of outflowing dusty clumps driven by radiation pressure acting on the dust. The motion of these clumps offers an explanation of long-term changes in polarization. The effects of the dust complicate the study of the structure and kinematics of the BLR and the search for sub-parsec SMBH binaries. Partial obscuration of the accretion disc can also provide the local fluctuations in luminosity that can explain sizes deduced from microlensing.

DENSITY WAVE KINEMATICS AND GIANT MOLECULAR ASSOCIATION FORMATION IN M51

NARCIS (Netherlands)

RAND, RJ

1993-01-01

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

Kinematics of SNRs CTB 109 and G206.9+2.3

Science.gov (United States)

Rosado, Margarita; Sánchez-Cruces, Mónica; Ambrocio-Cruz, Patricia

2017-11-01

We present results of optical observations in the lines of Hα and [SII] (λ 6717 and 6731 Å) obtained with the UNAM Scanning Fabry-Perot Interferometer PUMA (Rosado et al. 1995,RMxAASC, 3, 263 ) aimed at obtaining the kinematical distance, shock velocity and other important parameters of two supernova remnants (SNRs) with optical counterparts. We discuss on how kinematical distances thus obtained fit with other distance determinations. The studied SNRs are CTB 109 (SNR G109.1 - 1.0) hosting a magnetar (Sánchez-Cruces et al. 2017, in preparation) and the SNR G206.9 + 2.3 (Ambrocio-Cruz et al. 2014,RMxAA, 50, 323), a typical supernova remnant, to have a comparison. In Fig. 1 is depicted the [SII] line emission of two filaments of the optical counterpart of SNR CTB 109. We find complex radial velocity profiles obtained with the Fabry-Perot interferometer, revealing the presence of different velocity components. From these velocity profiles we obtain the kinematical distance, an expansion velocity of 188 km/s and an initial energy of 8.1 x 1050 ergs. These values are rather typical of other SNRs regardless that SNR CTB 109 hosts a magnetar. Thus, the mechanical energy delivered in the supernova explosion forming the magnetar does not seem to impact more than other SNe explosions the interstellar medium. This work has been funded by grants IN103116 and 253085 from DGAPA-UNAM and CONACYT, respectively.

THE STRUCTURE OF THE BROAD-LINE REGION IN ACTIVE GALACTIC NUCLEI. I. RECONSTRUCTED VELOCITY-DELAY MAPS

International Nuclear Information System (INIS)

Grier, C. J.; Peterson, B. M.; Pogge, R. W.; De Rosa, G.; Martini, Paul; Kochanek, C. S.; Zu, Y.; Shappee, B.; Beatty, T. G.; Salvo, C. Araya; Bird, J. C.; Horne, Keith; Bentz, M. C.; Denney, K. D.; Siverd, R.; Sergeev, S. G.; Borman, G. A.; Kaspi, S.; Bord, D. J.; Che, X.

2013-01-01

We present velocity-resolved reverberation results for five active galactic nuclei. We recovered velocity-delay maps using the maximum entropy method for four objects: Mrk 335, Mrk 1501, 3C 120, and PG 2130+099. For the fifth, Mrk 6, we were only able to measure mean time delays in different velocity bins of the Hβ emission line. The four velocity-delay maps show unique dynamical signatures for each object. For 3C 120, the Balmer lines show kinematic signatures consistent with both an inclined disk and infalling gas, but the He II λ4686 emission line is suggestive only of inflow. The Balmer lines in Mrk 335, Mrk 1501, and PG 2130+099 show signs of infalling gas, but the He II emission in Mrk 335 is consistent with an inclined disk. We also see tentative evidence of combined virial motion and infalling gas from the velocity-binned analysis of Mrk 6. The maps for 3C 120 and Mrk 335 are two of the most clearly defined velocity-delay maps to date. These maps constitute a large increase in the number of objects for which we have resolved velocity-delay maps and provide evidence supporting the reliability of reverberation-based black hole mass measurements.

THE STRUCTURE OF THE BROAD-LINE REGION IN ACTIVE GALACTIC NUCLEI. I. RECONSTRUCTED VELOCITY-DELAY MAPS

Energy Technology Data Exchange (ETDEWEB)

Grier, C. J.; Peterson, B. M.; Pogge, R. W.; De Rosa, G.; Martini, Paul; Kochanek, C. S.; Zu, Y.; Shappee, B.; Beatty, T. G.; Salvo, C. Araya; Bird, J. C. [Department of Astronomy, The Ohio State University, 140 W 18th Ave, Columbus, OH 43210 (United States); Horne, Keith [SUPA Physics and Astronomy, University of St. Andrews, Fife, KY16 9SS Scotland (United Kingdom); Bentz, M. C. [Department of Physics and Astronomy, Georgia State University, Astronomy Offices, One Park Place South SE, Suite 700, Atlanta, GA 30303 (United States); Denney, K. D. [Marie Curie Fellow at the Dark Cosmology Centre, Niels Bohr Institute, University of Copenhagen, Juliane Maries Vej 30, DK-2100 Copenhagen (Denmark); Siverd, R. [Department of Physics and Astronomy, Vanderbilt University, 5301 Stevenson Center, Nashville, TN 37235 (United States); Sergeev, S. G.; Borman, G. A. [Crimean Astrophysical Observatory, P/O Nauchny Crimea 98409 (Ukraine); Kaspi, S. [School of Physics and Astronomy, Raymond and Beverly Sackler Faculty of Exact Sciences, Tel Aviv University, Tel Aviv 69978 (Israel); Bord, D. J. [Department of Natural Sciences, The University of Michigan - Dearborn, 4901 Evergreen Rd, Dearborn, MI 48128 (United States); Che, X. [Department of Astronomy, University of Michigan, 500 Church Street, Ann Arbor, MI 41809 (United States); and others

2013-02-10

We present velocity-resolved reverberation results for five active galactic nuclei. We recovered velocity-delay maps using the maximum entropy method for four objects: Mrk 335, Mrk 1501, 3C 120, and PG 2130+099. For the fifth, Mrk 6, we were only able to measure mean time delays in different velocity bins of the H{beta} emission line. The four velocity-delay maps show unique dynamical signatures for each object. For 3C 120, the Balmer lines show kinematic signatures consistent with both an inclined disk and infalling gas, but the He II {lambda}4686 emission line is suggestive only of inflow. The Balmer lines in Mrk 335, Mrk 1501, and PG 2130+099 show signs of infalling gas, but the He II emission in Mrk 335 is consistent with an inclined disk. We also see tentative evidence of combined virial motion and infalling gas from the velocity-binned analysis of Mrk 6. The maps for 3C 120 and Mrk 335 are two of the most clearly defined velocity-delay maps to date. These maps constitute a large increase in the number of objects for which we have resolved velocity-delay maps and provide evidence supporting the reliability of reverberation-based black hole mass measurements.

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.)

Regional seismic lines reprocessed using post-stack processing techniques; National Petroleum Reserve, Alaska

Science.gov (United States)

Miller, John J.; Agena, W.F.; Lee, M.W.; Zihlman, F.N.; Grow, J.A.; Taylor, D.J.; Killgore, Michele; Oliver, H.L.

2000-01-01

This CD-ROM contains stacked, migrated, 2-Dimensional seismic reflection data and associated support information for 22 regional seismic lines (3,470 line-miles) recorded in the National Petroleum Reserve ? Alaska (NPRA) from 1974 through 1981. Together, these lines constitute about one-quarter of the seismic data collected as part of the Federal Government?s program to evaluate the petroleum potential of the Reserve. The regional lines, which form a grid covering the entire NPRA, were created by combining various individual lines recorded in different years using different recording parameters. These data were reprocessed by the USGS using modern, post-stack processing techniques, to create a data set suitable for interpretation on interactive seismic interpretation computer workstations. Reprocessing was done in support of ongoing petroleum resource studies by the USGS Energy Program. The CD-ROM contains the following files: 1) 22 files containing the digital seismic data in standard, SEG-Y format; 2) 1 file containing navigation data for the 22 lines in standard SEG-P1 format; 3) 22 small scale graphic images of each seismic line in Adobe Acrobat? PDF format; 4) a graphic image of the location map, generated from the navigation file, with hyperlinks to the graphic images of the seismic lines; 5) an ASCII text file with cross-reference information for relating the sequential trace numbers on each regional line to the line number and shotpoint number of the original component lines; and 6) an explanation of the processing used to create the final seismic sections (this document). The SEG-Y format seismic files and SEG-P1 format navigation file contain all the information necessary for loading the data onto a seismic interpretation workstation.

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

Energy Technology Data Exchange (ETDEWEB)

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

2007-02-11

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

X-ray heating and ionization of broad-emission-line regions in QSO's and active galaxies

International Nuclear Information System (INIS)

Weisheit, J.C.; Shields, G.A.; Tarter, C.B.

1980-07-01

Absorption of x-rays deep within the broad-line emitting clouds in QSO's and the nuclei of active galaxies creates extensive zones of warm (T approx. 10 4 K), partially ionized N/sub e//N approx. 0.1) gas. Because Lyman alpha photons are trapped in these regions, the x-ray energy is efficiently channeled into Balmer lines collisionally excited from the n = 2 level. The HI regions plus the HII regions created by ultraviolet photons illuminating the surfaces of the clouds give rise to integrated Lα/Hα line emission ratios between 1 and 2. Enhanced MgII line emission from the HI regions gives rise to integrated MgII/Hα ratios near 0.5. The OI line lambda 8446 is efficiently pumped by trapped Hα photons and in the x-ray heated zone an intensity ratio I (lambda 8446)/I(Hα) approx. < 0.1 is calculated. All of these computed ratios now are in agreement with observations

Variation of nuclear radii in the drip line regions

CERN Document Server

Beiner, M; Mas, D

1976-01-01

The authors are concerned with predictions of the energy density method with respect to the nuclear sizes (RMS radii). It is known that the commonly accepted A/sup 1/3/-type laws are only approximative and deviations are expected to grow significantly as one goes away from the beta -stability region. Particular attention is paid to the variation of nuclear radii in the drip line regions. Implications of the resulting large total Coulomb energy variations between neighbouring nuclei will be emphasized.

THE BOLOCAM GALACTIC PLANE SURVEY. XII. DISTANCE CATALOG EXPANSION USING KINEMATIC ISOLATION OF DENSE MOLECULAR CLOUD STRUCTURES WITH {sup 13}CO(1-0)

Energy Technology Data Exchange (ETDEWEB)

Ellsworth-Bowers, Timothy P.; Glenn, Jason [CASA, University of Colorado, UCB 389, Boulder, CO 80309 (United States); Rosolowsky, Erik [Department of Physics, 4-183 CCIS, University of Alberta, Edmonton, AB T6G 2E1 (Canada); Ginsburg, Adam [European Southern Observatory, Karl-Schwarzschild-Straße 2, D-85748 Garching bei München (Germany); Evans II, Neal J. [Department of Astronomy, University of Texas, 2515 Speedway, Stop C1400, Austin, TX 78712 (United States); Battersby, Cara [Harvard-Smithsonian Center for Astrophysics, 60 Garden Street, Cambridge, MA 02138 (United States); Shirley, Yancy L.; Svoboda, Brian, E-mail: timothy.ellsworthbowers@colorado.edu [Steward Observatory, University of Arizona, 933 North Cherry Avenue, Tucson, AZ 85721 (United States)

2015-01-20

We present an expanded distance catalog for 1710 molecular cloud structures identified in the Bolocam Galactic Plane Survey (BGPS) version 2, representing a nearly threefold increase over the previous BGPS distance catalog. We additionally present a new method for incorporating extant data sets into our Bayesian distance probability density function (DPDF) methodology. To augment the dense-gas tracers (e.g., HCO{sup +}(3-2), NH{sub 3}(1,1)) used to derive line-of-sight velocities for kinematic distances, we utilize the Galactic Ring Survey (GRS) {sup 13}CO(1-0) data to morphologically extract velocities for BGPS sources. The outline of a BGPS source is used to select a region of the GRS {sup 13}CO data, along with a reference region to subtract enveloping diffuse emission, to produce a line profile of {sup 13}CO matched to the BGPS source. For objects with a HCO{sup +}(3-2) velocity, ≈95% of the new {sup 13}CO(1-0) velocities agree with that of the dense gas. A new prior DPDF for kinematic distance ambiguity (KDA) resolution, based on a validated formalism for associating molecular cloud structures with known objects from the literature, is presented. We demonstrate this prior using catalogs of masers with trigonometric parallaxes and H II regions with robust KDA resolutions. The distance catalog presented here contains well-constrained distance estimates for 20% of BGPS V2 sources, with typical distance uncertainties ≲ 0.5 kpc. Approximately 75% of the well-constrained sources lie within 6 kpc of the Sun, concentrated in the Scutum-Centaurus arm. Galactocentric positions of objects additionally trace out portions of the Sagittarius, Perseus, and Outer arms in the first and second Galactic quadrants, and we also find evidence for significant regions of interarm dense gas.

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.

Distribution and kinematics of atomic and molecular gas inside the solar circle

Science.gov (United States)

Marasco, A.; Fraternali, F.; van der Hulst, J. M.; Oosterloo, T.

2017-11-01

The detailed distribution and kinematics of the atomic and the CO-bright molecular hydrogen in the disc of the Milky Way inside the solar circle are derived under the assumptions of axisymmetry and pure circular motions. We divide the Galactic disc into a series of rings, and assume that the gas in each ring is described by four parameters: its rotation velocity, velocity dispersion, midplane density and its scale height. We fit these parameters to the Galactic H I and 12CO (J = 1-0) data by producing artificial H I and CO line-profiles and comparing them with the observations. Our approach allows us to fit all parameters to the data simultaneously without assuming a-priori a radial profile for one of the parameters. We present the distribution and kinematics of the H I and H2 in both the approaching (QIV) and the receding (QI) regions of the Galaxy. Our best-fit models reproduces remarkably well the observed H I and CO longitude-velocity diagrams up to a few degrees of distance from the midplane. With the exception of the innermost 2.5 kpc, QI and QIV show very similar kinematics. The rotation curves traced by the H I and H2 follow each other closely, flattening beyond R = 6.5 kpc. Both the H I and the H2 surface densities show a) a deep depression at 0.5 < R < 2.5 kpc, analogous to that shown by some nearby barred galaxies, b) local overdensities that can be interpreted in terms of spiral arms or ring-like features in the disc. The H I (H2) properties are fairly constant in the region outside the depression, with typical velocity dispersion of 8.9 ± 1.1 (4.4 ± 1.2) km s-1, density of 0.43 ± 0.11 (0.42 ± 0.22) cm-3 and HWHM scale height of 202 ± 28 (64 ± 12) pc. We also show that the H I opacity in the LAB data can be accounted for by using an "effective" spin temperature of 150 K: assuming an optically thin regime leads to an underestimate of the H I mass by about 30%.

Gas Content and Kinematics in Clumpy, Turbulent Star-forming Disks

International Nuclear Information System (INIS)

White, Heidi A.; Abraham, Roberto G.; Fisher, David B.; Glazebrook, Karl; Murray, Norman; Bolatto, Alberto D.; Green, Andrew W.; Mentuch Cooper, Erin; Obreschkow, Danail

2017-01-01

We present molecular gas-mass estimates for a sample of 13 local galaxies whose kinematic and star-forming properties closely resemble those observed in z ≈ 1.5 main-sequence galaxies. Plateau de Bure observations of the CO[1-0] emission line and Herschel Space Observatory observations of the dust emission both suggest molecular gas-mass fractions of ∼20%. Moreover, dust emission modeling finds T dust < 30 K, suggesting a cold dust distribution compared to their high infrared luminosity. The gas-mass estimates argue that z ∼ 0.1 DYNAMO galaxies not only share similar kinematic properties with high- z disks, but they are also similarly rich in molecular material. Pairing the gas-mass fractions with existing kinematics reveals a linear relationship between f gas and σ / v c , consistent with predictions from stability theory of a self-gravitating disk. It thus follows that high gas-velocity dispersions are a natural consequence of large gas fractions. We also find that the systems with the lowest t dep (∼0.5 Gyr) have the highest ratios of σ / v c and more pronounced clumps, even at the same high molecular gas fraction.

Gas Content and Kinematics in Clumpy, Turbulent Star-forming Disks

Energy Technology Data Exchange (ETDEWEB)

White, Heidi A.; Abraham, Roberto G. [Department of Astronomy and Astrophysics, University of Toronto, 50 St. George Street, Toronto, ON, M5S 3H8 (Canada); Fisher, David B.; Glazebrook, Karl [Centre for Astrophysics and Supercomputing, Swinburne University of Technology, P.O. Box 218, Hawthorn, VIC 3122 (Australia); Murray, Norman [Canadian Institute for Theoretical Astrophysics, 60 St. George Street, University of Toronto, Toronto ON M5S 3H8 (Canada); Bolatto, Alberto D. [Department of Astronomy and Joint Space Institute, University of Maryland, College Park, MD 20642 (United States); Green, Andrew W. [Australian Astronomical Observatory, P.O. Box 970, North Ryde, NSW 1670 (Australia); Mentuch Cooper, Erin [Astronomy Department, University of Texas at Austin, Austin, TX 78712 (United States); Obreschkow, Danail [International Centre for Radio Astronomy Research (ICRAR), University of Western Australia, M468, Crawley, WA 6009 (Australia)

2017-09-01

We present molecular gas-mass estimates for a sample of 13 local galaxies whose kinematic and star-forming properties closely resemble those observed in z ≈ 1.5 main-sequence galaxies. Plateau de Bure observations of the CO[1-0] emission line and Herschel Space Observatory observations of the dust emission both suggest molecular gas-mass fractions of ∼20%. Moreover, dust emission modeling finds T {sub dust} < 30 K, suggesting a cold dust distribution compared to their high infrared luminosity. The gas-mass estimates argue that z ∼ 0.1 DYNAMO galaxies not only share similar kinematic properties with high- z disks, but they are also similarly rich in molecular material. Pairing the gas-mass fractions with existing kinematics reveals a linear relationship between f {sub gas} and σ / v {sub c}, consistent with predictions from stability theory of a self-gravitating disk. It thus follows that high gas-velocity dispersions are a natural consequence of large gas fractions. We also find that the systems with the lowest t {sub dep} (∼0.5 Gyr) have the highest ratios of σ / v{sub c} and more pronounced clumps, even at the same high molecular gas fraction.

Movement coordination and differential kinematics of the cervical and thoracic spines in people with chronic neck pain.

Science.gov (United States)

Tsang, Sharon M H; Szeto, Grace P Y; Lee, Raymond Y W

2013-07-01

Research on the kinematics and inter-regional coordination of movements between the cervical and thoracic spines in motion adds to our understanding of the performance and interplay of these spinal regions. The purpose of this study was to examine the effects of chronic neck pain on the three-dimensional kinematics and coordination of the cervical and thoracic spines during active movements of the neck. Three-dimensional spinal kinematics and movement coordination between the cervical, upper thoracic, and lower thoracic spines were examined by electromagnetic motion sensors in thirty-four individuals with chronic neck pain and thirty-four age- and gender-matched asymptomatic subjects. All subjects performed a set of free active neck movements in three anatomical planes in sitting position and at their own pace. Spinal kinematic variables (angular displacement, velocity, and acceleration) of the three defined regions, and movement coordination between regions were determined and compared between the two groups. Subjects with chronic neck pain exhibited significantly decreased cervical angular velocity and acceleration of neck movement. Cross-correlation analysis revealed consistently lower degrees of coordination between the cervical and upper thoracic spines in the neck pain group. The loss of coordination was most apparent in angular velocity and acceleration of the spine. Assessment of the range of motion of the neck is not sufficient to reveal movement dysfunctions in chronic neck pain subjects. Evaluation of angular velocity and acceleration and movement coordination should be included to help develop clinical intervention strategies to promote restoration of differential kinematics and movement coordination. Copyright © 2013 Elsevier Ltd. All rights reserved.

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

Line formation in the solar chromosphere. II - An optically thick region of the chromosphere-corona transition region observed with OSO 8

Science.gov (United States)

Lites, B. W.; Hansen, E. R.; Shine, R. A.

1980-01-01

The University of Colorado ultraviolet spectrometer aboard the Orbiting Solar Observatory 8(OSO 8) has measured self-reversed profiles of the resonance line of C IV lamda 1548.2 at the limb passage of an active region. The degree of the self-reversal together with the absolute intensity of the line profile determine the electron density in the active region at 10 to the 10th/cu cm at temperatures where the C IV line is formed. The nonthermal component of the broadening velocity is no more than 14km/s, and the physical thickness of an equivalent plane-parallel slab in hydrostatic equilibrium that would give rise to the observed line profiles is about 430 km.

Kinematics of the CSE in VY CMa

Science.gov (United States)

Choi, Yoon Kyung

2009-07-01

We report on astrometric results of H2O and SiO masers in the circumstellar envelopes of VY Canis Majoris (VY CMa) carried out with VERA for 2 years. Absolute positions and proper motions of 3 different frequencies of masers were measured with phase-referencing analyses. Using the positions and the 3-dimensional velocities of the masers, we considered the 3-dimensional structures and kinematics of the circumstellar envelopes around VY CMa. The H2O masers show bipolar outflow along the line of sight, and the SiO masers have both expanding and contracting motions with less than 5 km/s.

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.

The Ca II resonance lines in M dwarf stars without H-alpha emission

Energy Technology Data Exchange (ETDEWEB)

Giampapa, M.S.; Cram, L.E.; Wild, W.J. (National Solar Observatory, Tucson, AZ (USA) Sydney Univ. (Australia) Arizona Univ., Tucson (USA))

1989-10-01

Spectra of the Ca II H and K lines in a sample of 31 M dwarf stars without H-alpha emission are used to calculate chromospheric K line radiative losses, F(k), and to study the joint response of Ca II K and H-alpha to chromospheric heating in dwarf M stars. It is suggested that the poor correlation found in the equivalent width - log F(K) diagram may be due either to radial segregation of the H-alpha and K line forming regions or to lateral inhomogeneities in the chromospheres. The results confirm the existence of dM stars with weak H-alpha absorption and K line emission only slightly weaker than that of the dMe stars, and show that dM stars with weak H-alpha but kinematics and metallicities representative of the young disk population belong to a class characterized by a comparatively high degree of chromospheric activity. 32 refs.

Kinematical Comparison of the 200 m Backstroke Turns between National and Regional Level Swimmers

Science.gov (United States)

Veiga, Santiago; Cala, Antonio; Frutos, Pablo González; Navarro, Enrique

2013-01-01

The aims of this investigation were to determine the evolution of selected turn variables during competitive backstroke races and to compare these kinematic variables between two different levels of swimmers. Sixteen national and regional level male swimmers participant in the 200 m backstroke event at the Spanish Swimming Championships in short course (25 m) were selected to analyze their turn performances. The individual distances method with two-dimensional Direct Linear Transformation (2D-DLT) algorithms was used to perform race analyses. National level swimmers presented a shorter “turn time”, a longer “distance in”, a faster “underwater velocity” and “normalized underwater velocity”, and a faster “stroking velocity” than regional level swimmers, whereas no significant differences were detected between levels for the “underwater distance”. National level swimmers maintained similar “turn times” over the event and increased “underwater velocity” and “normalized underwater velocity” in the last (seventh) turn segment, whereas regional level swimmers increased “turn time” in the last half of the race. For both national and regional level swimmers, turn “underwater distance” during the last three turns of the race was significantly shorter while no significant differences in distance into the wall occurred throughout the race. The skill level of the swimmers has an impact on the competitive backstroke turn segments. In a 200 m event, the underwater velocity should be maximized to maintain turn proficiency, whereas turn distance must be subordinated to the average velocity. Key Points The underwater turn velocity is as a critical variable related to the swimmers’ level of skill in a 200 m backstroke event. Best swimmers perform faster but no longer turn segments during a 200 m backstroke event. Best swimmers maintain their turn performance throughout the 200 m backstroke event by increasing the underwater velocity

Emission-line diagnostics of nearby H II regions including interacting binary populations

Science.gov (United States)

Xiao, Lin; Stanway, Elizabeth R.; Eldridge, J. J.

2018-06-01

We present numerical models of the nebular emission from H II regions around young stellar populations over a range of compositions and ages. The synthetic stellar populations include both single stars and interacting binary stars. We compare these models to the observed emission lines of 254 H II regions of 13 nearby spiral galaxies and 21 dwarf galaxies drawn from archival data. The models are created using the combination of the BPASS (Binary Population and Spectral Synthesis) code with the photoionization code CLOUDY to study the differences caused by the inclusion of interacting binary stars in the stellar population. We obtain agreement with the observed emission line ratios from the nearby star-forming regions and discuss the effect of binary-star evolution pathways on the nebular ionization of H II regions. We find that at population ages above 10 Myr, single-star models rapidly decrease in flux and ionization strength, while binary-star models still produce strong flux and high [O III]/H β ratios. Our models can reproduce the metallicity of H II regions from spiral galaxies, but we find higher metallicities than previously estimated for the H II regions from dwarf galaxies. Comparing the equivalent width of H β emission between models and observations, we find that accounting for ionizing photon leakage can affect age estimates for H II regions. When it is included, the typical age derived for H II regions is 5 Myr from single-star models, and up to 10 Myr with binary-star models. This is due to the existence of binary-star evolution pathways, which produce more hot Wolf-Rayet and helium stars at older ages. For future reference, we calculate new BPASS binary maximal starburst lines as a function of metallicity, and for the total model population, and present these in Appendix A.

Synthesis method based on solution regions for planar four bar straight line linkages

International Nuclear Information System (INIS)

Lai Rong, Yin; Cong, Mao; Jian you, Han; Tong, Yang; Juan, Huang

2012-01-01

An analytical method for synthesizing and selecting desired four-bar straight line mechanisms based on solution regions is presented. Given two fixed pivots, the point position and direction of the target straight line, an infinite number of mechanism solutions can be produced by employing this method, both in the general case and all three special cases. Unifying the straight line direction and the displacement from the given point to the instant center into the same form with different angles as parameters, infinite mechanism solutions can be expressed with different solution region charts. The mechanism property graphs have been computed to enable the designers to find out the involved mechanism information more intuitively and avoid aimlessness in selecting optimal mechanisms

Correlates between kinematics and baropodometric measurements for an integrated in-vivo assessment of the segmental foot function in gait.

Science.gov (United States)

Giacomozzi, Claudia; Leardini, Alberto; Caravaggi, Paolo

2014-08-22

Baropodometry and multi-segmental foot kinematics are frequently employed to obtain insight into the mechanics of the foot-ground interaction in both basic research and clinical settings. However, nothing hitherto has been reported on the full integration of kinematics with baropodometric parameters, and only a few studies have addressed the association between intersegmental kinematics and plantar loading within specific foot regions. The aim of this study was to understanding the relationships between foot joint mobility and plantar loading by focusing on the correlation between these two measures. An integrated pressure-force-kinematics system was used to measure plantar pressure and rotations between foot segments during the stance phase of walking in 10 healthy subjects. An anatomically-based mask was applied to each footprint to obtain six regions according to the position of the markers; hence each kinematic segment was paired with a corresponding area of the plantar surface. Relationships between segmental motion and relevant baropodometric data were explored by means of correlation analysis. Negative, weak-to-moderate correlations (R(2)plantar pressure in almost all regions. The study helps improve our understanding of the relationship between joint mobility and plantar loading in the healthy foot and represents a critical preliminary analysis before addressing possible clinical applications. Copyright © 2014 Elsevier Ltd. All rights reserved.

Gene mutation in ATM/PI3K region of nasopharyngeal carcinoma cell lines

International Nuclear Information System (INIS)

Wang Hongmei; Wu Xinyao; Xia Yunfei

2002-01-01

Objective: To define the correlation between nasopharyngeal carcinoma (NPC) cell radiosensitivity and gene mutation in the ATM/PI3K coding region. Methods: The gene mutation in the ATM/PI3K region of nasopharyngeal carcinoma cell lines which vary in radiosensitivity, was monitored by reverse transcription-polymerase chain reaction (RT-PCR) and fluorescence-marked ddNTP cycle sequencing technique. Results: No gene mutation was detected in the ATM/PI3K region of either CNE1 or CNE2. Conclusion: Disparity in intrinsic radiosensitivity between different NPC cell lines depends on some other factors and mechanism without being related to ATM/PI3K mutations

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.

Diffusion effects on the line intensities of He I and He II in the solar transition region

International Nuclear Information System (INIS)

Shine, R.; Gerola, H.; Linsky, J.L.

1975-01-01

A heuristic treatment of diffusion in the solar chromosphere-corona transition region is developed. Diffusion becomes increasingly important with steeper temperature gradients, in active and quiet regions relative to coronal holes, and with increasing excitation potential. Numerical calculations are made for the resonance lines of He i and He ii and show that diffusion can enhance these lines. Thus the helium lines may appear relatively weak in coronal holes due to a weakening of the enhancement mechanism. Most transition region lines will be less affected by diffusion than He i or He ii

Electron density in the emission-line region of Wolf-Rayet stars

International Nuclear Information System (INIS)

Varshni, Y.P.

1978-01-01

The Inglis-Teller relation, generalized for a hydrogen-like or alkali-like ion with an arbitrary core charge, is used to estimate the electron density in the emission-like region of Wolf-Rayet stars. It is found that the electron density in the region which gives rise to He II emission lines is approximately = 4 x 10 14 cm -3 . (Auth.)

KINEMATICS OF EXTREMELY METAL-POOR GALAXIES: EVIDENCE FOR STELLAR FEEDBACK

Energy Technology Data Exchange (ETDEWEB)

Olmo-García, A.; Sánchez Almeida, J.; Muñoz-Tuñón, C.; Filho, M. E. [Instituto Astrofísica de Canarias, E-38200 La Laguna, Tenerife (Spain); Elmegreen, B. G. [IBM Research Division, T. J. Watson Research Center, Yorktown Heights, NY 10598 (United States); Elmegreen, D. M. [Department of Physics and Astronomy, Vassar College, Poughkeepsie, NY 12604 (United States); Pérez-Montero, E. [Instituto de Astrofísica de Andalucía, CSIC, Granada (Spain); Méndez-Abreu, J., E-mail: jos@iac.es [School of Physics and Astronomy, University of St Andrews, St Andrews (United Kingdom)

2017-01-10

The extremely metal-poor (XMP) galaxies analyzed in a previous paper have large star-forming regions with a metallicity lower than the rest of the galaxy. Such a chemical inhomogeneity reveals the external origin of the metal-poor gas fueling star formation, possibly indicating accretion from the cosmic web. This paper studies the kinematic properties of the ionized gas in these galaxies. Most XMPs have a rotation velocity around a few tens of km s{sup −1}. The star-forming regions appear to move coherently. The velocity is constant within each region, and the velocity dispersion sometimes increases within the star-forming clump toward the galaxy midpoint, suggesting inspiral motion toward the galaxy center. Other regions present a local maximum in velocity dispersion at their center, suggesting a moderate global expansion. The H α line wings show a number of faint emission features with amplitudes around a few per cent of the main H α component, and wavelength shifts between 100 and 400 km s{sup −1}. The components are often paired, so that red and blue emission features with similar amplitudes and shifts appear simultaneously. Assuming the faint emission to be produced by expanding shell-like structures, the inferred mass loading factor (mass loss rate divided by star formation rate) exceeds 10. Since the expansion velocity far exceeds the rotational and turbulent velocities, the gas may eventually escape from the galaxy disk. The observed motions involve energies consistent with the kinetic energy released by individual core-collapse supernovae. Alternative explanations for the faint emission have been considered and discarded.

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 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....

The size of the narrow-line-emitting region in the Seyfert 1 galaxy NGC 5548 from emission-line variability

International Nuclear Information System (INIS)

Peterson, B. M.; Denney, K. D.; De Rosa, G.; Grier, C. J.; Pogge, R. W.; Kochanek, C. S.; Bentz, M. C.; Vestergaard, M.; Kilerci-Eser, E.; G. Galilei, Università di Padova, Vicolo dell'Osservatorio 3 I-35122, Padova (Italy))" data-affiliation=" (Dipartimento di Fisica e Astronomia G. Galilei, Università di Padova, Vicolo dell'Osservatorio 3 I-35122, Padova (Italy))" >Dalla Bontà, E.; G. Galilei, Università di Padova, Vicolo dell'Osservatorio 3 I-35122, Padova (Italy))" data-affiliation=" (Dipartimento di Fisica e Astronomia G. Galilei, Università di Padova, Vicolo dell'Osservatorio 3 I-35122, Padova (Italy))" >Ciroi, S.

2013-01-01

The narrow [O III] λλ4959, 5007 emission-line fluxes in the spectrum of the well-studied Seyfert 1 galaxy NGC 5548 are shown to vary with time. From this we show that the narrow-line-emitting region has a radius of only 1-3 pc and is denser (n e ∼ 10 5 cm –3 ) than previously supposed. The [O III] line width is consistent with virial motions at this radius given previous determinations of the black hole mass. Since the [O III] emission-line flux is usually assumed to be constant and is therefore used to calibrate spectroscopic monitoring data, the variability has ramifications for the long-term secular variations of continuum and emission-line fluxes, though it has no effect on shorter-term reverberation studies. We present corrected optical continuum and broad Hβ emission-line light curves for the period 1988-2008.

The size of the narrow-line-emitting region in the Seyfert 1 galaxy NGC 5548 from emission-line variability

Energy Technology Data Exchange (ETDEWEB)

Peterson, B. M.; Denney, K. D.; De Rosa, G.; Grier, C. J.; Pogge, R. W.; Kochanek, C. S. [Department of Astronomy, The Ohio State University, 140 W 18th Avenue, Columbus, OH 43210 (United States); Bentz, M. C. [Department of Physics and Astronomy, Georgia State University, 25 Park Place, Suite 610, Atlanta, GA 30303 (United States); Vestergaard, M.; Kilerci-Eser, E. [Dark Cosmology Centre, Niels Bohr Institute, University of Copenhagen, Juliane Maries Vej 30, DK-2100 Copenhagen (Denmark); Dalla Bontà, E.; Ciroi, S. [Dipartimento di Fisica e Astronomia " G. Galilei," Università di Padova, Vicolo dell' Osservatorio 3 I-35122, Padova (Italy)

2013-12-20

The narrow [O III] λλ4959, 5007 emission-line fluxes in the spectrum of the well-studied Seyfert 1 galaxy NGC 5548 are shown to vary with time. From this we show that the narrow-line-emitting region has a radius of only 1-3 pc and is denser (n {sub e} ∼ 10{sup 5} cm{sup –3}) than previously supposed. The [O III] line width is consistent with virial motions at this radius given previous determinations of the black hole mass. Since the [O III] emission-line flux is usually assumed to be constant and is therefore used to calibrate spectroscopic monitoring data, the variability has ramifications for the long-term secular variations of continuum and emission-line fluxes, though it has no effect on shorter-term reverberation studies. We present corrected optical continuum and broad Hβ emission-line light curves for the period 1988-2008.

Why is observable radio recombination line emission from galactic HII regions always close to LTE

International Nuclear Information System (INIS)

Shaver, P.A.

1980-01-01

There is no evidence for significant deviations from LTE in single-dish observations of radio recombination line emission from galactic HII regions. This is in agreement with the known properties of HII regions, particularly their density variations and limited range of excitation parameters; the optimum configuration for strong observable non-LTE effects, low electron density and high emission measure, simply does not exist in galactic HII regions, and the observed lines are emitted under near-LTE conditions. Models of the Orion Nebulae and NGC 6604 are presented which fit all available data and show only weak stimulated emission. It is concluded that reliable electron temperatures can indeed be obtained from straightforward analysis of appropriate radio recombination lines. (orig.)

BUBBLES AND KNOTS IN THE KINEMATICAL STRUCTURE OF THE BIPOLAR PLANETARY NEBULA NGC 2818

Energy Technology Data Exchange (ETDEWEB)

Vazquez, Roberto, E-mail: vazquez@astro.unam.mx [Instituto de Astronomia, Universidad Nacional Autonoma de Mexico, Km 103 Carretera Tijuana-Ensenada, 22860 Ensenada, BC (Mexico)

2012-06-01

High-resolution Hubble Space Telescope archive imaging and high-dispersion spectroscopy are used to study the complex morphological and kinematical structure of the planetary nebula, NGC 2818. We analyze narrowband H{alpha}, [O III], [N II], [S II], and He II images, addressing important morphological features. Ground-based long-slit echelle spectra were obtained crossing NGC 2818 at five different positions to precisely determine kinematical features in the structure of the nebula. A distance of 2.5 kpc was used to determine physical scales. Constructing models to fit the data with modern computational tools, we find NGC 2818 is composed of (1) a non-uniform bipolar structure with a semimajor axis of 0.92 pc (75''), possibly deformed by the stellar wind, (2) a 0.17 pc (14'') diameter central region, which is potentially the remnant of an equatorial enhancement, and (3) a great number of cometary knots. These knots are preferentially located inside a radius of 0.24 pc (20'') around the central star. The major axis of the main structure is oriented at i {approx_equal} 60 Degree-Sign with respect to the line of sight and at P.A. = +89 Degree-Sign on the plane of the sky. Expansion velocities of this nebula are V{sub pol} = 105 km s{sup -1} and V{sub eq} = 20 km s{sup -1}, which lead to our estimate of the kinematical age of {tau}{sub k} {approx_equal} 8400 {+-} 3400 yr (assuming homologous expansion). Our observations do not support the idea that high-velocity collimated ejections are responsible for the formation of microstructures inside the nebula. We determine the systemic velocity of NGC 2818 to be V{sub HEL} = +26 {+-} 2 km s{sup -1}.

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.

The 2 mrad crossing-angle ILC interaction region and extraction line

CERN Document Server

Appleby, Robert; Bambade, Philip; Dadoun, Olivier; Parker, Brett; Keller, Lewis; Moffeit, Kenneth C; Nosochkov, Yuri; Seryi, Andrei; Spencer, Cherrill M; Carter, John; Napoly, Olivier

2006-01-01

A complete optics design for the 2mrad crossing angle interaction region and extraction line was presented at Snowmass 2005. Since this time, the design task force has been working on developing and improving the performance of the extraction line. The work has focused on optimising the final doublet parameters and on reducing the power losses resulting from the disrupted beam transport. In this paper, the most recent status of the 2mrad layout and the corresponding performance are presented.

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

Science.gov (United States)

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

2018-06-01

This paper deals with the conceptual design, kinematic analysis and workspace identification of a novel four degrees-of-freedom (DOFs) high-speed spatial parallel robot for pick-and-place operations. The proposed spatial parallel robot consists of a base, four arms and a 1½ mobile platform. The mobile platform is a major innovation that avoids output singularity and offers the advantages of both single and double platforms. To investigate the characteristics of the robot's DOFs, a line graph method based on Grassmann line geometry is adopted in mobility analysis. In addition, the inverse kinematics is derived, and the constraint conditions to identify the correct solution are also provided. On the basis of the proposed concept, the workspace of the robot is identified using a set of presupposed parameters by taking input and output transmission index as the performance evaluation criteria.

Identification of new solar OH lines in the 10--12 micron region

International Nuclear Information System (INIS)

Goldman, A.; Murcray, F.J.; Gillis, J.R.; Murcray, D.G.

1981-01-01

High-resolution (0.02 cm -1 ) infrared solar spectra obtained with a balloon-borne interferometer reveal new solar absorption features, which appear as regularly spaced quartets, in the 825--960 cm -1 region. The lines are interpreted as high N'' (25--33) pure rotation lines of solar OH. An effective amount of approx.8 x 10 15 molecules cm -2 of OH is estimated from the spectra

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.

Time variations of oxygen emission lines and solar wind dynamic parameters in low latitude region

Science.gov (United States)

Jamlongkul, P.; Wannawichian, S.; Mkrtichian, D.; Sawangwit, U.; A-thano, N.

2017-09-01

Aurora phenomenon is an effect of collision between precipitating particles with gyromotion along Earth’s magnetic field and Earth’s ionospheric atoms or molecules. The particles’ precipitation occurs normally around polar regions. However, some auroral particles can reach lower latitude regions when they are highly energetic. A clear emission from Earth’s aurora is mostly from atomic oxygen. Moreover, the sun’s activities can influence the occurrence of the aurora as well. This work studies time variations of oxygen emission lines and solar wind parameters, simultaneously. The emission’s spectral lines were observed by Medium Resolution Echelle Spectrograph (MRES) along with 2.4 meters diameter telescope at Thai National Observatory, Intanon Mountain, Chiang Mai, Thailand. Oxygen (OI) emission lines were calibrated by Dech-Fits spectra processing program and Dech95 2D image processing program. The correlations between oxygen emission lines and solar wind dynamics will be analyzed. This result could be an evidence of the aurora in low latitude region.

The ESO Nearby Abell Cluster Survey. VI. Spatial distribution and kinematics of early- and late-type galaxies

Science.gov (United States)

de Theije, P. A. M.; Katgert, P.

1999-01-01

Analysis of the data obtained in the ESO Nearby Abell Cluster Survey (ENACS) has shown that the space distribution and kinematics of galaxies with detectable emission lines in their spectra differ significantly from those of galaxies without emission lines. This result, and details of the kinematics, were considered as support for the idea that at least the spirals with emission lines are on orbits that are not isotropic. This might indicate that this subset of late-type galaxies either has `first approach'-orbits towards the dense core of their respective clusters, or has orbits that `avoid' the core. The galaxies with emission lines are essentially all late-type galaxies. On the other hand, the emission-line galaxies represent only about a third of the late-type galaxies, the majority of which do not show detectable emission lines. The galaxies without emission lines are therefore a mix of early- and late-type galaxies. In this paper we attempt to separate early- and late-type galaxies, and we study possible differences in distribution and kinematics of the two galaxy classes. For only about 10% of the galaxies in the ENACS, the morphology is known from imaging. Here, we describe our classification on the basis of the ENACS spectrum. The significant information in each spectrum is compressed into 15 Principal Components, which are used as input for an Artificial Neural Network. The latter is `trained' with 150 of the 270 galaxies for which a morphological type is available from Dressler, and subsequently used to classify each galaxy. This yields a classification for two-thirds of the ENACS galaxies. The Artificial Neural Network has two output classes: early-type (E+S0) and late-type (S+I) galaxies. We do not distinguish E and S0 galaxies, because these cannot be separated very robustly on the basis of the spectrum. The success rate of the classification is estimated from the sample of 120 galaxies with Dressler morphologies which were not used to train the ANN

Gas kinematics in FIRE simulated galaxies compared to spatially unresolved H I observations

Science.gov (United States)

El-Badry, Kareem; Bradford, Jeremy; Quataert, Eliot; Geha, Marla; Boylan-Kolchin, Michael; Weisz, Daniel R.; Wetzel, Andrew; Hopkins, Philip F.; Chan, T. K.; Fitts, Alex; Kereš, Dušan; Faucher-Giguère, Claude-André

2018-06-01

The shape of a galaxy's spatially unresolved, globally integrated 21-cm emission line depends on its internal gas kinematics: galaxies with rotationally supported gas discs produce double-horned profiles with steep wings, while galaxies with dispersion-supported gas produce Gaussian-like profiles with sloped wings. Using mock observations of simulated galaxies from the FIRE project, we show that one can therefore constrain a galaxy's gas kinematics from its unresolved 21-cm line profile. In particular, we find that the kurtosis of the 21-cm line increases with decreasing V/σ and that this trend is robust across a wide range of masses, signal-to-noise ratios, and inclinations. We then quantify the shapes of 21-cm line profiles from a morphologically unbiased sample of ˜2000 low-redshift, H I-detected galaxies with Mstar = 107-11 M⊙ and compare to the simulated galaxies. At Mstar ≳ 1010 M⊙, both the observed and simulated galaxies produce double-horned profiles with low kurtosis and steep wings, consistent with rotationally supported discs. Both the observed and simulated line profiles become more Gaussian like (higher kurtosis and less-steep wings) at lower masses, indicating increased dispersion support. However, the simulated galaxies transition from rotational to dispersion support more strongly: at Mstar = 108-10 M⊙, most of the simulations produce more Gaussian-like profiles than typical observed galaxies with similar mass, indicating that gas in the low-mass simulated galaxies is, on average, overly dispersion supported. Most of the lower-mass-simulated galaxies also have somewhat lower gas fractions than the median of the observed population. The simulations nevertheless reproduce the observed line-width baryonic Tully-Fisher relation, which is insensitive to rotational versus dispersion support.

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

Directory of Open Access Journals (Sweden)

Yanchun Zhao

2016-11-01

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

Autonomous Kinematic Calibration of the Robot Manipulator with a Linear Laser-Vision Sensor

Science.gov (United States)

Kang, Hee-Jun; Jeong, Jeong-Woo; Shin, Sung-Weon; Suh, Young-Soo; Ro, Young-Schick

This paper presents a new autonomous kinematic calibration technique by using a laser-vision sensor called "Perceptron TriCam Contour". Because the sensor measures by capturing the image of a projected laser line on the surface of the object, we set up a long, straight line of a very fine string inside the robot workspace, and then allow the sensor mounted on a robot to measure the point intersection of the line of string and the projected laser line. The data collected by changing robot configuration and measuring the intersection points are constrained to on a single straght line such that the closed-loop calibration method can be applied. The obtained calibration method is simple and accurate and also suitable for on-site calibration in an industrial environment. The method is implemented using Hyundai VORG-35 for its effectiveness.

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

Science.gov (United States)

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

2015-03-01

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

Temperature Measurements in the Solar Transition Region Using N III Line Intensity Ratios

Science.gov (United States)

Doron, R.; Doschek, G. A.; Laming, J. M.; Feldman, U.; Bhatia, A. K.

2003-01-01

UV emission from B-like N and O ions a rather rare opportunity for recording spectral lines in a narrow wavelength range that can potentially be used to derive temperatures relevant to the solar transition region. In these ions, the line intensity ratios of the type (2s2p(sup 2) - 2p(sup 3)) / (2s(sup 2)2p - 2s2p(sup 2)) are very sensitive to the electron temperature. Additionally, the lines involving the ratios fall within a range of only - 12 A; in N III the lines fall in the 980 - 992 A range and in O IV in the 780 - 791 A range. In this work, we explore the use of these atomic systems, primarily in N III, for temperature diagnostics of the transition region by analyzing UV spectra obtained by the Solar Ultraviolet Measurements of Emitted Radiation (SUMER) spectrometer flown on the Solar and Heliospheric Observatory (SOHO). The N III temperature-sensitive line ratios are measured in more than 60 observations. Most of the measured ratios correspond to temperatures in the range 5.7x10(exp 4) - 6.7x10(exp 4) K. This range is considerably lower than the calculated temperature of maximum abundance of N III, which is approx. 7.6x10(exp 4) K. Detailed analysis of the spectra further indicates that the measured ratios are probably somewhat overestimated due to resonant scattering effects in the 2s(sup 2)2p - 2s2p(sup 2) lines and small blends in the 2s2p(sup 2) - 2p3 lines. Actual lower ratios would only increase the disagreement between the ionization balance calculations and present temperature measurements based on a collisional excitation model. In the case of the O IV spectra, we determined that due to the close proximity in wavelength of the weak line (2s2p(sup 2)-2p3 transitions) to a strong Ne VIII line, sufficiently accurate ratio measurements cannot be obtained. Subject headings: atomic data --- atomic processes --- Sun: transition region --- Sun: U V radiation --- techniques: spectroscopic

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

International Nuclear Information System (INIS)

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

2012-01-01

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

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

Biogas infrastructure from farm-scale to regional scale, line-pack storage in biogas grids

NARCIS (Netherlands)

Hengeveld, Evert Jan

2016-01-01

Biogas infrastructure from farm-scale to regional scale, line-pack storage in biogas grids. The number of local and regional initiatives encouraging the production and use of regional produced energy grows. In these new developments biogas can play a role, as a producer of energy, but also in

The peculiar A star HD 110066: a photographic region line identification study

International Nuclear Information System (INIS)

Adelman, S.J.

1988-01-01

A line identification study of the very sharp-lined peculiar A star HD 110066 has been performed using four high dispersion photographic region spectrograms. New species found include Al I, Si I, S II, Ti I, Co II, Zr II, Cd I, La II, Ce III, Gd III, Dy II, Er II and Tm II. The presence of these species is in accord with the continuity of the magnetic Ap star sequence. (author)

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.

Covariant electromagnetic field lines

Science.gov (United States)

Hadad, Y.; Cohen, E.; Kaminer, I.; Elitzur, A. C.

2017-08-01

Faraday introduced electric field lines as a powerful tool for understanding the electric force, and these field lines are still used today in classrooms and textbooks teaching the basics of electromagnetism within the electrostatic limit. However, despite attempts at generalizing this concept beyond the electrostatic limit, such a fully relativistic field line theory still appears to be missing. In this work, we propose such a theory and define covariant electromagnetic field lines that naturally extend electric field lines to relativistic systems and general electromagnetic fields. We derive a closed-form formula for the field lines curvature in the vicinity of a charge, and show that it is related to the world line of the charge. This demonstrates how the kinematics of a charge can be derived from the geometry of the electromagnetic field lines. Such a theory may also provide new tools in modeling and analyzing electromagnetic phenomena, and may entail new insights regarding long-standing problems such as radiation-reaction and self-force. In particular, the electromagnetic field lines curvature has the attractive property of being non-singular everywhere, thus eliminating all self-field singularities without using renormalization techniques.

H I Kinematics along the Minor Axis of M82

Science.gov (United States)

Martini, Paul; Leroy, Adam K.; Mangum, Jeffrey G.; Bolatto, Alberto; Keating, Katie M.; Sandstrom, Karin; Walter, Fabian

2018-03-01

M82 is one of the best-studied starburst galaxies in the local universe, and is consequently a benchmark for studying star formation feedback at both low and high redshift. We present new VLA H I observations that reveal the cold gas kinematics along the minor axis in unprecedented detail. This includes the detection of H I up to 10 kpc along the minor axis toward the south and beyond 5 kpc to the north. A surprising aspect of these observations is that the line-of-sight H I velocity decreases substantially from about 120 to 50 {km} {{{s}}}-1 from 1.5 to 10 kpc off the midplane. The velocity profile is not consistent with the H I gas cooling from the hot wind. We demonstrate that the velocity decrease is substantially greater than the deceleration expected from gravitational forces alone. If the H I consists of a continuous population of cold clouds, some additional drag force must be present, and the magnitude of the drag force places a joint constraint on the ratio of the ambient medium to the typical cloud size and density. We also show that the H I kinematics are inconsistent with a simple conical outflow centered on the nucleus, but instead require the more widespread launch of the H I over the ∼1 kpc extent of the starburst region. Regardless of the launch mechanism for the H I gas, the observed velocity decrease along the minor axis is sufficiently great that the H I may not escape the halo of M82. The inferred H I outflow rate at 10 kpc off the midplane is much less than 1 {M}ȯ yr‑1.

Investigating The Kinematics of Canids and Felids

Science.gov (United States)

Sur, D.

2016-12-01

For all organisms, metabolic energy is critical for survival. While moving efficiently is a necessity for large carnivores, the influence of kinematics on energy demand remains poorly understood. We measured the kinematics of dogs, wolves, and pumas to detect any differences in their respective energy expenditures. Using 22 kinematic parameters measured on 78 videos, we used one-way ANOVAs and paired T-tests to compare 5 experimental treatments among gaits in dogs (n=11 in 3 breed groups), wolves (n=2), and pumas (n=2). Across the measured parameters, we found greater kinematic similarity than expected among dog breeds and no trend in any of the 22 parameters regarding the effect of steepness on locomotion mechanics. Similarly, treadmill kinematics were nearly identical to those measured during outdoor movement. However, in 3 inches of snow, we observed significant differences (pwolf. When comparing canids (wolves and dogs) to a felid (pumas), we found that pumas and dogs are the most kinematically distinct (differing in 13 of 22 parameters, compared with 5 of 22 for wolves and pumas). Lastly, compared with wolves, walking pumas had larger head angles (p=0.0025), forelimb excursion angles (p=0.0045), and hindlimb excursion angles (p=0.0327). After comparing the energetics of pumas and dogs with their respective kinematics, we noted that less dynamic kinematics result in energy savings. Through tracking the locations and gait behavior of large carnivores, novel sensor technology can reveal how indoor kinematics applies to wild animals and improve the conservation of these species.

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 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...

Spatially extended K Iλ7699 emission in the nebula of VY CMa: kinematics and geometry

Science.gov (United States)

Smith, Nathan

2004-04-01

Long-slit echelle spectra reveal bright extended emission from the K Iλ7699 resonance line in the reflection nebula surrounding the extreme red supergiant VY Canis Majoris. The central star has long been known for its unusually bright K I emission lines, but this is the first report of intrinsic emission from K I in the nebula. The extended emission is not just a reflected spectrum of the star, but is due to resonant scattering by K atoms in the outer nebula itself, and is therefore a valuable probe of the kinematics and geometry of the circumstellar environment of VY CMa. Dramatic velocity structure is seen in the long-slit spectra, and most lines of sight through the nebula intersect multiple distinct velocity components. A faint `halo' at large distances from the star does appear to show a reflected spectrum, however, and suggests a systemic velocity of +40 km s-1 with respect to the Sun. The most striking feature is blueshifted emission from the filled interior of a large shell seen in images; the kinematic structure is reminiscent of a Hubble flow, and provides strong evidence for asymmetric and episodic mass loss due to localized eruptions on the stellar surface.

The Kinematics of Multiple-peaked Lyα Emission in Star-forming Galaxies at z ~ 2-3

Science.gov (United States)

Kulas, Kristin R.; Shapley, Alice E.; Kollmeier, Juna A.; Zheng, Zheng; Steidel, Charles C.; Hainline, Kevin N.

2012-01-01

We present new results on the Lyα emission-line kinematics of 18 z ~ 2-3 star-forming galaxies with multiple-peaked Lyα profiles. With our large spectroscopic database of UV-selected star-forming galaxies at these redshifts, we have determined that ~30% of such objects with detectable Lyα emission display multiple-peaked emission profiles. These profiles provide additional constraints on the escape of Lyα photons due to the rich velocity structure in the emergent line. Despite recent advances in modeling the escape of Lyα from star-forming galaxies at high redshifts, comparisons between models and data are often missing crucial observational information. Using Keck II NIRSPEC spectra of Hα (z ~ 2) and [O III]λ5007 (z ~ 3), we have measured accurate systemic redshifts, rest-frame optical nebular velocity dispersions, and emission-line fluxes for the objects in the sample. In addition, rest-frame UV luminosities and colors provide estimates of star formation rates and the degree of dust extinction. In concert with the profile sub-structure, these measurements provide critical constraints on the geometry and kinematics of interstellar gas in high-redshift galaxies. Accurate systemic redshifts allow us to translate the multiple-peaked Lyα profiles into velocity space, revealing that the majority (11/18) display double-peaked emission straddling the velocity-field zero point with stronger red-side emission. Interstellar absorption-line kinematics suggest the presence of large-scale outflows for the majority of objects in our sample, with an average measured interstellar absorption velocity offset of langΔv absrang = -230 km s-1. A comparison of the interstellar absorption kinematics for objects with multiple- and single-peaked Lyα profiles indicate that the multiple-peaked objects are characterized by significantly narrower absorption line widths. We compare our data with the predictions of simple models for outflowing and infalling gas distributions around

TIMASSS: the IRAS 16293-2422 millimeter and submillimeter spectral survey. I. Observations, calibration, and analysis of the line kinematics

NARCIS (Netherlands)

Caux, E.; Kahane, C.; Castets, A.; Coutens, A.; Ceccarelli, C.; Bacmann, A.; Bisschop, S.; Bottinelli, S.; Comito, C.; Helmich, F. P.; Lefloch, B.; Parise, B.; Schilke, P.; Tielens, A. G. G. M.; van Dishoeck, E.; Vastel, C.; Wakelam, V.; Walters, A.

Context. Unbiased spectral surveys are powerful tools to study the chemistry and the physics of star forming regions, because they can provide a complete census of the molecular content and the observed lines probe the physical structure of the source. Aims. While unbiased surveys at the millimeter

KINEMATIC ANALYSIS OF LINE-OUT THROWING IN ELITE INTERNATIONAL RUGBY UNION

Directory of Open Access Journals (Sweden)

Mark G.L. Sayers

2011-09-01

Full Text Available The rugby union line-out is a key aspect of game play and involves players from both teams contesting for the ball after it has been thrown in from the side line. Successful lines-out throws require the ball to be delivered accurately to the hands of a jumping and/or lifted team mate (approximately 3-3.5 m off the ground over distances of between 5- 18 m. Previous research has suggested considerable inter and intra-individual differences in the throwing techniques of international level players. Accordingly, this project investigated the interrelationships between accuracy and the line-out throwing characteristics of three elite international rugby players, and then analyzed whether these changed for throws over increasing length. Three-dimensional (3D data were developed from video footage (50 Hz of three elite international subjects for 30 throws over three distances (6 m, 10 m, and 15 m. Results showed notable differences between subjects in many variables at each of the key throw phases. However, several variables such as the degree of trunk flexion at the end of the backswing and at ball release, coupled with elbow flexion angle at ball release remained constant as throw length increased. All subjects exhibited high levels of consistency in movement patterns across all throw lengths. Findings indicated that these high performance line-out throwers shared several common characteristics that will provide useful guides in the development of training programs

On the kinematic reconstruction of deep inelastic scattering at HERA: the Σmethod

International Nuclear Information System (INIS)

Bassler, U.; Bernardi, G.

1994-12-01

We review and compare the reconstruction methods of the inclusive deep inelastic scattering variables used at HERA. We introduce a new prescription, the Sigma (Σ) method, which allows to measure the structure function of the proton F 2 (x, Q 2 ) in a large kinematic domain, and in particular in the low x-low Q 2 region, with small systematic errors and small radiative corrections. A detailed comparison between the Σ method and the other methods is shown. Extensions of the Σ method are presented. The effect of QED radiation on the kinematic reconstruction and on the structure function measurement is discussed. (orig.)

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.

NARROW-LINE-WIDTH UV BURSTS IN THE TRANSITION REGION ABOVE SUNSPOTS OBSERVED BY IRIS

Energy Technology Data Exchange (ETDEWEB)

Hou, Zhenyong; Huang, Zhenghua; Xia, Lidong; Li, Bo; Madjarska, Maria S.; Fu, Hui; Mou, Chaozhou; Xie, Haixia, E-mail: z.huang@sdu.edu.cn, E-mail: xld@sdu.edu.cn [Shandong Provincial Key Laboratory of Optical Astronomy and Solar-Terrestrial Environment, Institute of Space Sciences, Shandong University, Weihai, 264209 Shandong (China)

2016-10-01

Various small-scale structures abound in the solar atmosphere above active regions, playing an important role in the dynamics and evolution therein. We report on a new class of small-scale transition region structures in active regions, characterized by strong emissions but extremely narrow Si iv line profiles as found in observations taken with the Interface Region Imaging Spectrograph (IRIS). Tentatively named as narrow-line-width UV bursts (NUBs), these structures are located above sunspots and comprise one or multiple compact bright cores at sub-arcsecond scales. We found six NUBs in two data sets (a raster and a sit-and-stare data set). Among these, four events are short-lived with a duration of ∼10 minutes, while two last for more than 36 minutes. All NUBs have Doppler shifts of 15–18 km s{sup −1}, while the NUB found in sit-and-stare data possesses an additional component at ∼50 km s{sup −1} found only in the C ii and Mg ii lines. Given that these events are found to play a role in the local dynamics, it is important to further investigate the physical mechanisms that generate these phenomena and their role in the mass transport in sunspots.

Trajectory control of robot manipulators with closed-kinematic chain mechanism

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.; Premack, Timothy

1987-01-01

The problem of Cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator, recently built at CAIR to study the assembly of NASA hardware for the future Space Station, is considered. The study is performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid, and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. The results also show excellent tracking quality and small overshoots.

TIME DEPENDENT NONEQUILIBRIUM IONIZATION OF TRANSITION REGION LINES OBSERVED WITH IRIS

Energy Technology Data Exchange (ETDEWEB)

Martínez-Sykora, Juan; Pontieu, Bart De; Hansteen, Viggo H. [Lockheed Martin Solar and Astrophysics Laboratory, Palo Alto, CA 94304 (United States); Gudiksen, Boris, E-mail: j.m.sykora@astro.uio.no [Institute of Theoretical Astrophysics, University of Oslo, P.O. Box 1029 Blindern, NO-0315 Oslo (Norway)

2016-01-20

The properties of nonstatistical equilibrium ionization of silicon and oxygen ions are analyzed in this work. We focus on five solar targets (quiet Sun; coronal hole; plage; quiescent active region, AR; and flaring AR) as observed with the Interface Region Imaging Spectrograph (IRIS). IRIS is best suited for this work owing to the high cadence (up to 0.5 s), high spatial resolution (up to 0.″32), and high signal-to-noise ratios for O iv λ1401 and Si iv λ1402. We find that the observed intensity ratio between lines of three times ionized silicon and oxygen ions depends on their total intensity and that this correlation varies depending on the region observed (quiet Sun, coronal holes, plage, or active regions) and on the specific observational objects present (spicules, dynamic loops, jets, microflares, or umbra). In order to interpret the observations, we compare them with synthetic profiles taken from 2D self-consistent radiative MHD simulations of the solar atmosphere, where the statistical equilibrium or nonequilibrium treatment of silicon and oxygen is applied. These synthetic observations show vaguely similar correlations to those in the observations, i.e., between the intensity ratios and their intensities, but only in the nonequilibrium case do we find that (some of) the observations can be reproduced. We conclude that these lines are formed out of statistical equilibrium. We use our time-dependent nonequilibrium ionization simulations to describe the physical mechanisms behind these observed properties.

HIGH-VELOCITY LINE FORMING REGIONS IN THE TYPE Ia SUPERNOVA 2009ig

International Nuclear Information System (INIS)

Marion, G. H.; Foley, Ryan J.; Challis, Peter; Kirshner, Robert P.; Vinko, Jozsef; Wheeler, J. Craig; Silverman, Jeffrey M.; Hsiao, Eric Y.; Brown, Peter J.; Filippenko, Alexei V.; Garnavich, Peter; Landsman, Wayne B.; Parrent, Jerod T.; Pritchard, Tyler A.; Roming, Peter W. A.; Wang, Xiaofeng

2013-01-01

We report measurements and analysis of high-velocity (HVF) (>20,000 km s –1 ) and photospheric absorption features in a series of spectra of the Type Ia supernova (SN) 2009ig obtained between –14 days and +13 days with respect to the time of maximum B-band luminosity (B-max). We identify lines of Si II, Si III, S II, Ca II, and Fe II that produce both HVF and photospheric-velocity (PVF) absorption features. SN 2009ig is unusual for the large number of lines with detectable HVF in the spectra, but the light-curve parameters correspond to a slightly overluminous but unexceptional SN Ia (M B = –19.46 mag and Δm 15 (B) = 0.90 mag). Similarly, the Si II λ6355 velocity at the time of B-max is greater than 'normal' for an SN Ia, but it is not extreme (v Si = 13,400 km s –1 ). The –14 days and –13 days spectra clearly resolve HVF from Si II λ6355 as separate absorptions from a detached line forming region. At these very early phases, detached HVF are prevalent in all lines. From –12 days to –6 days, HVF and PVF are detected simultaneously, and the two line forming regions maintain a constant separation of about 8000 km s –1 . After –6 days all absorption features are PVF. The observations of SN 2009ig provide a complete picture of the transition from HVF to PVF. Most SNe Ia show evidence for HVF from multiple lines in spectra obtained before –10 days, and we compare the spectra of SN 2009ig to observations of other SNe. We show that each of the unusual line profiles for Si II λ6355 found in early-time spectra of SNe Ia correlate to a specific phase in a common development sequence from HVF to PVF

THE SIZE, STRUCTURE, AND IONIZATION OF THE BROAD-LINE REGION IN NGC 3227

International Nuclear Information System (INIS)

Devereux, Nick

2013-01-01

Hubble Space Telescope spectroscopy of the Seyfert 1.5 galaxy, NGC 3227, confirms previous reports that the broad Hα emission line flux is time variable, decreasing by a modest ∼11% between 1999 and 2000 in response to a corresponding ∼37% decrease in the underlying continuum. Modeling the gas distribution responsible for the broad Hα, Hβ, and Hγ emission lines favors a spherically symmetric inflow as opposed to a thin disk. Adopting a central black hole mass of 7.6 × 10 6 M ☉ , determined from prior reverberation mapping, leads to the following dimensions for the size of the region emitting the broad Hα line: an outer radius ∼90 lt-days and an inner radius ∼3 lt-days. Thus, the previously determined reverberation size for the broad-line region (BLR) consistently coincides with the inner radius of a much larger volume of ionized gas. However, the perceived size of the BLR is an illusion, a consequence of the fact that the emitting region is ionization bounded at the outer radius and diminished by Doppler broadening at the inner radius. The actual dimensions of the inflow remain to be determined. Nevertheless, the steady-state mass inflow rate is estimated to be ∼10 –2 M ☉ yr –1 which is sufficient to explain the X-ray luminosity of the active galactic nucleus (AGN) in terms of radiatively inefficient accretion. Collectively, the results challenge many preconceived notions concerning the nature of BLRs in AGNs.

Morphology and kinematics of filaments in Serpens and Perseus molecular clouds: a high resolution study

Science.gov (United States)

Dhabal, Arnab; Mundy, Lee; Rizzo, Maxime; Storm, Shaye; Teuben, Peter; CLASSy Collaboration

2018-01-01

Filamentary structures are prevalent in molecular clouds over a wide range of scales, and are often associated with active star formation. The study of filament morphology and kinematics provide insights into the physical processes leading to core formation in clustered environments. As part of the CARMA Large Area Star Formation Survey (CLASSy) follow-up, we observed five Herschel filaments in the Serpens Main, Serpens South and NGC1333 molecular clouds using the J=1-0 transitions of dense gas tracers H13CO+, HNC and H13CN. Of these, H13CO+ and H13CN are optically thin and serve as a test of the kinematics previously seen by the CLASSy in N2H+. The observations have an angular resolution of 7'' and a spectral resolution of 0.16 km/s. Although the large scale structure compares well with the CARMA N2H+ (J=1-0) maps and Herschel dust continuum maps, we resolve finer structure within the filaments identified by Herschel. Most regions are found to have multiple structures and filaments partially overlapping in the line-of-sight. In two regions overlapping structures have velocity differences as high as 1.4 km/s. We identify 8 individual filaments with typical widths of 0.03-0.06 pc in these tracers, which is significantly less than widths observed in the Herschel dust column density maps. At least 50% of the filaments have distinct velocity gradients perpendicular to their major axis with average values in the range 4-10 km s-1 pc-1. These findings are in support of the theoretical models of filament formation by 2-D inflow in the shock layer created by colliding turbulent cells. We also find evidence of velocity gradients along the length of two filaments; the gradients suggest that these filaments are inflowing towards the cloud core.

Extended Emission-Line Regions: Remnants of Quasar Superwinds?

Science.gov (United States)

Fu, Hai; Stockton, Alan

2009-01-01

We give an overview of our recent integral-field-unit spectroscopy of luminous extended emission-line regions (EELRs) around low-redshift quasars, including new observations of five fields. Previous work has shown that the most luminous EELRs are found almost exclusively around steep-spectrum radio-loud quasars, with apparently disordered global velocity fields, and little, if any, morphological correlation with either the host galaxy or the radio structure. Our new observations confirm and expand these results. The EELRs often show some clouds with velocities exceeding 500 km s-1, ranging up to 1100 km s-1, but the velocity dispersions, with few exceptions, are in the 30-100 km s-1 range. Emission-line ratios show that the EELRs are clearly photoionized by the quasars. Masses of the EELRs range up to 1010Msun. Essentially all of the EELRs show relatively low metallicities, and they are associated with quasars that, in contrast to most, show similarly low metallicities in their broad-line regions. The two objects in our sample that do not have classical double-lobed radio morphologies (3C 48, with a compact-steep-spectrum source; Mrk 1014, radio quiet, but with a weak compact-steep-spectrum source) are the only ones that appear to have recent star formation. While some of the less luminous EELRs may have other origins, the most likely explanation for those in our sample is that they are examples of gas swept out of the host galaxy by a large-solid-angle blast wave accompanying the production of the radio jets. The triggering of the quasar activity is almost certainly the result of the merger of a gas-rich galaxy with a massive, gas-poor galaxy hosting the supermassive black hole. Based in part on observations obtained at the Gemini Observatory, which is operated by the Association of Universities for Research in Astronomy, Inc., under a cooperative agreement with the NSF on behalf of the Gemini partnership: the National Science Foundation (United States), the

A spatio-kinematic study of the interaction of the planetary nebula NGC 246 with the interstellar medium

NARCIS (Netherlands)

Muthu, C; Anandarao, BG; Pottasch, [No Value

Spatio-Kinematic observations were made on NGC 246 in the [OIII] 5007 Angstrom line using an Imaging Fabry-Perot Spectrometer. Evidence for the deceleration effect was found in the leading edge of the nebular shell, possibly due to its interaction with the interstellar medium. Further, we show that

The Emotional Modulation of Facial Mimicry: A Kinematic Study

Directory of Open Access Journals (Sweden)

Antonella Tramacere

2018-01-01

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

The Emotional Modulation of Facial Mimicry: A Kinematic Study.

Science.gov (United States)

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

2017-01-01

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

Are Proplyds the Low-Energy Counterpart of Clouds Populating the AGNs Broad Line Region?

Science.gov (United States)

Dottori, H.

2000-11-01

The stability of the clouds producing the broadening of permitted lines in A GNs is a challenge for the persistence of these features during the galactic nucleus active fase lifetime. The formation of succesive generations of clouds in this very agressive enviroment, seems not to be the more adequated scenarion to explain this phenomenon. Why should new clouds be formed in regions where the UV radiation is so intense as to destroy the previously existing ones? The discovery of proplyds in Orion and NGC3603, as well as in 30Dor, shows that the formation of stars with protostars with surrounding disk is a common phenomenon in HII regions with very different radiation fields. We discuss that as a mechanism to explain the persistence of the clouds in the AGNs broad line regions.

Relationship between Lower Limb Angular Kinematic Variables and the Effectiveness of Sprinting during the Acceleration Phase

Directory of Open Access Journals (Sweden)

Artur Struzik

2016-01-01

Full Text Available The ability to reach a high running velocity over a short distance is essential to a high playing performance in team games. The aim of this study was to determine the relationship between running time over a 10-meter section of a 30-meter sprint along a straight line and changes in the angle and angular velocity that were observed in the ankle, knee, and hip joints. The possible presence may help to optimize motion efficiency during acceleration sprint phase. Eighteen girls involved in team sports were examined in the study. The Fusion Smart Speed System was employed for running time measurements. The kinematic data were recorded using the Noraxon MyoMotion system. Statistically significant relationships were found between running time over a 10-meter section and the kinematic variables of hip and ankle joints. An excessively large flexion in hip joints might have an unfavorable effect on running time during the acceleration phase. Furthermore, in order to minimize running time during the acceleration phase, stride should be maintained along a line (a straight line rather than from side to side. It is also necessary to ensure an adequate range of motion in the hip and ankle joints with respect to the sagittal axis.

Relationship between Lower Limb Angular Kinematic Variables and the Effectiveness of Sprinting during the Acceleration Phase.

Science.gov (United States)

Struzik, Artur; Konieczny, Grzegorz; Stawarz, Mateusz; Grzesik, Kamila; Winiarski, Sławomir; Rokita, Andrzej

2016-01-01

The ability to reach a high running velocity over a short distance is essential to a high playing performance in team games. The aim of this study was to determine the relationship between running time over a 10-meter section of a 30-meter sprint along a straight line and changes in the angle and angular velocity that were observed in the ankle, knee, and hip joints. The possible presence may help to optimize motion efficiency during acceleration sprint phase. Eighteen girls involved in team sports were examined in the study. The Fusion Smart Speed System was employed for running time measurements. The kinematic data were recorded using the Noraxon MyoMotion system. Statistically significant relationships were found between running time over a 10-meter section and the kinematic variables of hip and ankle joints. An excessively large flexion in hip joints might have an unfavorable effect on running time during the acceleration phase. Furthermore, in order to minimize running time during the acceleration phase, stride should be maintained along a line (a straight line) rather than from side to side. It is also necessary to ensure an adequate range of motion in the hip and ankle joints with respect to the sagittal axis.

Raft cultivation area extraction from high resolution remote sensing imagery by fusing multi-scale region-line primitive association features

Science.gov (United States)

Wang, Min; Cui, Qi; Wang, Jie; Ming, Dongping; Lv, Guonian

2017-01-01

In this paper, we first propose several novel concepts for object-based image analysis, which include line-based shape regularity, line density, and scale-based best feature value (SBV), based on the region-line primitive association framework (RLPAF). We then propose a raft cultivation area (RCA) extraction method for high spatial resolution (HSR) remote sensing imagery based on multi-scale feature fusion and spatial rule induction. The proposed method includes the following steps: (1) Multi-scale region primitives (segments) are obtained by image segmentation method HBC-SEG, and line primitives (straight lines) are obtained by phase-based line detection method. (2) Association relationships between regions and lines are built based on RLPAF, and then multi-scale RLPAF features are extracted and SBVs are selected. (3) Several spatial rules are designed to extract RCAs within sea waters after land and water separation. Experiments show that the proposed method can successfully extract different-shaped RCAs from HR images with good performance.

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

COMPLEX GAS KINEMATICS IN COMPACT, RAPIDLY ASSEMBLING STAR-FORMING GALAXIES

Energy Technology Data Exchange (ETDEWEB)

Amorin, R.; Vilchez, J. M.; Perez-Montero, E. [Instituto de Astrofisica de Andalucia-CSIC, Glorieta de la Astronomia S/N, E-18008 Granada (Spain); Haegele, G. F.; Firpo, V. [Facultad de Ciencias Astronomicas y Geofisicas, Universidad de la Plata, Paseo del Bosque S/N, 1900 La Plata (Argentina); Papaderos, P., E-mail: amorin@iaa.es [Centro de Astrofisica and Faculdade de Ciencias, Universidade do Porto, Rua das Estrelas, 4150-762 Porto (Portugal)

2012-08-01

Deep, high-resolution spectroscopic observations have been obtained for six compact, strongly star-forming galaxies at redshift z {approx} 0.1-0.3, most of them also known as green peas. Remarkably, these galaxies show complex emission-line profiles in the spectral region including H{alpha}, [N II] {lambda}{lambda}6548, 6584, and [S II] {lambda}{lambda}6717, 6731, consisting of the superposition of different kinematical components on a spatial extent of few kiloparsecs: a very broad line emission underlying more than one narrower component. For at least two of the observed galaxies some of these multiple components are resolved spatially in their two-dimensional spectra, whereas for another one a faint detached H{alpha} blob lacking stellar continuum is detected at the same recessional velocity {approx}7 kpc away from the galaxy. The individual narrower H{alpha} components show high intrinsic velocity dispersion ({sigma} {approx} 30-80 km s{sup -1}), suggesting together with unsharped masking Hubble Space Telescope images that star formation proceeds in an ensemble of several compact and turbulent clumps, with relative velocities of up to {approx}500 km s{sup -1}. The broad underlying H{alpha} components indicate in all cases large expansion velocities (full width zero intensity {>=}1000 km s{sup -1}) and very high luminosities (up to {approx}10{sup 42} erg s{sup -1}), probably showing the imprint of energetic outflows from supernovae. These intriguing results underline the importance of green peas for studying the assembly of low-mass galaxies near and far.

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.

Analytic structure of the n=7 scattering amplitude in N=4 SYM theory in multi-Regge kinematics. Conformal Regge cut contribution

International Nuclear Information System (INIS)

Bartels, Jochen; Kormilitzin, Andrey; Oxford Univ.; Lipatov, Lev N.; Oxford Univ.; St. Petersburg State Univ.

2014-11-01

In this second part of our investigation of the analytic structure of the 2→5 scattering amplitude in the planar limit of N=4 SYM in multi-Regge kinematics we compute, in all kinematic regions, the Regge cut contributions in leading order. The results are infrared finite and conformally invariant.

Survey for C-Band High Spectral Lines with the Arecibo Telescope

Science.gov (United States)

Tan, Wei Siang

High-mass stars have masses greater than 8 solar masses and are the main source of heavy elements such as iron in the interstellar medium. This type of stars form in giant molecular clouds. Studying the molecular environment in star-forming regions is crucial to understand the physical structure and conditions that lead to the formation of high-mass stars. This thesis presents observations conducted with the 305m Arecibo Telescope in Puerto Rico of twelve high-mass star forming regions. Every source was observed in multiple transitions of molecular species including CH, CH3OH, H2CS, and OH lines, and a radio recombination line. The observations were conducted with the C-Band High receiver of the Arecibo Telescope in the frequency range of 6.0 to 7.4GHz. The goals of the observations were to investigate the detectability of different molecular species (including new possible molecular masers) and obtain high sensitivity observations of the 6.7GHz CH3OH line to detect absorption and use it as a probe of the kinematics of the molecular material with respect to the ionized gas. Among the results of the observations, we report detection of 6.7GHz CH3OH masers toward nine regions, OH masers toward five sources, 6.7GHz CH3OH absorption toward four sources (including tentative detections), and detection of H2CS toward the star forming region G34.26+0.15. We also found a variable and recurrent 6.7GHz CH3OH maser in G45.12+0.13. The 6.7GHz CH 3OH and 6278.65MHz H2CS absorption lines were modeled using the radiative transfer code RADEX to investigate the physical conditions of the molecular clouds responsible for the absorption lines. Our analysis of the absorption lines supports the interpretation that the spectral lines are tracing molecular envelopes of HII regions. In the case of 6.7GHz CH 3OH absorption, our results and data from an extensive literature review indicate that absorption is rare, but that a population of 6.7GHz CH 3OH absorbers may be present at levels

JFKengine: A Jacobian and Forward Kinematics Generator

Energy Technology Data Exchange (ETDEWEB)

Fischer, K.N.

2003-02-13

During robot path planning and control the equations that describe the robot motions are determined and solved. Historically these expressions were derived analytically off-line. For robots that must adapt to their environment or perform a wide range of tasks, a way is needed to rapidly re-derive these expressions to take into account the robot kinematic changes, such as when a tool is added to the end-effector. The JFKengine software was developed to automatically produce the expressions representing the manipulator arm motion, including the manipulator arm Jacobian and the forward kinematic expressions. Its programming interface can be used in conjunction with robot simulation software or with robot control software. Thus, it helps to automate the process of configuration changes for serial robot manipulators. If the manipulator undergoes a geometric change, such as tool acquisition, then JFKengine can be invoked again from the control or simulation software, passing it parameters for the new arm configuration. This report describes the automated processes that are implemented by JFKengine to derive the kinematic equations and the programming interface by which it is invoked. Then it discusses the tree data structure that was chosen to store the expressions, followed by several examples of portions of expressions as represented in the tree. The C++ classes and their methods that implement the expression differentiation and evaluation operations are described. The algorithms used to construct the Jacobian and forward kinematic equations using these basic building blocks are then illustrated. The activity described in this report is part of a larger project entitled ''Multi-Optimization Criteria-Based Robot Behavioral Adaptability and Motion Planning'' that focuses on the development of a methodology for the generalized resolution of robot motion equations with time-varying configurations, constraints, and task objective criteria. A specific

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)

[O III] EMISSION AND GAS KINEMATICS IN A LYMAN-ALPHA BLOB AT z {approx} 3.1

Energy Technology Data Exchange (ETDEWEB)

McLinden, Emily M. [McDonald Observatory, University of Texas at Austin, Austin, TX 78712 (United States); Malhotra, Sangeeta; Rhoads, James E. [School of Earth and Space Exploration, Arizona State University, Tempe, AZ 85287 (United States); Hibon, Pascale [Gemini Observatory, La Serena (Chile); Weijmans, Anne-Marie [Dunlap Institute for Astronomy and Astrophysics, University of Toronto, 50 St. George Street, Toronto, ON M5S 3H4 (Canada); Tilvi, Vithal [George P. and Cynthia Woods Mitchell Institute for Fundamental Physics and Astronomy, and Department of Physics and Astronomy, Texas A and M University, College Station, TX 77843 (United States)

2013-04-10

We present spectroscopic measurements of the [O III] emission line from two subregions of strong Ly{alpha} emission in a radio-quiet Lyman-alpha blob (LAB). The blob under study is LAB1 at z {approx} 3.1, and the [O III] detections are from the two Lyman break galaxies (LBGs) embedded in the blob halo. The [O III] measurements were made with LUCIFER on the 8.4 m Large Binocular Telescope and NIRSPEC on 10 m Keck Telescope. Comparing the redshift of the [O III] measurements to Ly{alpha} redshifts from SAURON allows us to take a step toward understanding the kinematics of the gas in the blob. Using both LUCIFER and NIRSPEC we find velocity offsets between the [O III] and Ly{alpha} redshifts that are modestly negative or consistent with 0 km s{sup -1} in both subregions studied (ranging from -72 {+-} 42- + 6 {+-} 33 km s{sup -1}). A negative offset means Ly{alpha} is blueshifted with respect to [O III] a positive offset then implies Ly{alpha} is redshifted with respect to [O III]. These results may imply that outflows are not primarily responsible for Lyman alpha escape in this LAB, since outflows are generally expected to produce a positive velocity offset. In addition, we present an [O III] line flux upper limit on a third region of LAB1, a region that is unassociated with any underlying galaxy. We find that the [O III] upper limit from the galaxy-unassociated region of the blob is at least 1.4-2.5 times fainter than the [O III] flux from one of the LBG-associated regions and has an [O III] to Ly{alpha} ratio measured at least 1.9-3.4 times smaller than the same ratio measured from one of the LBGs.

Line profile studies of hydrodynamical models of cometary compact H II regions

International Nuclear Information System (INIS)

Zhu, Feng-Yao; Zhu, Qing-Feng

2015-01-01

We simulate the evolution of cometary H II regions based on several champagne flow models and bow shock models, and calculate the profiles of the [Ne II] fine-structure line at 12.81 μm, the H30α recombination line and the [Ne III] fine-structure line at 15.55 μm for these models at different inclinations of 0°, 30° and 60°. We find that the profiles in the bow shock models are generally different from those in the champagne flow models, but the profiles in the bow shock models with lower stellar velocity (≤ 5 km s −1 ) are similar to those in the champagne flow models. In champagne flow models, both the velocity of peak flux and the flux weighted central velocities of all three lines point outward from molecular clouds. In bow shock models, the directions of these velocities depend on the speed of stars. The central velocities of these lines are consistent with the stellar motion in the high stellar speed cases, but they are opposite directions from the stellar motion in the low speed cases. We notice that the line profiles from the slit along the symmetrical axis of the projected 2D image of these models are useful for distinguishing bow shock models from champagne flow models. It is also confirmed by the calculation that the flux weighted central velocity and the line luminosity of the [Ne III] line can be estimated from the [Ne II] line and the H30α line. (paper)

Speeding up the learning of robot kinematics through function decomposition.

Science.gov (United States)

Ruiz de Angulo, Vicente; Torras, Carme

2005-11-01

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

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.

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

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

The high-ion content and kinematics of low-redshift Lyman limit systems

International Nuclear Information System (INIS)

Fox, Andrew J.; Tumlinson, Jason; Bordoloi, Rongmon; Lehner, Nicolas; Howk, J. Christopher; Tripp, Todd M.; Katz, Neal; Prochaska, J. Xavier; Werk, Jessica K.; O'Meara, John M.; Oppenheimer, Benjamin D.; Davé, Romeel

2013-01-01

We study the high-ion content and kinematics of the circumgalactic medium around low-redshift galaxies using a sample of 23 Lyman limit systems (LLSs) at 0.08 < z < 0.93 observed with the Cosmic Origins Spectrograph on board the Hubble Space Telescope. In Lehner et al., we recently showed that low-z LLSs have a bimodal metallicity distribution. Here we extend that analysis to search for differences between the high-ion and kinematic properties of the metal-poor and metal-rich branches. We find that metal-rich LLSs tend to show higher O VI columns and broader O VI profiles than metal-poor LLSs. The total H I line width (Δv 90 statistic) in LLSs is not correlated with metallicity, indicating that the H I kinematics alone cannot be used to distinguish inflow from outflow and gas recycling. Among the 17 LLSs with O VI detections, all but two show evidence of kinematic sub-structure, in the form of O VI-H I centroid offsets, multiple components, or both. Using various scenarios for how the metallicities in the high-ion and low-ion phases of each LLS compare, we constrain the ionized hydrogen column in the O VI phase to lie in the range log N(H II) ∼ 17.6-20. The O VI phase of LLSs is a substantial baryon reservoir, with M(high-ion) ∼ 10 8.5-10.9 (r/150 kpc) 2 M ☉ , similar to the mass in the low-ion phase. Accounting for the O VI phase approximately doubles the contribution of low-z LLSs to the cosmic baryon budget.

The high-ion content and kinematics of low-redshift Lyman limit systems

Energy Technology Data Exchange (ETDEWEB)

Fox, Andrew J.; Tumlinson, Jason; Bordoloi, Rongmon [Space Telescope Science Institute, 3700 San Martin Drive, Baltimore, MD 21218 (United States); Lehner, Nicolas; Howk, J. Christopher [Department of Physics, University of Notre Dame, 225 Nieuwland Science Hall, Notre Dame, IN 46556 (United States); Tripp, Todd M.; Katz, Neal [Department of Astronomy, University of Massachusetts, Amherst, MA 01003 (United States); Prochaska, J. Xavier; Werk, Jessica K. [UCO/Lick Observatory, University of California, Santa Cruz, CA 95064 (United States); O' Meara, John M. [Department of Physics, Saint Michael' s College, One Winooski Park, Colchester, VT 05439 (United States); Oppenheimer, Benjamin D. [Leiden Observatory, Leiden University, NL-2300 RA Leiden (Netherlands); Davé, Romeel, E-mail: afox@stsci.edu [University of the Western Cape, Robert Sobukwe Road, Bellville 7535 (South Africa)

2013-12-01

We study the high-ion content and kinematics of the circumgalactic medium around low-redshift galaxies using a sample of 23 Lyman limit systems (LLSs) at 0.08 < z < 0.93 observed with the Cosmic Origins Spectrograph on board the Hubble Space Telescope. In Lehner et al., we recently showed that low-z LLSs have a bimodal metallicity distribution. Here we extend that analysis to search for differences between the high-ion and kinematic properties of the metal-poor and metal-rich branches. We find that metal-rich LLSs tend to show higher O VI columns and broader O VI profiles than metal-poor LLSs. The total H I line width (Δv {sub 90} statistic) in LLSs is not correlated with metallicity, indicating that the H I kinematics alone cannot be used to distinguish inflow from outflow and gas recycling. Among the 17 LLSs with O VI detections, all but two show evidence of kinematic sub-structure, in the form of O VI-H I centroid offsets, multiple components, or both. Using various scenarios for how the metallicities in the high-ion and low-ion phases of each LLS compare, we constrain the ionized hydrogen column in the O VI phase to lie in the range log N(H II) ∼ 17.6-20. The O VI phase of LLSs is a substantial baryon reservoir, with M(high-ion) ∼ 10{sup 8.5-10.9} (r/150 kpc){sup 2} M {sub ☉}, similar to the mass in the low-ion phase. Accounting for the O VI phase approximately doubles the contribution of low-z LLSs to the cosmic baryon budget.

Analytic structure of the n=7 scattering amplitude in N=4 SYM theory at multi-Regge kinematics. Conformal Regge pole contribution

Energy Technology Data Exchange (ETDEWEB)

Bartels, Jochen; Kormilitzin, Andrey [Hamburg Univ. (Germany). II. Inst. fuer Theoretische Physik; Lipatov, Lev [Hamburg Univ. (Germany). II. Inst. fuer Theoretische Physik; St. Petersburg Nuclear Physics Institute, St. Petersburg (Russian Federation)

2013-11-15

We investigate the analytic structure of the 2 {yields} 5 scattering amplitude in the planar limit of N=4 SYM in multi-Regge kinematics in all physical regions. We demonstrate the close connection between Regge pole and Regge cut contributions: in a selected class of kinematic regions (Mandelstam regions) the usual factorizing Regge pole formula develops unphysical singularities which have to be absorbed and compensated by Regge cut contributions. This leads, in the corrections to the BDS formula, to conformal invariant 'renormalized' Regge pole expressions in the remainder function. We compute these renormalized Regge poles for the 2 {yields} 5 scattering amplitude.

The Size of Narrow Line Region and [OIII] Luminosity Analyzed from ...

Indian Academy of Sciences (India)

Abstract. In this work, we constructed a sample of 4002 quasars from. SDSS DR7 quasar catalogue to calculate the electron density and size of narrow line region. We find that the electron densities are ∼103/cm3, and the sizes are between 27 and 775 pc. We also find that, in the ionization cone, the sizes are tightly ...

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.

Elemental Abundances in the Broad Emission Line Region of Quasars at Redshifts larger than 4

DEFF Research Database (Denmark)

Dietrich, M.; Appenzeller, I.; Hamann, F.

2003-01-01

the chemical composition of the line emitting gas. Comparisons to photoionization calculations indicate gas metallicities in the broad emission line region in the range of solar to several times solar. The average of the mean metallicity of each high-z quasar in this sample is $Z/Z_\\odot = 4.3 \\pm 0...

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.

Marketing plan for Pharmacare product line in the Moscow region Case Oriola-KD

OpenAIRE

Mashkilleyson, Peter

2012-01-01

The thesis was commissioned by Oriola-KD. It deals with a marketing plan for a product line called Pharmacare. The product line will be launched in 2012 in the Moscow region in the Russian Federation. The purpose of this thesis was to acquire useful information about the Moscow market for the target company and produce a marketing plan that they can implement. The research question was how to create an effective marketing plan and what it entails. The literary review consisted of the theo...

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)

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...

Fingerprinting of cell lines by directed amplification of minisatellite-region DNA (DAMD

Directory of Open Access Journals (Sweden)

Silva L.M.

2001-01-01

Full Text Available The development of in vitro propagation of cells has been an extraordinary technical advance for several biological studies. The correct identification of the cell line used, however, is crucial, as a mistaken identity or the presence of another contaminating cell may lead to invalid and/or erroneous conclusions. We report here the application of a DNA fingerprinting procedure (directed amplification of minisatellite-region DNA, developed by Heath et al. [Nucleic Acids Research (1993 21: 5782-5785], to the characterization of cell lines. Genomic DNA of cells in culture was extracted and amplified by PCR in the presence of VNTR core sequences, and the amplicons were separated by agarose gel electrophoresis. After image capture with a digital camera, the banding profiles obtained were analyzed using a software (AnaGel specially developed for the storage and analysis of electrophoretic fingerprints. The fingerprints are useful for construction of a data base for identification of cell lines by comparison to reference profiles as well as comparison of similar lines from different sources and periodic follow-up of cells in culture.

THE H I CHRONICLES OF LITTLE THINGS BCDs: EVIDENCE FOR EXTERNAL PERTURBATIONS IN THE MORPHOLOGY AND KINEMATICS OF HARO 29 AND HARO 36

International Nuclear Information System (INIS)

Ashley, Trisha; Simpson, Caroline E.; Elmegreen, Bruce G.

2013-01-01

We analyze high angular and velocity resolution H I line data of two LITTLE THINGS blue compact dwarfs (BCDs): Haro 29 and Haro 36. Both of these BCDs are disturbed morphologically and kinematically. Haro 29's H I data reveal a kinematic major axis that is offset from the optical major axis, and a disturbed outer H I component, indicating that Haro 29 may have had a past interaction. Position-velocity diagrams of Haro 36 indicate that it has two kinematically separate components at its center and a likely tidal tail in front of the galaxy. We find that Haro 36 most likely had an interaction in the past, is currently interacting with an unknown companion, or is a merger remnant

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...

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...

Study of NH3 Line Intensities in the THz and Far-IR Region

Science.gov (United States)

Yu, Shanshan

Ammonia (NH3) exists in the interstellar medium, late-type stars and giant planets of our solar system. Its temperature and abundance profiles in these environments, which are derived with its line parameters as fixed input , are commonly used to provide constraints on retrieving minor species. Therefore NH3 line parameters are essential for interpreting astrophysical and planetary spectra from Herschel, SOFIA, ALMA and JWST. However, our work under a predecessor grant with the APRA program revealed significant deficiencies in NH3 intensities in the terahertz and FIR region, including some weak Delta(K)=3 forbidden transitions predicted to be 100 times stronger. The Delta(K)=3 transitions are the ones connecting levels with different K values and therefore the only way other than collisions and l-doubled states to excite NH3 to K>0 levels. Their intensities have to be corrected to explain the observed high K excitation, such as the detection of NH3 (J,K) = (1,1), (2,2)&(14,14) and (18,18) transitions toward the galactic center star forming region Sgr B2, and to provide insights into the radiative- transfer vs. collision excitation mechanics of interstellar NH3. This proposal will remedy the serious deficiencies in the current databases involving NH3 line parameters in the terahertz and FIR region. We will target transitions with intensities greater than 10^{-23} cm-1/ (molecule/cm2) at 296 K, which will be among new astrophysical detections made by SOFIA, ALMA and JWST, and are 1000 times weaker than the strongest ground state transitions. We will retrieve new positions and intensities from existing laboratory spectra, use them to evaluate the current databases and ab initio calculations, and repair the line positions and intensities by replacing poorly calculated values with our new measurements. The proposed research will result in (1) a validated linelist containing the positions, intensities and lower state energies for the very important Delta(K)=3 NH3 FIR

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...

Genome-wide characterization of genetic variants and putative regions under selection in meat and egg-type chicken lines.

Science.gov (United States)

Boschiero, Clarissa; Moreira, Gabriel Costa Monteiro; Gheyas, Almas Ara; Godoy, Thaís Fernanda; Gasparin, Gustavo; Mariani, Pilar Drummond Sampaio Corrêa; Paduan, Marcela; Cesar, Aline Silva Mello; Ledur, Mônica Corrêa; Coutinho, Luiz Lehmann

2018-01-25

Meat and egg-type chickens have been selected for several generations for different traits. Artificial and natural selection for different phenotypes can change frequency of genetic variants, leaving particular genomic footprints throghtout the genome. Thus, the aims of this study were to sequence 28 chickens from two Brazilian lines (meat and white egg-type) and use this information to characterize genome-wide genetic variations, identify putative regions under selection using Fst method, and find putative pathways under selection. A total of 13.93 million SNPs and 1.36 million INDELs were identified, with more variants detected from the broiler (meat-type) line. Although most were located in non-coding regions, we identified 7255 intolerant non-synonymous SNPs, 512 stopgain/loss SNPs, 1381 frameshift and 1094 non-frameshift INDELs that may alter protein functions. Genes harboring intolerant non-synonymous SNPs affected metabolic pathways related mainly to reproduction and endocrine systems in the white-egg layer line, and lipid metabolism and metabolic diseases in the broiler line. Fst analysis in sliding windows, using SNPs and INDELs separately, identified over 300 putative regions of selection overlapping with more than 250 genes. For the first time in chicken, INDEL variants were considered for selection signature analysis, showing high level of correlation in results between SNP and INDEL data. The putative regions of selection signatures revealed interesting candidate genes and pathways related to important phenotypic traits in chicken, such as lipid metabolism, growth, reproduction, and cardiac development. In this study, Fst method was applied to identify high confidence putative regions under selection, providing novel insights into selection footprints that can help elucidate the functional mechanisms underlying different phenotypic traits relevant to meat and egg-type chicken lines. In addition, we generated a large catalog of line-specific and common

Probing the accretion flow and emission-line regions of M81, the nearest broad-lined low-luminosity AGN

Science.gov (United States)

Barth, Aaron

2017-08-01

The nucleus of M81 is an object of singular importance as a template for low-luminosity accretion flows onto supermassive black holes. We propose to obtain a complete, small-aperture, high S/N STIS UV/optical spectrum of the M81 nucleus and multi-filter WFC3 imaging covering the UV through near-IR. Such data have never previously been obtained with HST; the only prior archival UV/optical spectra of M81 have low S/N, incomplete wavelength coverage, and are strongly contaminated by starlight. Combined with new Chandra X-ray data, our proposed observations will comprise the definitive reference dataset on the spectral energy distribution of this benchmark low-luminosity AGN. These data will provide unique new constraints on the possible contribution of a truncated thin accretion disk to the AGN emission spectrum, clarifying a fundamental property of low-luminosity accretion flows. The data will additionally provide new insights into broad-line region structure and black hole mass scaling relationships at the lowest AGN luminosities, and spatially resolved diagnostics of narrow-line region excitation conditions at unprecedented spatial resolution to assess the impact of the AGN on the ionization state of the gas in the host galaxy bulge.

Kinematic control of robot with degenerate wrist

Science.gov (United States)

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

1984-01-01

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

Simple Kinematic Pathway Approach (KPA) to Catchment-scale Travel Time and Water Age Distributions

Science.gov (United States)

Soltani, S. S.; Cvetkovic, V.; Destouni, G.

2017-12-01

The distribution of catchment-scale water travel times is strongly influenced by morphological dispersion and is partitioned between hillslope and larger, regional scales. We explore whether hillslope travel times are predictable using a simple semi-analytical "kinematic pathway approach" (KPA) that accounts for dispersion on two levels of morphological and macro-dispersion. The study gives new insights to shallow (hillslope) and deep (regional) groundwater travel times by comparing numerical simulations of travel time distributions, referred to as "dynamic model", with corresponding KPA computations for three different real catchment case studies in Sweden. KPA uses basic structural and hydrological data to compute transient water travel time (forward mode) and age (backward mode) distributions at the catchment outlet. Longitudinal and morphological dispersion components are reflected in KPA computations by assuming an effective Peclet number and topographically driven pathway length distributions, respectively. Numerical simulations of advective travel times are obtained by means of particle tracking using the fully-integrated flow model MIKE SHE. The comparison of computed cumulative distribution functions of travel times shows significant influence of morphological dispersion and groundwater recharge rate on the compatibility of the "kinematic pathway" and "dynamic" models. Zones of high recharge rate in "dynamic" models are associated with topographically driven groundwater flow paths to adjacent discharge zones, e.g. rivers and lakes, through relatively shallow pathway compartments. These zones exhibit more compatible behavior between "dynamic" and "kinematic pathway" models than the zones of low recharge rate. Interestingly, the travel time distributions of hillslope compartments remain almost unchanged with increasing recharge rates in the "dynamic" models. This robust "dynamic" model behavior suggests that flow path lengths and travel times in shallow

3-D subduction dynamics in the western Pacific: Mantle pressure, plate kinematics, and dynamic topography.

Science.gov (United States)

Holt, A. F.; Royden, L.; Becker, T. W.; Faccenna, C.

2017-12-01

While it is well established that the slab pull of negatively buoyant oceanic plates is the primary driving force of plate tectonics, the dynamic "details" of subduction have proved difficult to pin down. We use the Philippine Sea Plate region of the western Pacific as a site to explore links between kinematic observables (e.g. topography and plate motions) and the dynamics of the subduction system (e.g. mantle flow, mantle pressure). To first order, the Philippine Sea Plate can be considered to be the central plate of a double slab system containing two slabs that dip in the same direction, to the west. This subduction configuration presents the opportunity to explore subduction dynamics in a setting where two closely spaced slabs interact via subduction-induced mantle flow and stresses transmitted through the intervening plate. We use a 3-D numerical approach (e.g. Holt et al., 2017), augmented by semi-analytical models (e.g. Jagoutz et al., 2017), to develop relationships between dynamic processes and kinematic properties, including plate velocities, lithospheric stress state, slab dip angles, and topography. When combined with subduction zone observables, this allows us to isolate the first order dynamic processes that are in operation in the Philippine Sea Plate region. Our results suggest that positive pressure build-up occurs in the asthenosphere between the two slabs (Izu-Bonin-Mariana and Ryukyu-Nankai), and that this is responsible for producing much of the observed kinematic variability in the region, including the steep dip of the Pacific slab at the Izu-Bonin-Mariana trench, as compared to the flat dip of the Pacific slab north of Japan. We then extend our understanding of the role of asthenospheric pressure to examine the forces responsible for the plate kinematics and dynamic topography of the entire Western Pacific subduction margin(s). References:Holt, A. F., Royden, L. H., Becker, T. W., 2017. Geophys. J. Int., 209, 250-265Jagoutz, O., Royden, L

Kinematic equations for resolved-rate control of an industrial robot arm

Science.gov (United States)

Barker, L. K.

1983-01-01

An operator can use kinematic, resolved-rate equations to dynamically control a robot arm by watching its response to commanded inputs. Known resolved-rate equations for the control of a particular six-degree-of-freedom industrial robot arm and proceeds to simplify the equations for faster computations are derived. Methods for controlling the robot arm in regions which normally cause mathematical singularities in the resolved-rate equations are discussed.

Singular surfaces in the open field line region of a diverted tokamak

International Nuclear Information System (INIS)

Reiman, A.

1996-01-01

The structure of the open field lines of a slightly nonaxisymmetric, poloidally diverted tokamak is explored by numerical integration of the field line equations for a simple model field. In practice, the nonaxisymmetry could be produced self-consistently by the nonlinear evolution of a free-boundary magnetohydrodynamic (MHD) mode, or it could be produced by field errors, or it could be imposed externally by design. In the presence of a nonaxisymmetric perturbation, the tokamak is shown to develop open field line regions of differing topology separated by singular surfaces. It is argued that the singular surfaces can be expected to play a role analogous to that of rational toroidal flux surfaces, in terms of constraining ideal MHD perturbations and thus constraining the free-energy that can be tapped by ideal MHD instabilities. The possibility of active control of free-boundary instabilities by means of currents driven on the open singular surfaces, which are directly accessible from the divertor plates, is discussed. copyright 1996 American Institute of Physics

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.

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…

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

Theoretical description of spectral line profiles of parent molecules in cometary comae

International Nuclear Information System (INIS)

Hu, Hong-Yao; Larson, H.P.; Hsieh, K.C.

1991-01-01

The present overview of cometary spectral-line profiles obtainable through advancements in high-resolution spectroscopic studies, which allow the retrieval of coma kinematic properties from velocity-resolved spectral-line profiles, incorporates the most important gas dynamic processes into an outflow model which is tailored to the interpretation of spectroscopic observations of parent molecules. The model is then used to study the influence on parent-molecule spectral line profile formation of the field-of-view, the expansion velocity, the kinetic temperature, and the anisotropic outflow distributions. 31 refs

A Case Study of a Quasi-Stationary Tropical Convective Line

Science.gov (United States)

1989-08-01

G Scialom, and J. Testud , 1987: A tropical squall line observed during the COPT 81 experiment in West Africa. Part 1: Kinematic structure inferred...mesosynoptic analysis of the thunderstorms on 28 August 1958. Brit. Meteor. Office, Geophys. Memo., No. 106, 74 pp. Rcux, F., J. Testud , M. Payen and B. Pinty

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).

Simulation and experimental research on line throwing rocket with flight

OpenAIRE

Wen-bin Gu; Ming Lu; Jian-qing Liu; Qin-xing Dong; Zhen-xiong Wang; Jiang-hai Chen

2014-01-01

The finite segment method is used to model the line throwing rocket system. A dynamic model of line throwing rocket with flight motion based on Kane's method is presented by the kinematics description of the system and the consideration of the forces acting on the system. The experiment designed according to the parameters of the dynamic model is made. The simulation and experiment results, such as range, velocity and flight time, are compared and analyzed. The simulation results are basicall...

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

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.

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

Science.gov (United States)

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

2018-05-01

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

Internal Stellar Kinematics of M32 from the SPLASH Survey: Dark Halo Constraints

Science.gov (United States)

Howley, K. M.; Guhathakurta, P.; van der Marel, R.; Geha, M.; Kalirai, J.; Yniguez, B.; Kirby, E.; Cuillandre, J.-C.; Gilbert, K.

2013-03-01

As part of the SPLASH survey of the Andromeda (M31) system, we have obtained Keck/DEIMOS spectra of the compact elliptical (cE) satellite M32. This is the first resolved-star kinematical study of any cE galaxy. In contrast to most previous kinematical studies that extended out to r information to account statistically for M31 contamination. The rotation curve and velocity dispersion profile extend well beyond the radius (r ~ 150'') where the isophotes are distorted. Unlike NGC 205, another close dwarf companion of M31, M32's kinematics appear regular and symmetric and do not show obvious sharp gradients across the region of isophotal elongation and twists. We interpret M31's kinematics using three-integral axisymmetric dynamical equilibrium models constructed using Schwarzschild's orbit superposition technique. Models with a constant mass-to-light ratio can fit the data remarkably well. However, since such a model requires an increasing tangential anisotropy with radius, invoking the presence of an extended dark halo may be more plausible. Such an extended dark halo is definitely required to bind a half-dozen fast-moving stars observed at the largest radii, but these stars may not be an equilibrium component of M32. Data herein were obtained at the W. M. Keck Observatory, which is operated as a scientific partnership among the California Institute of Technology, the University of California, and NASA. The Observatory was made possible by the generous financial support of the W. M. Keck Foundation.

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.

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.

Development of Kinematic 3D Laser Scanning System for Indoor Mapping and As-Built BIM Using Constrained SLAM

Directory of Open Access Journals (Sweden)

Jaehoon Jung

2015-10-01

Full Text Available The growing interest and use of indoor mapping is driving a demand for improved data-acquisition facility, efficiency and productivity in the era of the Building Information Model (BIM. The conventional static laser scanning method suffers from some limitations on its operability in complex indoor environments, due to the presence of occlusions. Full scanning of indoor spaces without loss of information requires that surveyors change the scanner position many times, which incurs extra work for registration of each scanned point cloud. Alternatively, a kinematic 3D laser scanning system, proposed herein, uses line-feature-based Simultaneous Localization and Mapping (SLAM technique for continuous mapping. Moreover, to reduce the uncertainty of line-feature extraction, we incorporated constrained adjustment based on an assumption made with respect to typical indoor environments: that the main structures are formed of parallel or orthogonal line features. The superiority of the proposed constrained adjustment is its reduction for uncertainties of the adjusted lines, leading to successful data association process. In the present study, kinematic scanning with and without constrained adjustment were comparatively evaluated in two test sites, and the results confirmed the effectiveness of the proposed system. The accuracy of the 3D mapping result was additionally evaluated by comparison with the reference points acquired by a total station: the Euclidean average distance error was 0.034 m for the seminar room and 0.043 m for the corridor, which satisfied the error tolerance for point cloud acquisition (0.051 m according to the guidelines of the General Services Administration for BIM accuracy.

STAR FORMATION IN SELF-GRAVITATING DISKS IN ACTIVE GALACTIC NUCLEI. II. EPISODIC FORMATION OF BROAD-LINE REGIONS

International Nuclear Information System (INIS)

WangJianmin; Du Pu; Ge Junqiang; Hu Chen; Baldwin, Jack A.; Ferland, Gary J.

2012-01-01

This is the second in a series of papers discussing the process and effects of star formation in the self-gravitating disk around the supermassive black holes in active galactic nuclei (AGNs). We have previously suggested that warm skins are formed above the star-forming (SF) disk through the diffusion of warm gas driven by supernova explosions. Here we study the evolution of the warm skins when they are exposed to the powerful radiation from the inner part of the accretion disk. The skins initially are heated to the Compton temperature, forming a Compton atmosphere (CAS) whose subsequent evolution is divided into four phases. Phase I is the duration of pure accumulation supplied by the SF disk. During phase II clouds begin to form due to line cooling and sink to the SF disk. Phase III is a period of preventing clouds from sinking to the SF disk through dynamic interaction between clouds and the CAS because of the CAS overdensity driven by continuous injection of warm gas from the SF disk. Finally, phase IV is an inevitable collapse of the entire CAS through line cooling. This CAS evolution drives the episodic appearance of broad-line regions (BLRs). We follow the formation of cold clouds through the thermal instability of the CAS during phases II and III, using linear analysis. Since the clouds are produced inside the CAS, the initial spatial distribution of newly formed clouds and angular momentum naturally follow the CAS dynamics, producing a flattened disk of clouds. The number of clouds in phases II and III can be estimated, as well as the filling factor of clouds in the BLR. Since the cooling function depends on the metallicity, the metallicity gradients that originate in the SF disk give rise to different properties of clouds in different radial regions. We find from the instability analysis that clouds have column density N H ∼ 22 cm –2 in the metal-rich regions whereas they have N H ∼> 10 22 cm –2 in the metal-poor regions. The metal-rich clouds

Kinematics of the quaternary fault zones in the Kyeongju area of the southeastern Korean Peninsula

Energy Technology Data Exchange (ETDEWEB)

Kim, In Seob; Lee, Byeong Hyui; Kwon, Hyeok Sang [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)] (and others)

1998-09-15

The purposes of this study are to interpret the kinematics of the Quaternary fault zones in the Kyeongju area, to determine deformation mechanisms during faulting by analyzing micorstrucutres of fault rocks from the fault zones, and to unravel the technic evaluation of the regional fault structures in the Kyeongju-Wolsung area. The scope of this study consists of ; collection and interpretation of structural elements through a detailed geologic investigation on the Quaternary faults in the Kyeongju-Wolsung area, interpretation of fault-rock microstructures from the fault zones using oriented samples of faults rocks, determination of deformation processes and mechanisms of the fault rocks and, interpretation of faulting kinematics and evaluation of the fault zones.

Kinematics of the quaternary fault zones in the Kyeongju area of the southeastern Korean Peninsula

International Nuclear Information System (INIS)

Kim, In Seob; Lee, Byeong Hyui; Kwon, Hyeok Sang

1998-09-01

The purposes of this study are to interpret the kinematics of the Quaternary fault zones in the Kyeongju area, to determine deformation mechanisms during faulting by analyzing micorstrucutres of fault rocks from the fault zones, and to unravel the technic evaluation of the regional fault structures in the Kyeongju-Wolsung area. The scope of this study consists of ; collection and interpretation of structural elements through a detailed geologic investigation on the Quaternary faults in the Kyeongju-Wolsung area, interpretation of fault-rock microstructures from the fault zones using oriented samples of faults rocks, determination of deformation processes and mechanisms of the fault rocks and, interpretation of faulting kinematics and evaluation of the fault zones

Study of actinides fission induced by multi-nucleon transfer reactions in inverse kinematics

International Nuclear Information System (INIS)

Derkx, X.

2010-10-01

The study of actinide fission encounters two major issues. On one hand, measurements of the fission fragment distributions and the fission probabilities allow a better understanding of the fission process itself and the discrimination among the models of nuclear structure and dynamics. On the other hand, new measurements are required to improve nuclear data bases, which are a key component for the design of new generation reactors and radio-toxic waste incinerators. This thesis is in line with different French and American experimental projects using the surrogate method, i.e. transfer reactions leading to the same compound nuclei as in neutron irradiation, allowing the study of fission of actinides which are inaccessible by conventional techniques, whereas they are important for applications. The experiment is based on multi-nucleon transfer reactions between a 238 U beam and a 12 C target, using the inverse kinematics technique to measure, for each transfer channel, the complete isotopic distributions of the fission fragments with the VAMOS spectrometer. The work presented in this dissertation is focused on the identification of the transfer channels and their properties, as their angular distributions and the distributions of the associated excitation energy, using the SPIDER telescope to identify the target recoil nuclei. This work of an exploratory nature aims to generalize the surrogate method to heavy transfers and to measure, for the first time, the fission probabilities in inverse kinematics. The obtained results are compared with available direct kinematics and neutron irradiation measurements. (author)

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

Singular surfaces in the open field line region of a diverted tokamak

International Nuclear Information System (INIS)

Reiman, A.

1995-05-01

The structure of the open field lines of a slightly nonaxisymmetric, poloidally diverted tokamak is explored by numerical integration of the field line equations for a simple model field. In practice, the nonaxisymmetry could be produced self-consistently by the nonlinear evolution of a free-boundary MHD mode, or it could be produced by field errors, or it could be imposed externally by design. In the presence of a nonaxisymmetric perturbation, the tokamak is shown to develop open field line regions of differing topology separated by singular surfaces. It is argued that the singular surfaces can be expected to play a role analogous to that of rational toroidal flux surfaces, in terms of constraining ideal MHD perturbations and thus constraining the free-energy that can be tapped by ideal MHD instabilities. The possibility of active control of free-boundary instabilities by means of currents driven on the open singular surfaces, which are directly accessible from the divertor plates, is discussed. Also discussed is the possibility of early detection of imminent disruptions through localized measurement of the singular surface currents

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.

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

International Nuclear Information System (INIS)

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

2008-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2008-07-15

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

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.

GEMINI NEAR INFRARED FIELD SPECTROGRAPH OBSERVATIONS OF THE SEYFERT 2 GALAXY MRK 573: IN SITU ACCELERATION OF IONIZED AND MOLECULAR GAS OFF FUELING FLOWS

Energy Technology Data Exchange (ETDEWEB)

Fischer, Travis C.; Straughn, A. N. [Astrophysics Science Division, Goddard Space Flight Center, Code 665, Greenbelt, MD 20771 (United States); Machuca, C.; Crenshaw, D. M.; Baron, F.; Revalski, M.; Pope, C. L. [Department of Physics and Astronomy, Georgia State University, Astronomy Offices, 25 Park Place, Suite 605, Atlanta, GA 30303 (United States); Diniz, M. R.; Riffel, R. A. [Departamento de Física, Centro de Ciências Naturais e Exatas, Universidade Federal de Santa Maria, 97105-900 Santa Maria, RS (Brazil); Kraemer, S. B. [Institute for Astrophysics and Computational Sciences, Department of Physics, The Catholic University of America, Washington, DC 20064 (United States); Schmitt, H. R. [Naval Research Laboratory, Washington, DC 20375 (United States); Storchi-Bergmann, T., E-mail: travis.c.fischer@nasa.gov [Departamento de Astronomia, Universidade Federal do Rio Grande do Sul, IF, CP 15051, 91501-970 Porto Alegre, RS (Brazil)

2017-01-01

We present near-infrared and optical emission-line and stellar kinematics of the Seyfert 2 galaxy Mrk 573 using the Near-Infrared Field Spectrograph (NIFS) at Gemini North and Dual Imaging Spectrograph at Apache Point Observatory, respectively. By obtaining full kinematic maps of the infrared ionized and molecular gas and stellar kinematics in a ∼700 × 2100 pc{sup 2} circumnuclear region of Mrk 573, we find that kinematics within the Narrow-Line Region are largely due to a combination of both rotation and in situ acceleration of material originating in the host disk. Combining these observations with large-scale, optical long-slit spectroscopy that traces ionized gas emission out to several kpcs, we find that rotation kinematics dominate the majority of the gas. We find that outflowing gas extends to distances less than 1 kpc, suggesting that outflows in Seyfert galaxies may not be powerful enough to evacuate their entire bulges.

Gemini Near Infrared Field Spectrograph Observations of the Seyfert 2 Galaxy MRK 573: In Situ Acceleration of Ionized and Molecular Gas Off Fueling Flows

Science.gov (United States)

Fischer, Travis C.; Machuca, C.; Diniz, M. R.; Crenshaw, D. M.; Kraemer, S. B.; Riffel, R. A.; Schmitt, H. R.; Baron, F.; Storchi-Bergmann, T.; Straughn, A. N.;

H I KINEMATICS AND DYNAMICS OF MESSIER 31

International Nuclear Information System (INIS)

Chemin, Laurent; Carignan, Claude; Foster, Tyler

2009-01-01

We present a new deep 21 cm survey of the Andromeda galaxy, based on high-resolution observations performed with the Synthesis Telescope and the 26 m antenna at the Dominion Radio Astrophysical Observatory. The H I distribution and kinematics of the disk are analyzed and basic dynamical properties are given. The rotation curve is measured out to 38 kpc, showing a nuclear peak at 340 km s -1 , a dip at 202 km s -1 around 4 kpc, two distinct flat parts at 264 km s -1 and 230 km s -1 , and an increase to 275 km s -1 in the outermost regions. Except for the innermost regions, the axisymmetry of the gas rotation is very good. A very strong warp of the H I disk is evidenced. The central regions appear less inclined than the average disk inclination of 74 0 , while the outer regions appear more inclined. Mass distribution models by ΛCDM Navarro-Frenk-White, Einasto or pseudo-isothermal dark matter halos with baryonic components are presented. They fail to reproduce the exact shape of the rotation curve. No significant differences are measured between the various shapes of halo. The dynamical mass of M31 enclosed within a radius of 38 kpc is (4.7 ± 0.5) x 10 11 M sun . The dark matter component is almost four times more massive than the baryonic mass inside this radius. A total mass of 1.0 x 10 12 M sun is derived inside the virial radius. The spectral structure of the observations is very complex, with sometimes up to five H I components detected per spectrum, which is very rarely seen in other galaxies. New H I structures are discovered in the datacube. The most remarkable new features are an external arm and thin H I spurs in the disk outskirts. A relationship between these spurs and outer stellar clumps is evidenced. The external arm is 32 kpc long, lies on the far side of the galaxy, and has no obvious counterpart on the other side of the galaxy. Its kinematics clearly differs from the outer adjacent disk. Both these H I perturbations could result from tidal

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...

The launch region of the SVS 13 outflow and jet

Energy Technology Data Exchange (ETDEWEB)

Hodapp, Klaus W. [Institute for Astronomy, University of Hawaii, 640 North Aohoku Place, Hilo, HI 96720 (United States); Chini, Rolf, E-mail: hodapp@ifa.hawaii.edu, E-mail: rolf.chini@astro.ruhr-uni-bochum.de [Astronomisches Institut, Ruhr-Universität Bochum, Universitätsstraße 150, D-44801 Bochum (Germany)

2014-10-20

We present the results of Keck telescope laser adaptive-optics integral field spectroscopy with OSIRIS of the innermost regions of the NGC 1333 SVS 13 outflow that forms the system of Herbig-Haro objects 7-11. We find a bright 0.''2 long microjet traced by the emission of shock-excited [Fe II]. Beyond the extent of this jet, we find a series of bubbles and fragments of bubbles that are traced in the lower excitation H{sub 2} 1-0 S(1) line. While the most recent outflow activity is directed almost precisely (P.A. ≈ 145°) to the southeast of SVS 13, there is clear indication that prior bubble ejections were pointed in different directions. Within these variations, a clear connection between the newly observed bubble ejection events and the well-known, poorly collimated HH 7-11 system of Herbig-Haro objects is established. The astrometry of the youngest of the expanding shock fronts at three epochs, covering a timespan of over 2 yr, gives kinematic ages for two of these bubbles. The kinematic age of the youngest bubble is slightly older than the historically observed last photometric outburst of SVS 13 in 1990, consistent with that event, launching the bubble and some deceleration of its expansion. A re-evaluation of historic infrared photometry and new data show that SVS 13 has not yet returned to its brightness before that outburst and thus reveal behavior similar to FUor outbursts, albeit with a smaller amplitude. We postulate that the creation of a series of bubbles and the changes in outflow direction are indicative of a precessing disk and accretion events triggered by a repetitive phenomenon possibly linked to the orbit of a close binary companion. However, our high-resolution images in the H and K bands do not directly detect any companion object. We have tried, but failed, to detect the kinematic rotation signature of the microjet in the [Fe II] emission line at 1.644 μm.

The Launch Region of the SVS 13 Outflow and Jet

Science.gov (United States)

Hodapp, Klaus W.; Chini, Rolf

2014-10-01

We present the results of Keck telescope laser adaptive-optics integral field spectroscopy with OSIRIS of the innermost regions of the NGC 1333 SVS 13 outflow that forms the system of Herbig-Haro objects 7-11. We find a bright 0.''2 long microjet traced by the emission of shock-excited [Fe II]. Beyond the extent of this jet, we find a series of bubbles and fragments of bubbles that are traced in the lower excitation H2 1-0 S(1) line. While the most recent outflow activity is directed almost precisely (P.A. ≈ 145°) to the southeast of SVS 13, there is clear indication that prior bubble ejections were pointed in different directions. Within these variations, a clear connection between the newly observed bubble ejection events and the well-known, poorly collimated HH 7-11 system of Herbig-Haro objects is established. The astrometry of the youngest of the expanding shock fronts at three epochs, covering a timespan of over 2 yr, gives kinematic ages for two of these bubbles. The kinematic age of the youngest bubble is slightly older than the historically observed last photometric outburst of SVS 13 in 1990, consistent with that event, launching the bubble and some deceleration of its expansion. A re-evaluation of historic infrared photometry and new data show that SVS 13 has not yet returned to its brightness before that outburst and thus reveal behavior similar to FUor outbursts, albeit with a smaller amplitude. We postulate that the creation of a series of bubbles and the changes in outflow direction are indicative of a precessing disk and accretion events triggered by a repetitive phenomenon possibly linked to the orbit of a close binary companion. However, our high-resolution images in the H and K bands do not directly detect any companion object. We have tried, but failed, to detect the kinematic rotation signature of the microjet in the [Fe II] emission line at 1.644 μm.

The launch region of the SVS 13 outflow and jet

International Nuclear Information System (INIS)

Hodapp, Klaus W.; Chini, Rolf

2014-01-01

We present the results of Keck telescope laser adaptive-optics integral field spectroscopy with OSIRIS of the innermost regions of the NGC 1333 SVS 13 outflow that forms the system of Herbig-Haro objects 7-11. We find a bright 0.''2 long microjet traced by the emission of shock-excited [Fe II]. Beyond the extent of this jet, we find a series of bubbles and fragments of bubbles that are traced in the lower excitation H 2 1-0 S(1) line. While the most recent outflow activity is directed almost precisely (P.A. ≈ 145°) to the southeast of SVS 13, there is clear indication that prior bubble ejections were pointed in different directions. Within these variations, a clear connection between the newly observed bubble ejection events and the well-known, poorly collimated HH 7-11 system of Herbig-Haro objects is established. The astrometry of the youngest of the expanding shock fronts at three epochs, covering a timespan of over 2 yr, gives kinematic ages for two of these bubbles. The kinematic age of the youngest bubble is slightly older than the historically observed last photometric outburst of SVS 13 in 1990, consistent with that event, launching the bubble and some deceleration of its expansion. A re-evaluation of historic infrared photometry and new data show that SVS 13 has not yet returned to its brightness before that outburst and thus reveal behavior similar to FUor outbursts, albeit with a smaller amplitude. We postulate that the creation of a series of bubbles and the changes in outflow direction are indicative of a precessing disk and accretion events triggered by a repetitive phenomenon possibly linked to the orbit of a close binary companion. However, our high-resolution images in the H and K bands do not directly detect any companion object. We have tried, but failed, to detect the kinematic rotation signature of the microjet in the [Fe II] emission line at 1.644 μm.

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.

Deep-inelastic electroproduction of neutrons in the proton fragmentation region

International Nuclear Information System (INIS)

Kopeliovich, B.; Povh, B.; Potashnikova, I.

1996-01-01

Experiments at HERA looking for deep-inelastic electroproduction of neutrons in the proton fragmentation region are in process. They are aimed to measure the pion structure function at small Bjorken x. The important condition for such a study is to establish under what kinematical conditions the dominance of the pion-pole graph in the process is guaranteed. We analyse other sources of the leading neutron, in order to figure out the kinematical region where the one-pion exchange dominates. (orig.)

Long-Term Monitoring of the Broad-Line Region Properties in a Selected Sample of AGN

Energy Technology Data Exchange (ETDEWEB)

Ilić, Dragana [Department of Astronomy, Faculty of Mathematics, University of Belgrade, Belgrade (Serbia); Shapovalova, Alla I. [Special Astrophysical Observatory, Russian Academy of Sciences, Nizhnii Arkhyz (Russian Federation); Popović, Luka Č. [Department of Astronomy, Faculty of Mathematics, University of Belgrade, Belgrade (Serbia); Astronomical Observatory, Belgrade (Serbia); Chavushyan, Vahram [Instituto Nacional de Astrofísica, Óptica y Electrónica, Puebla (Mexico); Burenkov, Alexander N. [Special Astrophysical Observatory, Russian Academy of Sciences, Nizhnii Arkhyz (Russian Federation); Kollatschny, Wolfram [Institut fuer Astrophysik, Universitaet Goettingen, Göttingen (Germany); Kovačević, Andjelka [Department of Astronomy, Faculty of Mathematics, University of Belgrade, Belgrade (Serbia); Marčeta-Mandić, Sladjana [Department of Astronomy, Faculty of Mathematics, University of Belgrade, Belgrade (Serbia); Astronomical Observatory, Belgrade (Serbia); Rakić, Nemanja [Department of Astronomy, Faculty of Mathematics, University of Belgrade, Belgrade (Serbia); Faculty of Science, University of Banjaluka, Banjaluka, Republic of Srpska (Bosnia and Herzegovina); La Mura, Giovanni; Rafanelli, Piero, E-mail: dilic@math.rs [Department of Physics and Astronomy, University of Padova, Padova (Italy)

2017-09-14

We present the results of the long-term optical monitoring campaign of active galactic nuclei (AGN) coordinated by the Special Astrophysical Observatory of the Russian Academy of Science. This campaign has produced a remarkable set of optical spectra, since we have monitored for several decades different types of broad-line (type 1) AGN, from a Seyfert 1, double-peaked line, radio loud and radio quiet AGN, to a supermassive binary black hole candidate. Our analysis of the properties of the broad line region (BLR) of these objects is based on the variability of the broad emission lines. We hereby give a comparative review of the variability properties of the broad emission lines and the BLR of seven different type 1 AGNs, emphasizing some important results, such as the variability rate, the BLR geometry, and the presence of the intrinsic Baldwin effect. We are discussing the difference and similarity in the continuum and emission line variability, focusing on what is the impact of our results to the supermassive black hole mass determination from the BLR properties.

Long-Term Monitoring of the Broad-Line Region Properties in a Selected Sample of AGN

Directory of Open Access Journals (Sweden)

Dragana Ilić

2017-09-01

Full Text Available We present the results of the long-term optical monitoring campaign of active galactic nuclei (AGN coordinated by the Special Astrophysical Observatory of the Russian Academy of Science. This campaign has produced a remarkable set of optical spectra, since we have monitored for several decades different types of broad-line (type 1 AGN, from a Seyfert 1, double-peaked line, radio loud and radio quiet AGN, to a supermassive binary black hole candidate. Our analysis of the properties of the broad line region (BLR of these objects is based on the variability of the broad emission lines. We hereby give a comparative review of the variability properties of the broad emission lines and the BLR of seven different type 1 AGNs, emphasizing some important results, such as the variability rate, the BLR geometry, and the presence of the intrinsic Baldwin effect. We are discussing the difference and similarity in the continuum and emission line variability, focusing on what is the impact of our results to the supermassive black hole mass determination from the BLR properties.

Extended emission-line regions in active galaxies

International Nuclear Information System (INIS)

Hutchings, J.B.; Hickson, P.

1988-01-01

Long-slit spectra of four active galaxies in the redshift range 0.06-0.10 are presented. Two have interacting companions. Spectra of the galaxies show extended narrow emission lines in all cases. Continuum color changes, emision-line ratio changes, and velocity changes with 1 arcsec resolution can be detected. Relative velocities between AGN and companion galaxies are also given. These objects appear to lie in galaxies in which there is considerable star-formation activity, and very extended line emision. 20 references

Acute toxicity effects of perfluorooctane sulfonate on sperm vitality, kinematics and fertilization success in zebrafish

Science.gov (United States)

Xia, Jigang; Niu, Cuijuan

2017-07-01

Perfluorooctane sulfonate (PFOS) has emerged as one of the most concerning contaminants in recent years. This study aimed to investigate the acute toxicity effect of PFOS on sperm viability, kinematics and fertilization success in zebrafish ( Danio rerio). Sperm were activated in aqueous media containing a range of PFOS concentrations (0, 0.09, 0.9 and 9 mg/L). Viabilities and kinematics of the sperm exposed to different PFOS treatments were assessed via computer-assisted sperm analysis (CASA) at 20, 40, 60, and 80 s after activation. PFOS exposure decreased the percentage of motile sperm, the curvilinear velocity (VCL), and the mean angular displacement (MAD) of spermatozoa, but showed no influence on the straight-line velocity (VSL) or the angular path velocity (VAP). Furthermore, a significant decrease in fertilization success was observed in spermatozoa that were exposed to 0.9 mg/L PFOS or more. These findings indicate that PFOS pollution in natural aquatic environment may be a potential threaten to successful reproduction of fish.

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.

IR finite one-loop box scalar integral with massless internal lines

International Nuclear Information System (INIS)

Duplancic, G.; Nizic, B.

2002-01-01

The IR finite one-loop box scalar integral with massless internal lines has been recalculated. The result is very compact, simple and valid for arbitrary values of the relevant kinematic variables. It is given in terms of only two dilogarithms and a few logarithms, all of very simple arguments. (orig.)

Inverse kinematics of a dual linear actuator pitch/roll heliostat

Science.gov (United States)

Freeman, Joshua; Shankar, Balakrishnan; Sundaram, Ganesh

2017-06-01

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

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.

Evaluation of Handwriting Movement Kinematics: From an Ecological to a Magnetic Resonance Environment

Science.gov (United States)

Bisio, Ambra; Pedullà, Ludovico; Bonzano, Laura; Ruggeri, Piero; Brichetto, Giampaolo; Bove, Marco

2016-01-01

Writing is a means of communication which requires complex motor, perceptual, and cognitive skills. If one of these abilities gets lost following traumatic events or due to neurological diseases, handwriting could deteriorate. Occupational therapy practitioners provide rehabilitation services for people with impaired handwriting. However, to determine the effectiveness of handwriting interventions no studies assessed whether the proposed treatments improved the kinematics of writing movement or had an effect at the level of the central nervous system. There is need to find new quantitative methodologies able to describe the behavioral and the neural outcomes of the rehabilitative interventions for handwriting. In the present study we proposed a combined approach that allowed evaluating the kinematic parameters of handwriting movements, acquired by means of a magnetic resonance-compatible tablet, and their neural correlates obtained simultaneously from a functional magnetic resonance imaging examination. Results showed that the system was reliable in term of reproducibility of the kinematic data during a test/re-test procedure. Further, despite the modifications with respect to an ecological writing movement condition, the kinematic parameters acquired inside the MR-environment were descriptive of individuals’ movement features. At last, the imaging protocol succeeded to show the activation of the cerebral regions associated with the production of writing movement in healthy people. From these findings, this methodology seems to be promising to evaluate the handwriting movement deficits and the potential alterations in the neural activity in those individuals who have handwriting difficulties. Finally, it would provide a mean to quantitatively assess the effect of a rehabilitative treatment. PMID:27746727

Evaluation of handwriting movement kinematics: from an ecological to a magnetic resonance environment

Directory of Open Access Journals (Sweden)

Ambra Bisio

2016-09-01

Full Text Available Writing is a means of communication which requires complex motor, perceptual and cognitive skills. If one of these abilities gets lost following traumatic events or due to neurological diseases, handwriting could deteriorate. Occupational therapy practitioners provide rehabilitation services for people with impaired handwriting. However, to determine the effectiveness of handwriting interventions no studies assessed whether the proposed treatments improved the kinematics of writing movement or had an effect at the level of the central nervous system. There is need to find new quantitative methodologies able to describe the behavioral and the neural outcomes of the rehabilitative interventions for handwriting. In the present study we proposed a combined approach that allowed evaluating the kinematic parameters of handwriting movements, acquired by means of a magnetic resonance-compatible tablet, and their neural correlates obtained simultaneously from a functional magnetic resonance imaging (fMRI examination. Results showed that the system was reliable in term of reproducibility of the kinematic data during a test/re-test procedure. Further, despite the modifications with respect to an ecological writing movement condition, the kinematic parameters acquired inside the MR-environment were descriptive of individuals’ movement features. At last, the imaging protocol succeeded to show the activation of the cerebral regions associated with the production of writing movement in healthy people. From these findings, this methodology seems to be promising to evaluate the handwriting movement deficits and the potential alterations in the neural activity in those individuals who have handwriting difficulties. Finally, it would provide a mean to quantitatively assess the effect of a rehabilitative treatment.

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

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.

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

Science.gov (United States)

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

2013-12-01

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

Hexagon OPE resummation and multi-Regge kinematics

Energy Technology Data Exchange (ETDEWEB)

Drummond, J.M. [School of Physics & Astronomy, University of Southampton,Highfield, Southampton, SO17 1BJ (United Kingdom); Theory Division, Physics Department, CERN,CH-1211 Geneva 23 (Switzerland); LAPTh, CNRS, Université de Savoie,9 Chemin de Bellevue, F-74941 Annecy-le-Vieux Cedex (France); Papathanasiou, G. [LAPTh, CNRS, Université de Savoie,9 Chemin de Bellevue, F-74941 Annecy-le-Vieux Cedex (France)

2016-02-29

We analyse the OPE contribution of gluon bound states in the double scaling limit of the hexagonal Wilson loop in planar N=4 super Yang-Mills theory. We provide a systematic procedure for perturbatively resumming the contributions from single-particle bound states of gluons and expressing the result order by order in terms of two-variable polylogarithms. We also analyse certain contributions from two-particle gluon bound states and find that, after analytic continuation to the 2→4 Mandelstam region and passing to multi-Regge kinematics (MRK), only the single-particle gluon bound states contribute. From this double-scaled version of MRK we are able to reconstruct the full hexagon remainder function in MRK up to five loops by invoking single-valuedness of the results.

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.

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

Absorption-line strengths of 18 late-type spiral galaxies observed with SAURON

NARCIS (Netherlands)

Ganda, Katia; Peletier, Reynier F.; McDermid, Richard M.; Falcon-Barroso, Jesus; de Zeeuw, P. T.; Bacon, Roland; Cappellari, Michele; Davies, Roger L.; Emsellem, Eric; Krajnovic, Davor; Kuntschner, Harald; Sarzi, Marc; van de Ven, Glenn

2007-01-01

We present absorption line strength maps for a sample of 18 Sb-Sd galaxies observed using the integral-field spectrograph SAURON operating at the William Herschel Telescope on La Palma, as part of a project devoted to the investigation of the kinematics and stellar populations of late-type spirals,

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)

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.

The effect of ankle bracing on knee kinetics and kinematics during volleyball-specific tasks.

Science.gov (United States)

West, T; Ng, L; Campbell, A

2014-12-01

The purpose of this study was to examine the effects of ankle bracing on knee kinetics and kinematics during volleyball tasks. Fifteen healthy, elite, female volleyball players performed a series of straight-line and lateral volleyball tasks with no brace and when wearing an ankle brace. A 14-camera Vicon motion analysis system and AMTI force plate were used to capture the kinetic and kinematic data. Knee range of motion, peak knee anterior-posterior and medial-lateral shear forces, and peak ground reaction forces that occurred between initial contact with the force plate and toe off were compared using paired sample t-tests between the braced and non-braced conditions (P volleyball tasks. However, ankle bracing was demonstrated to reduce knee lateral shear forces during all of the lateral movement volleyball tasks. Wearing the Active Ankle T2 brace will not impact knee joint range of motion and may in fact reduce shear loading to the knee joint in volleyball players. © 2013 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

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

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.

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.

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.

Abnormal tibiofemoral contact stress and its association with altered kinematics following center-center ACL reconstruction: an in vitro study

Science.gov (United States)

Imhauser, Carl; Mauro, Craig; Choi, Daniel; Rosenberg, Eric; Mathew, Stephen; Nguyen, Joseph; Ma, Yan; Wickiewicz, Thomas

2014-01-01

Background Abnormal tibiofemoral contact stress and aberrant kinematics may influence the progression of osteoarthritis in the ACL-deficient and the ACL-reconstructed knee. However, relationships between contact stress and kinematics following ACL reconstruction are poorly understood. Therefore, we posed the following research questions: (1) How do ACL deficiency and reconstruction affect kinematics of and contact stress in the tibiofemoral joint? (2) What kinematic differences are associated with abnormal contact stress following ACL reconstruction? Hypothesis/Purpose Center-center ACL reconstruction will not restore knee kinematics and contact stress. Correlations will exist between abnormal contact stress and aberrant kinematics following ACL reconstruction will exist. Study Design Controlled laboratory study Methods Clinical tests of anterior and rotational stability were simulated on eleven cadaveric knees using an industrial robot. Tests were conducted with the ACL intact, sectioned, and after single bundle ACL reconstruction using a quadrupled hamstring autograft with tunnels drilled through the center of the native footprints. Kinematics were recorded during the tests. Contact stress was continuously recorded from a stress transducer fixed to the tibial plateau and mean contact stress was calculated regionally. Results ACL deficiency resulted in increased mean contact stress in the posterior sectors of the medial and lateral compartments under anterior and rotational loads, respectively. Reconstruction reduced stress in these locations; however contact stress abnormalities remained. On average, kinematics were overconstrained following ACL reconstruction (≤1.8mm and ≤2.6° in all directions). However, combinations of overconstrained and underconstrained motions in ab/adduction and medial-lateral translation in response to combined moments, and axial rotation, anterior-posterior and medial-lateral translation in response to an anterior load were

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)

Kinematic evolution of the Mbakop Pan-African granitoids (western Cameroon domain): An integrated AMS and EBSD approach

Science.gov (United States)

Bella Nké, B. E.; Njanko, T.; Mamtani, M. A.; Njonfang, E.; Rochette, P.

2018-06-01

This study integrates anisotropy of magnetic susceptibility, microstructural and crystallographic preferred orientation (CPO) data from the Mbakop granitic pluton (MGP; Pan-African age) in order to decipher its kinematic evolution. The MGP lies close to NE-SW branch of Central Cameroon Shear Zone (CCSZ) and is emplaced in gneissic basement. High mean magnetic susceptibility and presence of multi-domain magnetite are recorded. Quartz CPO measured using Electron Backscatter diffraction reveals dominance of rhomb , prism and prism slip in different samples, which is consistent with microstructures developed under upper greenschist/amphibolite facies conditions. Quartz CPO along with other kinematic indicators (feldspar porphyroclasts/mineral fish) indicate non-coaxial deformation was important during tectonic evolution of the MGP. Contrasting sense of shear is recorded implying multi-stage mylonitization in the Western Cameroon Domain. Top-towards-south sense of shear is related to regional D2 deformation (613-585 Ma), while top-towards-north is related to D3 (585-540 Ma). The magnetic fabric in MGP records D3. The obliquity between mean orientation of magnetic foliation (N12°E) and the NE-SW CCSZ branch (N48°E) gives kinematic vorticity number of 0.95. This indicates dominantly simple shear with a minor pure shear component. It is concluded that regional transpression was important during MGP emplacement.

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.

Observation of top quark production using kinematic techniques

Energy Technology Data Exchange (ETDEWEB)

Kim, Shinhong [Tsukuba Univ., Ibaraki (Japan); CDF Collaboration

1995-05-17

We present analysis results of the top quark production using kinematic techniques in p{bar p} collisions at {radical}s = 1.8 TeV with the Collider Detector at Fermilab (CDF). We analyzed a data sample corresponding to an integrated luminosity of 67 pb{sup {minus}1}. First, we compare the kinematic properties, the second and third leading jet E{sub T} of W+ > 3 jet events with expectations for t{bar t} production and its back-ground processes, predominantly direct W + jet production. The probability that backgrounds fake the excess in the signal region was found to be less than 0.26%. Next, we use a scaler sum of the transverse energies of the lepton, neutrino and jets in W+{ge}4 jet events. This analysis shows t{bar t} events exist significantly in the event sample, and enables us to estimate the top quark mass to be M{sub top} = 180 {plus_minus} 12 {sub {minus}15}{sup +19} GeV/c{sup 2}. Finally, we analyse the dijet invariant mass in the W+{ge}4 jet events. It shows a significant mass peak consistent with a mass peak of W decaying into dijet. From these results and counting experiment, we have confirmed previous evidence reported in 1994 April and observed top quark production.

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.

Simulation and experimental research on line throwing rocket with flight

Directory of Open Access Journals (Sweden)

Wen-bin Gu

2014-06-01

Full Text Available The finite segment method is used to model the line throwing rocket system. A dynamic model of line throwing rocket with flight motion based on Kane's method is presented by the kinematics description of the system and the consideration of the forces acting on the system. The experiment designed according to the parameters of the dynamic model is made. The simulation and experiment results, such as range, velocity and flight time, are compared and analyzed. The simulation results are basically agreed with the test data, which shows that the flight motion of the line throwing rocket can be predicted by the dynamic model. A theoretical model and guide for the further research on the disturbance of rope and the guidance, flight control of line throwing rocket are provided by the dynamic modeling.

RNA expression in a cartilaginous fish cell line reveals ancient 3′ noncoding regions highly conserved in vertebrates

Science.gov (United States)

Forest, David; Nishikawa, Ryuhei; Kobayashi, Hiroshi; Parton, Angela; Bayne, Christopher J.; Barnes, David W.

2007-01-01

We have established a cartilaginous fish cell line [Squalus acanthias embryo cell line (SAE)], a mesenchymal stem cell line derived from the embryo of an elasmobranch, the spiny dogfish shark S. acanthias. Elasmobranchs (sharks and rays) first appeared >400 million years ago, and existing species provide useful models for comparative vertebrate cell biology, physiology, and genomics. Comparative vertebrate genomics among evolutionarily distant organisms can provide sequence conservation information that facilitates identification of critical coding and noncoding regions. Although these genomic analyses are informative, experimental verification of functions of genomic sequences depends heavily on cell culture approaches. Using ESTs defining mRNAs derived from the SAE cell line, we identified lengthy and highly conserved gene-specific nucleotide sequences in the noncoding 3′ UTRs of eight genes involved in the regulation of cell growth and proliferation. Conserved noncoding 3′ mRNA regions detected by using the shark nucleotide sequences as a starting point were found in a range of other vertebrate orders, including bony fish, birds, amphibians, and mammals. Nucleotide identity of shark and human in these regions was remarkably well conserved. Our results indicate that highly conserved gene sequences dating from the appearance of jawed vertebrates and representing potential cis-regulatory elements can be identified through the use of cartilaginous fish as a baseline. Because the expression of genes in the SAE cell line was prerequisite for their identification, this cartilaginous fish culture system also provides a physiologically valid tool to test functional hypotheses on the role of these ancient conserved sequences in comparative cell biology. PMID:17227856

Relationship between sagittal plane kinematics, foot morphology and vertical forces applied to three regions of the foot

OpenAIRE

Hannah, I.; Sawacha, Z.; Guiotto, A.; Mazza, C.

2016-01-01

Kinetic analysis of human motion with a multi-segment musculoskeletal foot model requires the distribution of loading applied to the modeled foot segments to be determined. This work thus examines the existence of any correlation between intersegmental foot kinematics, foot morphology, and the distribution of vertical loading in a multi-segment foot model. Gait analysis trials were performed by 20 healthy subjects at a self-selected speed with intersegmental foot joint angles and the distribu...

Abnormal tibiofemoral contact stress and its association with altered kinematics after center-center anterior cruciate ligament reconstruction: an in vitro study.

Science.gov (United States)

Imhauser, Carl; Mauro, Craig; Choi, Daniel; Rosenberg, Eric; Mathew, Stephen; Nguyen, Joseph; Ma, Yan; Wickiewicz, Thomas

2013-04-01

Abnormal tibiofemoral contact stress and aberrant kinematics may influence the progression of osteoarthritis in the anterior cruciate ligament (ACL)-deficient and the ACL-reconstructed knee. However, relationships between contact stress and kinematics after ACL reconstruction are poorly understood. Therefore, we posed the following research questions: (1) How do ACL deficiency and reconstruction affect the kinematics of and contact stress in the tibiofemoral joint? (2) What kinematic differences are associated with abnormal contact stress after ACL reconstruction? Center-center ACL reconstruction will not restore knee kinematics and contact stress. Correlations will exist between abnormal contact stress and aberrant kinematics after ACL reconstruction. Controlled laboratory study. Clinical tests of anterior and rotational stability were simulated on 11 cadaveric knees using an industrial robot. Tests were conducted with the ACL intact, sectioned, and after single-bundle ACL reconstruction using a quadrupled hamstring autograft with tunnels drilled through the center of the native footprints. Kinematics were recorded during the tests. Contact stress was continuously recorded from a stress transducer fixed to the tibial plateau, and mean contact stress was calculated regionally. ACL deficiency resulted in increased mean contact stress in the posterior sectors of the medial and lateral compartments under anterior and rotational loads, respectively. Reconstruction reduced stress in these locations; however, contact stress abnormalities remained. On average, kinematics were overconstrained after ACL reconstruction (≤1.8 mm and ≤2.6° in all directions). However, combinations of overconstrained and underconstrained motions in abduction/adduction and medial-lateral translation in response to combined moments, and anterior-posterior translation, medial-lateral translation, and axial rotation in response to an anterior load were associated with abnormal mean contact

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).

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.

Temperature and emission-line structure at the edges of H II regions

International Nuclear Information System (INIS)

Mallik, D.C.V.

1975-01-01

Models of ionization fronts located at the edges of expanding H ii regions are presented. These fronts are of the weak D-type and are preceded by shocks in the H i clouds. Since the energy input time is smaller than the cooling time, the gas is found to heat up to a high temperature immediately following ionization. At the trailing edge of the front, the temperature decreases and the ionized gas merges with the main bulk of the nebula where the physical processes are in equilibrium. The emission in O ii and N ii lines is greatly enhanced because of the high temperature at the front. The emission in these and other important lines is calculated and compared with Hβ. Effects of different velocities of flow, of different exciting stars, and of different gas densities on the structure of the fronts are also investigated

Integrated-light spectroscopy of globular clusters at the infrared Ca II lines

Science.gov (United States)

Armandroff, Taft E.; Zinn, Robert

1988-01-01

Integrated-light spectroscopy has been obtained for 27 globular clusters at the Ca II IR triplet. Line strengths and radial velocities have been measured from the spectra. For the well-studied clusters in the sample, the strength of the Ca II lines is very well correlated with previous metallicity estimates. Thus, the triplet is useful as a metallicity indicator in globular cluster integrated-light spectra. The greatly reduced effect of interstellar extinction at these wavelengths (compared to the blue region of the spectrum) has permitted observations of some of the most heavily reddened clusters in the Galaxy. For several such clusters, the Ca II triplet metallicities are in poor agreement with metallicity estimates from IR photometry by Malkan (1981). The strength of an interstellar band at 8621A has been used to estimate the amount of extinction towards these clusters. Using the new metallicity and radial-velocity data, the metallicity distribution, kinematics, and spatial distribution of the disk globular cluster system have been analyzed. Results very similar to those of Zinn (1985) have been found. The relation of the disk globulars to the stellar thick disk is discussed.

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)

Kinematic variables and water transport control the formation and location of arc volcanoes.

Science.gov (United States)

Grove, T L; Till, C B; Lev, E; Chatterjee, N; Médard, E

2009-06-04

The processes that give rise to arc magmas at convergent plate margins have long been a subject of scientific research and debate. A consensus has developed that the mantle wedge overlying the subducting slab and fluids and/or melts from the subducting slab itself are involved in the melting process. However, the role of kinematic variables such as slab dip and convergence rate in the formation of arc magmas is still unclear. The depth to the top of the subducting slab beneath volcanic arcs, usually approximately 110 +/- 20 km, was previously thought to be constant among arcs. Recent studies revealed that the depth of intermediate-depth earthquakes underneath volcanic arcs, presumably marking the slab-wedge interface, varies systematically between approximately 60 and 173 km and correlates with slab dip and convergence rate. Water-rich magmas (over 4-6 wt% H(2)O) are found in subduction zones with very different subduction parameters, including those with a shallow-dipping slab (north Japan), or steeply dipping slab (Marianas). Here we propose a simple model to address how kinematic parameters of plate subduction relate to the location of mantle melting at subduction zones. We demonstrate that the location of arc volcanoes is controlled by a combination of conditions: melting in the wedge is induced at the overlap of regions in the wedge that are hotter than the melting curve (solidus) of vapour-saturated peridotite and regions where hydrous minerals both in the wedge and in the subducting slab break down. These two limits for melt generation, when combined with the kinematic parameters of slab dip and convergence rate, provide independent constraints on the thermal structure of the wedge and accurately predict the location of mantle wedge melting and the position of arc volcanoes.

Specific degradation of 3' regions of GUS mRNA in posttranscriptionally silenced tobacco lines may be related to 5'-3' spreading of silencing

DEFF Research Database (Denmark)

Braunstein, Thomas Hartig; Moury, Benoit; Johannessen, Marina

2002-01-01

background, we have performed detailed analyses of target regions in three spontaneously beta-glucuronidase (GUS) silencing tobacco lines of different origin. From quantitative cosuppression experiments, we show that the main target region in all three tobacco lines is found within the 3' half of the GUS...... VIGS. Surprisingly, only evidence for spreading of the target region in the 5'-3' direction was obtained. This finding may help explain why the majority of target regions examined to date lie within the 3' region of transgenes....

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 complex jet- and bar-perturbed kinematics in NGC 3393 as revealed with ALMA and GEMINI-GMOS/IFU

Science.gov (United States)

Finlez, Carolina; Nagar, Neil M.; Storchi-Bergmann, Thaisa; Schnorr-Müller, Allan; Riffel, Rogemar A.; Lena, Davide; Mundell, C. G.; Elvis, Martin S.

2018-06-01

NGC 3393, a nearby Seyfert 2 galaxy with nuclear radio jets, large-scale and nuclear bars, and a posited secondary super massive black hole, provides an interesting laboratory to test the physics of inflows and outflows. Here we present and analyse the molecular gas (ALMA observations of CO J:2-1 emission over a field of view (FOV) of 45" × 45", at 0."56 (143 pc) spatial and 5 km/s spectral resolution), ionised gas and stars (GEMINI-GMOS/IFU; over a FOV of 4" × 5", at 0."62 (159 pc) spatial and 23 km/s spectral resolution) in NGC 3393. The ionised gas emission, detected over the complete GEMINI-GMOS FOV, has three identifiable kinematic components. A narrow (σ 115 km/s) redshifted component, detected near the NE and SW radio lobes; which we interpret as a radio jet driven outflow. And a broad (σ > 115 km/s) blueshifted component that shows high velocities in a region perpendicular to the radio jet axis; we interpret this as an equatorial outflow. The CO J:2-1 emission is detected in spiral arms on 5" - 20" scales, and in two disturbed circumnuclear regions. The molecular kinematics in the spiral arms can be explained by rotation. The highly disturbed kinematics of the inner region can be explained by perturbations induced by the nuclear bar and interactions with the large scale bar. We find no evidence for, but cannot strongly rule out, the presence of the posited secondary black hole.

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, ...

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.

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.

Tune-shift with amplitude due to nonlinear kinematic effect

CERN Document Server

Wan, W

1999-01-01

Tracking studies of the Muon Collider 50 on 50 GeV collider ring show that the on-momentum dynamic aperture is limited to around 10 sigma even with the chromaticity sextupoles turned off. Numerical results from the normal form algorithm show that the tune-shift with amplitude is surprisingly large. Both analytical and numerical results are presented to show that nonlinear kinematic effect originated from the large angles of particles in the interaction region is responsible for the large tune-shift which in turn limits the dynamic aperture. A comparative study of the LHC collider ring is also presented to demonstrate the difference between the two machines. (14 refs).

PHYSICAL CONDITIONS IN THE INNER NARROW-LINE REGION OF THE SEYFERT 2 GALAXY MARKARIAN 573

International Nuclear Information System (INIS)

Kraemer, S. B.; Trippe, M. L.; Crenshaw, D. M.; Fischer, T. C.; Melendez, M.; Schmitt, H. R.

2009-01-01

We have examined the physical conditions within a bright emission-line knot in the inner narrow-line region (NLR) of the Seyfert 2 galaxy Mrk 573 using optical spectra and photoionization models. The spectra were obtained with the Hubble Space Telescope/Space Telescope Imaging Spectrograph, through the 0.''2 x 52.''0 slit, at a position angle of -71. 0 2, with the G430L and G750M gratings. Comparing the spatial emission-line profiles, we found [Fe X] λ 6734 barely resolved, [O III] λ5007 centrally peaked, but broader than [Fe X], and [O II] λ3727 the most extended. Spectra of the central knot were extracted from a region 1.''1 in extent, corresponding to the full width at zero intensity in the cross-dispersion direction, of the knot. The spectra reveal that [Fe X] is broader in velocity width and blueshifted compared with lines from less ionized species. Our estimate of the bolometric luminosity indicates that the active galactic nucleus (AGN) is radiating at or above its Eddington luminosity, which is consistent with its identification as a hidden Narrow-Line Seyfert 1. We were able to successfully match the observed emission-line ratios with a three-component photoionization model. Two components, one to account for the [O III] emission and another in which the [Fe X] arises, are directly ionized by the AGN, while [O II] forms in a third component, which is ionized by a heavily absorbed continuum. Based on our assumed ionizing continuum and the model parameters, we determined that the two directly ionized components are ∼55 pc from the AGN. We have found similar radial distances for the central knots in the Seyfert 2 galaxies Mrk 3 and NGC 1068, but much smaller radial distances for the inner NLR in the Seyfert 1 galaxies NGC 4151 and NGC 5548. Although in general agreement with the unified model, these results suggest that the obscuring material in Seyfert galaxies extends out to at least tens of parsecs from the AGN.

Gas dynamics in the inner few AU around the Herbig B[e] star MWC297. Indications of a disk wind from kinematic modeling and velocity-resolved interferometric imaging

Science.gov (United States)

Hone, Edward; Kraus, Stefan; Kreplin, Alexander; Hofmann, Karl-Heinz; Weigelt, Gerd; Harries, Tim; Kluska, Jacques

2017-10-01

Aims: Circumstellar accretion disks and outflows play an important role in star formation. By studying the continuum and Brγ-emitting region of the Herbig B[e] star MWC297 with high-spectral and high-spatial resolution we aim to gain insight into the wind-launching mechanisms in young stars. Methods: We present near-infrared AMBER (R = 12 000) and CRIRES (R = 100 000) observations of the Herbig B[e] star MWC297 in the hydrogen Brγ-line. Using the VLTI unit telescopes, we obtained a uv-coverage suitable for aperture synthesis imaging. We interpret our velocity-resolved images as well as the derived two-dimensional photocenter displacement vectors, and fit kinematic models to our visibility and phase data in order to constrain the gas velocity field on sub-AU scales. Results: The measured continuum visibilities constrain the orientation of the near-infrared-emitting dust disk, where we determine that the disk major axis is oriented along a position angle of 99.6 ± 4.8°. The near-infrared continuum emission is 3.6 × more compact than the expected dust-sublimation radius, possibly indicating the presence of highly refractory dust grains or optically thick gas emission in the inner disk. Our velocity-resolved channel maps and moment maps reveal the motion of the Brγ-emitting gas in six velocity channels, marking the first time that kinematic effects in the sub-AU inner regions of a protoplanetary disk could be directly imaged. We find a rotation-dominated velocity field, where the blue- and red-shifted emissions are displaced along a position angle of 24° ± 3° and the approaching part of the disk is offset west of the star. The visibility drop in the line as well as the strong non-zero phase signals can be modeled reasonably well assuming a Keplerian velocity field, although this model is not able to explain the 3σ difference that we measure between the position angle of the line photocenters and the position angle of the dust disk. We find that the fit can be

Numerical simulation of mesoscale surface pressure features with trailing stratiform squall lines using WRF -ARW model over Gangetic West Bengal region

Science.gov (United States)

Dawn, Soma; Satyanarayana, A. N. V.

2018-01-01

In the present study, an attempt has been made to investigate the simulation of mesoscale surface pressure patterns like pre-squall mesolow, mesohigh and wake low associated with leading convective line-trailing stratiform (TS) squall lines over Gangetic West Bengal (GWB). For this purpose, a two way interactive triple nested domain with high resolution WRF model having2 km grid length in the innermost domain is used. The model simulated results are compared with the available in-situ observations obtained as a part of Severe Thunderstorm: Observations and Regional Modeling (STORM) programme, reflectivity products of Doppler Weather Radar (DWR) Kolkata and TRMM rainfall. Three TS squall lines (15 May 2009, 5 May 2010 and 7 May 2010) are chosen during pre-monsoon thunderstorm season for this study. The model simulated results of diurnal variation of temperature, relative humidity, wind speed and direction at the station Kharagpur in GWB region reveal a sudden fall in temperature, increase in the amount of relative humidity and sudden rise in wind speed during the arrival of the storms. Such results are well comparable with the observations though there are some leading or lagging of time in respect of actual occurrences of such events. The study indicates that the model is able to predict the occurrences of three typical surface pressure features namely: pre-squall mesolow, meso high and wake low. The predicted surface parameters like accumulated rainfall, maximum reflectivity and vertical profiles (temperature, relative humidity and winds) are well accorded with the observations. The convective and stratiform precipitation region of the TS squall lines are well represented by the model. A strong downdraft is observed to be a contributory factor for formation of mesohigh in the convective region of the squall line. Wake low is observed to reside in the stratiform rain region and the descending dry air at this place has triggered the wake low through adiabatic

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

Photoionization Models of the H_2 Emission of the Narrow Line Region of AGNs

Science.gov (United States)

Aleman, I.; Gruenwald, R.

2011-05-01

The excitation mechanism of the narrow line region (NLR) of AGNs is still an open question. Excitation by UV radiation from O and B stars, x-rays from the central black hole, shock from supernovae or jets, or a combination of these mechanisms have been suggested. In the present work, we use photoionization models to study the excitation mechanisms of the H_2 infrared emission lines in the NLR. In the literature, analyzes of the H_2 emission have been done assuming that the molecules is present only in neutral regions (photodissociation regions, x-ray-dominated regions, or shocks; Veilleux et al. 1997, Krabbe et al. 2000, Rigopoulou et al. 2002, Rodriguez-Ardila et al. 2004, 2005, and Davies et al. 2005). However, they are not conclusive. In previous work (Aleman & Gruenwald 2004, 2011), we show that the H_2 emission from the ionized region of PNe can be significant for planetary nebulae (PNe) with hot central stars (T⋆ > 150000 K). Such stars produce copious amounts of high energy photons, which create an extended partially ionized region that favors the H_2 survival. The conditions in the NLR are similar to those in PNe with hot central stars, so we can expect that the H_2 emission might also be important. We obtain and analyze a grid of photoionization models for different NRL parameters. We study the resulting H_2 density and emission, as well as, the formation, destruction, excitation, and de-excitation mechanisms. The higher values observed for the H_2 1-0 S(1)/Brγ ratio cannot be reproduced by our models. The calculated ratios are between 10^-8 and 10^-1, while the observational ration can be as high as 10. The calculated ratio is strongly anti-correlated with the ionization parameter (U) and only models with U<10-3 result in ratios inside the observational range. We show that the NLR is an environment more hostile to the H_2 molecule than the ionized region of PNe. Another interesting result of our calculations is that the H_2 formation on grain surfaces

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.

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

International Nuclear Information System (INIS)

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

1989-01-01

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

The Gould's Belt Distances Survey (GOBELINS). IV. Distance, Depth, and Kinematics of the Taurus Star-forming Region

Science.gov (United States)

Galli, Phillip A. B.; Loinard, Laurent; Ortiz-Léon, Gisela N.; Kounkel, Marina; Dzib, Sergio A.; Mioduszewski, Amy J.; Rodríguez, Luis F.; Hartmann, Lee; Teixeira, Ramachrisna; Torres, Rosa M.; Rivera, Juana L.; Boden, Andrew F.; Evans, Neal J., II; Briceño, Cesar; Tobin, John J.; Heyer, Mark

2018-05-01

We present new trigonometric parallaxes and proper motions of young stellar objects in the Taurus molecular cloud complex from observations collected with the Very Long Baseline Array as part of the Gould’s Belt Distances Survey. We detected 26 young stellar objects and derived trigonometric parallaxes for 18 stars with an accuracy of 0.3% to a few percent. We modeled the orbits of six binaries and determined the dynamical masses of the individual components in four of these systems (V1023 Tau, T Tau S, V807 Tau, and V1000 Tau). Our results are consistent with the first trigonometric parallaxes delivered by the Gaia satellite and reveal the existence of significant depth effects. We find that the central portion of the dark cloud Lynds 1495 is located at d =129.5 ± 0.3 pc, while the B216 clump in the filamentary structure connected to it is at d = 158.1 ± 1.2 pc. The closest and remotest stars in our sample are located at d = 126.6 ± 1.7 pc and d = 162.7 ± 0.8 pc, yielding a distance difference of about 36 pc. We also provide a new distance estimate for HL Tau that was recently imaged. Finally, we compute the spatial velocity of the stars with published radial velocity and investigate the kinematic properties of the various clouds and gas structures in this region.

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.)

A model for consecutive spallation and fragmentation reactions in inverse kinematics at relativistic energies

International Nuclear Information System (INIS)

Napolitani, P.; Tassan-Got, L.; Bernas, M.; Armbruster, P.

2003-04-01

Secondary reactions induced by relativistic beams in inverse kinematics in a thick target are relevant in several fields of experimental physics and technology, like secondary radioactive beams, production of exotic nuclei close to the proton drip line, and cross-section measurements for applications of spallation reactions for energy production and incineration of nuclear wastes. A general mathematical formulation is presented and successively applied as a tool to disentangle the primary reaction yields from the secondary production in the measurement of fission of a 238 U projectile impinging on a proton target at the energy of 1 A GeV. (orig.)

ACCRETION KINEMATICS THROUGH THE WARPED TRANSITION DISK IN HD 142527 FROM RESOLVED CO(6–5) OBSERVATIONS

Energy Technology Data Exchange (ETDEWEB)

Casassus, S.; Marino, S.; Pérez, S.; Plas, G. van der; Christiaens, V.; Montesinos, Matías [Departamento de Astronomía, Universidad de Chile, Casilla 36-D, Santiago (Chile); Roman, P.; Dunhill, A.; Cuadra, J.; Cieza, L.; Moral, Victor [Millennium Nucleus “Protoplanetary Disks,” Chile (Chile); Armitage, P. J. [JILA, University of Colorado and NIST, UCB 440, Boulder, CO 80309 (United States); Wootten, A., E-mail: scasassus@u.uchile.cl [National Radio Astronomy Observatory, 520 Edgemont Road, Charlottesville, VA 22903-2475 (United States)

2015-10-01

The finding of residual gas in the large central cavity of the HD 142527 disk motivates questions regarding the origin of its non-Keplerian kinematics and possible connections with planet formation. We aim to understand the physical structure that underlies the intra-cavity gaseous flows, guided by new molecular-line data in CO(6–5) with unprecedented angular resolutions. Given the warped structure inferred from the identification of scattered-light shadows cast on the outer disk, the kinematics are consistent, to first order, with axisymmetric accretion onto the inner disk occurring at all azimuths. A steady-state accretion profile, fixed at the stellar accretion rate, explains the depth of the cavity as traced in CO isotopologues. The abrupt warp and evidence for near free-fall radial flows in HD 142527 resemble theoretical models for disk tearing, which could be driven by the reported low-mass companion, whose orbit may be contained in the plane of the inner disk. The companion’s high inclination with respect to the massive outer disk could drive Kozai oscillations over long timescales; high-eccentricity periods may perhaps account for the large cavity. While shadowing by the tilted disk could imprint an azimuthal modulation in the molecular-line maps, further observations are required to ascertain the significance of azimuthal structure in the density field inside the cavity of HD 142527.

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.

PROBING THE PHYSICS OF NARROW LINE REGIONS IN ACTIVE GALAXIES. II. THE SIDING SPRING SOUTHERN SEYFERT SPECTROSCOPIC SNAPSHOT SURVEY (S7)

Energy Technology Data Exchange (ETDEWEB)

Dopita, Michael A.; Davies, Rebecca; Kewley, Lisa; Hampton, Elise; Sutherland, Ralph [RSAA, Australian National University, Cotter Road, Weston Creek, ACT 2611 (Australia); Shastri, Prajval; Kharb, Preeti; Jose, Jessy; Bhatt, Harish; Ramya, S. [Indian Institute of Astrophysics, Koramangala 2 B Block, Bangalore 560034 (India); Scharwächter, Julia [LERMA, Observatoire de Paris, CNRS, UMR 8112, 61 Avenue de l’Observatoire, F-75014 Paris (France); Jin, Chichuan [Qian Xuesen Laboratory for Space Technology, Beijing (China); Banfield, Julie [CSIRO Astronomy and Space Science, P.O. Box 76, Epping NSW, 1710 Australia (Australia); Zaw, Ingyin [New York University (Abu Dhabi), 70 Washington Square South, New York, NY 10012 (United States); Juneau, Stéphanie [CEA-Saclay, DSM/IRFU/SAp, F-91191 Gif-sur-Yvette (France); James, Bethan [Institute of Astronomy, Cambridge University, Madingley Road, Cambridge CB3 0HA (United Kingdom); Srivastava, Shweta, E-mail: Michael.Dopita@anu.edu.au [Astronomy and Astrophysics Division, Physical Research Laboratory, Ahmedabad 380009 (India)

2015-03-15

Here we describe the Siding Spring Southern Seyfert Spectroscopic Snapshot Survey (S7) and present results on 64 galaxies drawn from the first data release. The S7 uses the Wide Field Spectrograph mounted on the ANU 2.3 m telescope located at the Siding Spring Observatory to deliver an integral field of 38 × 25 arcsec at a spectral resolution of R = 7000 in the red (530–710 nm), and R = 3000 in the blue (340–560 nm). From these data cubes we have extracted the narrow-line region spectra from a 4 arcsec aperture centered on the nucleus. We also determine the Hβ and [O iii] λ5007 fluxes in the narrow lines, the nuclear reddening, the reddening-corrected relative intensities of the observed emission lines, and the Hβ and [O iii] λ5007 luminosities determined from spectra for which the stellar continuum has been removed. We present a set of images of the galaxies in [O iii] λ5007, [N ii] λ6584, and Hα, which serve to delineate the spatial extent of the extended narrow-line region and also to reveal the structure and morphology of the surrounding H ii regions. Finally, we provide a preliminary discussion of those Seyfert 1 and Seyfert 2 galaxies that display coronal emission lines in order to explore the origin of these lines.

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.

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

Science.gov (United States)

Bennett, C.; Dunne, J. F.; Trimby, S.; Richardson, D.

2017-02-01

A recurrent non-linear autoregressive with exogenous input (NARX) neural network is proposed, and a suitable fully-recurrent training methodology is adapted and tuned, for reconstructing cylinder pressure in multi-cylinder IC engines using measured crank kinematics. This type of indirect sensing is important for cost effective closed-loop combustion control and for On-Board Diagnostics. The challenge addressed is to accurately predict cylinder pressure traces within the cycle under generalisation conditions: i.e. using data not previously seen by the network during training. This involves direct construction and calibration of a suitable inverse crank dynamic model, which owing to singular behaviour at top-dead-centre (TDC), has proved difficult via physical model construction, calibration, and inversion. The NARX architecture is specialised and adapted to cylinder pressure reconstruction, using a fully-recurrent training methodology which is needed because the alternatives are too slow and unreliable for practical network training on production engines. The fully-recurrent Robust Adaptive Gradient Descent (RAGD) algorithm, is tuned initially using synthesised crank kinematics, and then tested on real engine data to assess the reconstruction capability. Real data is obtained from a 1.125 l, 3-cylinder, in-line, direct injection spark ignition (DISI) engine involving synchronised measurements of crank kinematics and cylinder pressure across a range of steady-state speed and load conditions. The paper shows that a RAGD-trained NARX network using both crank velocity and crank acceleration as input information, provides fast and robust training. By using the optimum epoch identified during RAGD training, acceptably accurate cylinder pressures, and especially accurate location-of-peak-pressure, can be reconstructed robustly under generalisation conditions, making it the most practical NARX configuration and recurrent training methodology for use on production engines.

Spinal kinematics during smartphone texting - A comparison between young adults with and without chronic neck-shoulder pain.

Science.gov (United States)

Xie, Yan Fei; Szeto, Grace; Madeleine, Pascal; Tsang, Sharon

2018-04-01

To advance our understanding about the association between smartphone use and chronic neck-shoulder pain, the objective of this study was to compare spinal kinematics between different text-entry methods in smartphone users with and without chronic neck-shoulder pain. Symptomatic (n = 19) and healthy participants (n = 18) were recruited and they performed three tasks: texting on a smartphone with one hand, with two hands, and typing on a desktop computer. Three-dimensional kinematics were examined in the cervical, thoracic and lumbar regions for each task. This study suggests that altered kinematics may be associated with pain since significantly increased angles of cervical right side flexion during smartphone texting and greater postural changes in cervical rotation were found during all text-entry tasks in the symptomatic group. Two-handed texting was associated with increased cervical flexion while one-handed texting was correlated with an asymmetric neck posture, indicating both text-entry methods are not favorable in terms of spinal postures. Copyright © 2017 Elsevier Ltd. All rights reserved.

Understanding the central kinematics of globular clusters with simulated integrated-light IFU observations

Science.gov (United States)

Bianchini, Paolo; Norris, Mark A.; van de Ven, Glenn; Schinnerer, Eva

2015-10-01

The detection of intermediate-mass black holes in the centres of globular clusters is highly controversial, as complementary observational methods often deliver significantly different results. In order to understand these discrepancies, we develop a procedure to simulate integral field unit (IFU) observations of globular clusters: Simulating IFU Star Cluster Observations (SISCO). The inputs of our software are realistic dynamical models of globular clusters that are then converted in a spectral data cube. We apply SISCO to Monte Carlo cluster simulations with a realistic number of stars and concentrations. Using independent realizations of a given simulation we are able to quantify the stochasticity intrinsic to the problem of observing a partially resolved stellar population with integrated-light spectroscopy. We show that the luminosity-weighted IFU observations can be strongly biased by the presence of a few bright stars that introduce a scatter in the velocity dispersion measurements up to ≃40 per cent around the expected value, preventing any sound assessment of the central kinematic and a sensible interpretation of the presence/absence of an intermediate-mass black hole. Moreover, we illustrate that, in our mock IFU observations, the average kinematic tracer has a mass of ≃0.75 M⊙, only slightly lower than the mass of the typical stars examined in studies of resolved line-of-sight velocities of giant stars. Finally, in order to recover unbiased kinematic measurements we test different masking techniques that allow us to remove the spaxels dominated by bright stars, bringing the scatter down to a level of only a few per cent. The application of SISCO will allow us to investigate state-of-the-art simulations as realistic observations.

Kinematics of the Optically Visible YSOs toward the Orion B Molecular Cloud

Energy Technology Data Exchange (ETDEWEB)

Kounkel, Marina; Hartmann, Lee; Mateo, Mario [Department of Astronomy, University of Michigan, 1085 S. University Street, Ann Arbor, MI 48109 (United States); Bailey, John I. III, E-mail: mkounkel@umich.edu [Leiden Observatory, Leiden University, P.O. Box 9513, 2300-RA Leiden (Netherlands)

2017-08-01

We present results from high-resolution optical spectra toward 66 young stars in the Orion B molecular cloud to study their kinematics and other properties. Observations of the H α and Li i 6707 Å lines are used to check membership and accretion properties. While the stellar radial velocities of NGC 2068 and L1622 are in good agreement with that of the molecular gas, many of the stars in NGC 2024 show a considerable offset. This could be a signature of either the expansion of the cluster, the high degree of the ejection of the stars from the cluster through dynamical interaction, or the acceleration of the gas due to stellar feedback.

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

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...

Form of relativistic dynamics with world lines

International Nuclear Information System (INIS)

Mukunda, N.; Sudarshan, E.C.G.

1981-01-01

In any Hamiltonian relativistic theory there are ten generators of the Poincare group which are realized canonically. The dynamical evolution is described by a Hamiltonian which is one of the ten generators in Dirac's generator formalism. The requirement that the canonical transformations reproduce the geometrical transformation of world points generates the world-line conditions. The Dirac identification of the Hamiltonian and the world-line conditions together lead to the no-interaction theorem. Interacting relativistic theories with world-line conditions should go beyond the Dirac theory and have eleven generators. In this paper we present a constraint dynamics formalism which describes an eleven-generator theory of N interacting particles using 8(N+1) variables with suitable constraints. The (N+1)th pair of four-vectors is associated with the uniform motion of a center which coincides with the center of energy for free particles. In such theories dynamics and kinematics cannot be separated out in a simple fashion

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.

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.

NEW STRONG-LINE ABUNDANCE DIAGNOSTICS FOR H II REGIONS: EFFECTS OF κ-DISTRIBUTED ELECTRON ENERGIES AND NEW ATOMIC DATA

Energy Technology Data Exchange (ETDEWEB)

Dopita, Michael A.; Sutherland, Ralph S.; Nicholls, David C.; Kewley, Lisa J.; Vogt, Frédéric P. A., E-mail: Michael.Dopita@anu.edu.au [Research School of Astronomy and Astrophysics, Australian National University, Cotter Rd., Weston ACT 2611 (Australia)

2013-09-01

Recently, Nicholls et al., inspired by in situ observations of solar system astrophysical plasmas, suggested that the electrons in H II regions are characterized by a κ-distribution of energies rather than a simple Maxwell-Boltzmann distribution. Here, we have collected together new atomic data within a modified photoionization code to explore the effects of both the new atomic data and the κ-distribution on the strong-line techniques used to determine chemical abundances in H II regions. By comparing the recombination temperatures (T {sub rec}) with the forbidden line temperatures (T {sub FL}), we conclude that κ ∼ 20. While representing only a mild deviation from equilibrium, this result is sufficient to strongly influence abundances determined using methods that depend on measurements of the electron temperature from forbidden lines. We present a number of new emission line ratio diagnostics that cleanly separate the two parameters determining the optical spectrum of H II regions—the ionization parameter q or U and the chemical abundance, 12+log(O/H). An automated code to extract these parameters is presented. Using the homogeneous data set from van Zee et al., we find self-consistent results between all of these different diagnostics. The systematic errors between different line ratio diagnostics are much smaller than those found in the earlier strong-line work. Overall, the effect of the κ-distribution on the strong-line abundances derived solely on the basis of theoretical models is rather small.

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.

Broad line regions in Seyfert-1 galaxies

International Nuclear Information System (INIS)

Groningen, E. van.

1984-01-01

To reproduce observed emission profiles of Seyfert galaxies, rotation in an accretion disk has been proposed. In this thesis, the profiles emitted by such an accretion disk are investigated. Detailed comparison with the observed profiles yields that a considerable fraction can be fitted with a power-law function, as predicted by the model. The author analyzes a series of high quality spectra of Seyfert galaxies, obtained with the 2.5m telescope at Las Campanas. He presents detailed analyses of two objects: Mkn335 and Akn120. In both cases, strong evidence is presented for the presence of two separate broad line zones. These zones are identified with an accretion disk and an outflowing wind. The disk contains gas with very high densities and emits predominantly the lower ionization lines. He reports on the discovery of very broad wings beneath the strong forbidden line 5007. (Auth.)

Long-term Variability of H2CO Masers in Star-forming Regions

Science.gov (United States)

Andreev, N.; Araya, E. D.; Hoffman, I. M.; Hofner, P.; Kurtz, S.; Linz, H.; Olmi, L.; Lorran-Costa, I.

2017-10-01

We present results of a multi-epoch monitoring program on variability of 6 cm formaldehyde (H2CO) masers in the massive star-forming region NGC 7538 IRS 1 from 2008 to 2015, conducted with the Green Bank Telescope, the Westerbork Radio Telescope , and the Very Large Array. We found that the similar variability behaviors of the two formaldehyde maser velocity components in NGC 7538 IRS 1 (which was pointed out by Araya and collaborators in 2007) have continued. The possibility that the variability is caused by changes in the maser amplification path in regions with similar morphology and kinematics is discussed. We also observed 12.2 GHz methanol and 22.2 GHz water masers toward NGC 7538 IRS 1. The brightest maser components of CH3OH and H2O species show a decrease in flux density as a function of time. The brightest H2CO maser component also shows a decrease in flux density and has a similar LSR velocity to the brightest H2O and 12.2 GHz CH3OH masers. The line parameters of radio recombination lines and the 20.17 and 20.97 GHz CH3OH transitions in NGC 7538 IRS 1 are also reported. In addition, we observed five other 6 cm formaldehyde maser regions. We found no evidence of significant variability of the 6 cm masers in these regions with respect to previous observations, the only possible exception being the maser in G29.96-0.02. All six sources were also observed in the {{{H}}}213{CO} isotopologue transition of the 6 cm H2CO line; {{{H}}}213{CO} absorption was detected in five of the sources. Estimated column density ratios [{{{H}}}212{CO}]/[{{{H}}}213{CO}] are reported.

Accurate kinematic measurement at interfaces between dissimilar materials using conforming finite-element-based digital image correlation

KAUST Repository

Tao, Ran

2016-02-11

Digital image correlation (DIC) is now an extensively applied full-field measurement technique with subpixel accuracy. A systematic drawback of this technique, however, is the smoothening of the kinematic field (e.g., displacement and strains) across interfaces between dissimilar materials, where the deformation gradient is known to be large. This can become an issue when a high level of accuracy is needed, for example, in the interfacial region of composites or joints. In this work, we described the application of global conforming finite-element-based DIC technique to obtain precise kinematic fields at interfaces between dissimilar materials. Speckle images from both numerical and actual experiments processed by the described global DIC technique better captured sharp strain gradient at the interface than local subset-based DIC. © 2016 Elsevier Ltd. All rights reserved.

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.

Stress Analysis of Boom of Special Mobile Crane for Plain Region in Transmission Line

Science.gov (United States)

Qin, Jian; Shao, Tao; Chen, Jun; Wan, Jiancheng; Li, Zhonghuan; Jiang, Ming

2017-10-01

Basis of the boom force analysis of special mobile crane for plain region in transmission line, the load type of boom design is confirmed. According to the different combinations of boom sections, the composite pattern of the different boom length is obtained to suit the actual conditions of boom overlapping. The large deformation model is employed with FEM to simulate the stress distribution of boom, and the calculation results are checked. The performance curves of rated load with different arm length and different working range are obtained, which ensures the lifting capacity of special mobile crane meeting the requirement of tower erection of transmission line. The proposed FEM of boom of mobile crane would provide certain guiding and reference to the boom design.

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

Directory of Open Access Journals (Sweden)

E. D. Chertov

2014-01-01

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

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

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...

A kinematic approach for efficient and robust simulation of the cardiac beating motion.

Directory of Open Access Journals (Sweden)

Takashi Ijiri

Full Text Available Computer simulation techniques for cardiac beating motions potentially have many applications and a broad audience. However, most existing methods require enormous computational costs and often show unstable behavior for extreme parameter sets, which interrupts smooth simulation study and make it difficult to apply them to interactive applications. To address this issue, we present an efficient and robust framework for simulating the cardiac beating motion. The global cardiac motion is generated by the accumulation of local myocardial fiber contractions. We compute such local-to-global deformations using a kinematic approach; we divide a heart mesh model into overlapping local regions, contract them independently according to fiber orientation, and compute a global shape that satisfies contracted shapes of all local regions as much as possible. A comparison between our method and a physics-based method showed that our method can generate motion very close to that of a physics-based simulation. Our kinematic method has high controllability; the simulated ventricle-wall-contraction speed can be easily adjusted to that of a real heart by controlling local contraction timing. We demonstrate that our method achieves a highly realistic beating motion of a whole heart in real time on a consumer-level computer. Our method provides an important step to bridge a gap between cardiac simulations and interactive applications.

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....

An engineering geological appraisal of the Chamshir dam foundation using DMR classification and kinematic analysis, southwest of Iran

Directory of Open Access Journals (Sweden)

Torabi Kaveh Mehdi

2011-12-01

Full Text Available This paper describes the results of engineering geological  investigations and rock mechanics studies carried out at the proposed Chamshir dam site. It is proposed that a 155 m high solid concrete gravity-arc dam be built across the Zuhreh River to the southeast of the city of Gachsaran in south-western Iran. The dam and its associated structures are mainly located on the Mishan formation. Analysis consisted of rock mass classification and a kinematic
analysis of the dam foundation's rock masses. The studies were carried out in the field and the laboratory. The field studies included geological mapping, intensive discontinuity surveying, core drilling and sampling for laboratory testing. Rock mass classifications were made in line with RMR and DMR classification for the dam foundation. Dam foundation analysis regarding stability using DMR classification and kinematic analysis indicated that the left abutment's rock foundation (area 2 was unstable for planar, wedge and toppling failure modes.

A Deep Chandra ACIS Study of NGC 4151. II. The Innermost Emission Line Region and Strong Evidence for Radio Jet-NLR Cloud Collision

Science.gov (United States)

Wang, Junfeng; Fabbiano, Giuseppina; Elvis, Martin; Risaliti, Guido; Mundell, Carole G.; Karovska, Margarita; Zezas, Andreas

2011-07-01

We have studied the X-ray emission within the inner ~150 pc radius of NGC 4151 by constructing high spatial resolution emission line images of blended O VII, O VIII, and Ne IX. These maps show extended structures that are spatially correlated with the radio outflow and optical [O III] emission. We find strong evidence for jet-gas cloud interaction, including morphological correspondences with regions of X-ray enhancement, peaks of near-infrared [Fe II] emission, and optical clouds. In these regions, moreover, we find evidence of elevated Ne IX/O VII ratios; the X-ray emission of these regions also exceeds that expected from nuclear photoionization. Spectral fitting reveals the presence of a collisionally ionized component. The thermal energy of the hot gas suggests that >~ 0.1% of the estimated jet power is deposited into the host interstellar medium through interaction between the radio jet and the dense medium of the circumnuclear region. We find possible pressure equilibrium between the collisionally ionized hot gas and the photoionized line-emitting cool clouds. We also obtain constraints on the extended iron and silicon fluorescent emission. Both lines are spatially unresolved. The upper limit on the contribution of an extended emission region to the Fe Kα emission is <~ 5% of the total, in disagreement with a previous claim that 65% of the Fe Kα emission originates in the extended narrow line region.

On the origin of gamma rays in Fermi blazars: beyond the broad line region.

Science.gov (United States)

Costamante, L.; Cutini, S.; Tosti, G.; Antolini, E.; Tramacere, A.

2018-05-01

The gamma-ray emission in broad-line blazars is generally explained as inverse Compton (IC) radiation of relativistic electrons in the jet scattering optical-UV photons from the Broad Line Region (BLR), the so-called BLR External Compton scenario. We test this scenario on the Fermi gamma-ray spectra of 106 broad-line blazars detected with the highest significance or largest BLR, by looking for cut-off signatures at high energies compatible with γ-γ interactions with BLR photons. We do not find evidence for the expected BLR absorption. For 2/3 of the sources, we can exclude any significant absorption (τmax 5). We conclude that for 9 out of 10 objects, the jet does not interact with BLR photons. Gamma-rays seem either produced outside the BLR most of the time, or the BLR is ˜100 × larger than given by reverberation mapping. This means that i) External Compton on BLR photons is disfavoured as the main gamma-ray mechanism, vs IC on IR photons from the torus or synchrotron self-Compton; ii) the Fermi gamma-ray spectrum is mostly intrinsic, determined by the interaction of the particle distribution with the seed-photons spectrum; iii) without suppression by the BLR, broad-line blazars can become copious emitters above 100 GeV, as demonstrated by 3C 454.3. We expect the CTA sky to be much richer of broad-line blazars than previously thought.

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.

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.

Kinematics of machinery through hyperworks

CERN Document Server

Rao, J S

2011-01-01

Using animations, this book explains the theory of machines concepts and the evolution of Kinematics. The book adopts HyperWorks MotionSolve to perform the analysis and visualizations, though the book is independent of the requirement of any software.

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.

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.

The cloud radiative feedback of a midlatitude squall line system and implication for climate study

International Nuclear Information System (INIS)

Chin, H.N.S.

1992-01-01

The main objectives of this study are (1) to study the impact of longwave and shortwave radiation on the thermodynamic and kinematic structure of a midlatitude squall line; and (2) to explore the influence of specifically including the ice phase in the cloud-radiation feedback mechanism for climate models

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.

A Smooth Tour Construction Approach for a Mobile Robot with Kinematic Constraints

Directory of Open Access Journals (Sweden)

Ahmet Yazici

2013-10-01

Full Text Available Mobile robots are increasingly used for service-like applications in which the service points are known and the mobile robot starts from a starting location, visits all the service points requested and returns to the starting location. The tour construction problem in these applications can be treated as a Travelling Salesman Problem (TSP. Classical tour construction algorithms that are proposed for the TSP find tours do not consider robot kinematic constraints. These tours may have sharp turns at some service points. When a mobile robot follows such a tour, it stops, turns and speeds up again. Therefore, the robots waste a considerable amount of power and time. In these cases, tour smoothing can be used to overcome this problem. However, smoothing an existing tour may result in unnecessarily long tours. In this study, a Smooth Tour Construction (STC approach is proposed for mobile robots with kinematic constraints. The STC approach considers tour construction and tour smoothing concurrently. The logic behind the tour construction part of the approach is based on the Savings Algorithm (SA. The tour smoothing is based on Dubins' arc-line approach. Experiments are conducted for P3-DX robots in a laboratory environment. Comparisons are also drawn with various tour smoothing algorithms in simulation environments to demonstrate the effectiveness of the proposed STC approach.

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

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

Flaring radio lanterns along the ridge line: long-term oscillatory motion in the jet of S5 1803+784

Science.gov (United States)

Kun, E.; Karouzos, M.; Gabányi, K. É.; Britzen, S.; Kurtanidze, O. M.; Gergely, L. Á.

2018-04-01

We present a detailed analysis of 30 very long baseline interferometric observations of the BL Lac object S5 1803+784 (z = 0.679), obtained between mean observational time 1994.67 and 2012.91 at observational frequency 15 GHz. The long-term behaviour of the jet ridge line reveals the jet experiences an oscillatory motion superposed on its helical jet kinematics on a time-scale of about 6 years. The excess variance of the positional variability indicates the jet components being farther from the VLBI core have larger amplitude in their position variations. The fractional variability amplitude shows slight changes in 3-year bins of the component's position. The temporal variability in the Doppler boosting of the ridge line results in jet regions behaving as flaring "radio lanterns". We offer a qualitative scenario leading to the oscillation of the jet ridge line, that utilizes the orbital motion of the jet emitter black hole due to a binary black hole companion. A correlation analysis implies composite origin of the flux variability of the jet components, emerging due to possibly both the evolving jet-structure and its intrinsic variability.

The Size-Luminosity Relationship of Quasar Narrow-Line Regions

Science.gov (United States)

Dempsey, Ross; Zakamska, Nadia L.

2018-04-01

The presence of an active galactic nucleus (AGN) can strongly affect its host. Due to the copious radiative power of the nucleus, the effects of radiative feedback can be detected over the entire host galaxy and sometimes well into the intergalactic space. In this paper we model the observed size-luminosity relationship of the narrow-line regions (NLRs) of AGN. We model the NLR as a collection of clouds in pressure equilibrium with the ionizing radiation, with each cloud producing line emission calculated by Cloudy. The sizes of the NLRs of powerful quasars are reproduced without any free parameters, as long as they contain massive (105M⊙ to 107M⊙) ionization-bounded clouds. At lower AGN luminosities the observed sizes are larger than the model sizes, likely due to additional unmodeled sources of ionization (e.g., star formation). We find that the observed saturation of sizes at ˜10kpc which is observed at high AGN luminosities (Lion ≃ 1046erg/s) is naturally explained by optically thick clouds absorbing the ionizing radiation and preventing illumination beyond a critical distance. Using our models in combination with observations of the [O III]/IR ratio and the [O III] size - IR luminosity relationship, we calculate the covering factor of the obscuring torus (and therefore the type 2 fraction within the quasar population) to be f = 0.5, though this is likely an upper bound. Finally, because the gas behind the ionization front is invisible in ionized gas transitions, emission-based NLR mass calculations underestimate the mass of the NLR and therefore of the energetics of ionized-gas winds.

2D CFD description of the kinematic effects of movable inlet and outlet die wall transport motion and punch shape geometry on the dynamics of viscous flow during ECAE through Segal 2θ-dies for a range of channel angles

Directory of Open Access Journals (Sweden)

Alexander V. Perig

2017-11-01

Full Text Available Minimization of the dead zone (DZA in the process of material forming is a materials science problem. Geometric and kinematic approaches to the minimization of the DZA during Equal Channel Angular Extrusion (ECAE have been proposed, developed, analyzed, and documented. The present article is focused on a 2D Computational Fluid Dynamics (CFD description of the kinematic effects of punch shape geometry and inlet (IDW and outlet (ODW die wall motion on the DZA during ECAE of Viscous Incompressible Continuum (VIC through a Segal 2θ-die for a range of channel angles 60° ≤ 2θ ≤ 135°. Due attention has been given to the independent alternating transport motions of the IDW and ODW. Punch shape geometry and the kinematic modes of IDW and ODW motions for DZA minimization have been determined with a numerical solution of the boundary value problem for the Navier-Stokes equations in curl transfer form for VIC. Experimental verification was accomplished with an introduction of initial circular gridlines-based physical simulation techniques. For the first time, experimental verification of CFD-derived results was made through an additional superposition of empirically-derived digital photos with deformed elliptical gridlines in the channel intersection deformation zones and correspondent 2D numerical plots with CFD-derived flow lines and full flow velocities. An empirical DZA localization was experimentally determined as the location of minimally-deformed near circular markers. The computational DZA localization was numerically determined as a flow-lines-free zone (the first hypothesis or as a zone with near-zero values of full flow velocities (the second hypothesis. The relative DZA was estimated as a ratio of the measured DZA with respect to the area of the deformation zone in the channel intersection region. A good agreement was obtained between DZA values obtained with the first hypothesis and experimental results.

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.

High-resolution Laboratory Measurements of Coronal Lines near the Fe IX Line at 171 Å

Science.gov (United States)

Beiersdorfer, Peter; Träbert, Elmar

2018-02-01

We present high-resolution laboratory measurements in the spectral region between 165 and 175 Å that focus on the emission from various ions of C, O, F, Ne, S, Ar, Fe, and Ni. This wavelength region is centered on the λ171 Fe IX channel of the Atmospheric Imaging Assembly on the Solar Dynamics Observatory, and we place special emphasis on the weaker emission lines of Fe IX predicted in this region. In general, our measurements show a multitude of weak lines missing in the current databases, where the emission lines of Ni are probably most in need of further identification and reclassification. We also find that the wavelengths of some of the known lines need updating. Using the multi-reference Møller–Plesset method for wavelength predictions and collisional-radiative modeling of the line intensities, we have made tentative assignments of more than a dozen lines to the spectrum of Fe IX, some of which have formerly been identified as Fe VII, Fe XIV, or Fe XVI lines. Several Fe features remain unassigned, although they appear to be either Fe VII or Fe X lines. Further work will be needed to complete and correct the spectral line lists in this wavelength region.

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.

Footpoints of the giant molecular loops in the Galactic center region

Science.gov (United States)

Riquelme, D.; Amo-Baladrón, M. A.; Martín-Pintado, J.; Mauersberger, R.; Martín, S.; Burton, M.; Cunningham, M.; Jones, P. A.; Menten, K. M.; Bronfman, L.; Güsten, R.

2018-05-01

Aims: We aim to reveal the morphology, chemical composition, kinematics, and to establish the main processes prevalent in the gas at the footpoints of the giant molecular loops (GMLs) in the Galactic center region. Methods: Using the 22-m Mopra telescope, we mapped the M-3.8+0.9 molecular cloud, placed at the footpoints of a GML, in 3-mm range molecular lines. To derive the molecular hydrogen column density, we also observed the 13CO(2 - 1) line at 1 mm using the 12-m APEX telescope. From the 3 mm observations 12 molecular species were detected, namely HCO+, HCN, H13CN, HNC, SiO, CS, CH3OH, N2H+, SO, HNCO, OCS, and HC3N. Results: Maps revealing the morphology and kinematics of the M-3.8+0.9 molecular cloud in different molecules are presented. We identify six main molecular complexes. We derive fractional abundances in 11 selected positions of the different molecules assuming local thermodynamical equilibrium. Conclusions: Most of the fractional abundances derived for the M-3.8+0.9 molecular cloud are very similar over the whole cloud. However, the fractional abundances of some molecules show significant difference with respect to those measured in the central molecular zone (CMZ). The abundances of the shock tracer SiO are very similar between the GMLs and the CMZ. The methanol emission is the most abundant species in the GMLs. This indicates that the gas is likely affected by moderate 30 km s-1 or even high velocity (50 km s-1) shocks, consistent with the line profile observed toward one of the studied position. The origin of the shocks is likely related to the flow of the gas throughout the GMLs towards the footpoints. OPRA and APEX final data cubes (FITS) are 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/613/A42

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.

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.

SIMULTANEOUS ULTRAVIOLET AND OPTICAL EMISSION-LINE PROFILES OF QUASARS: IMPLICATIONS FOR BLACK HOLE MASS DETERMINATION

International Nuclear Information System (INIS)

Ho, Luis C.; Dong Xiaobo; Goldoni, Paolo; Ponti, Gabriele; Greene, Jenny E.

2012-01-01

The X-shooter instrument on the Very Large Telescope was used to obtain spectra of seven moderate-redshift quasars simultaneously covering the spectral range ∼3000 Å to 2.5 μm. At z ≈ 1.5, most of the prominent broad emission lines in the ultraviolet to optical region are captured in their rest frame. We use this unique data set, which mitigates complications from source variability, to intercompare the line profiles of C IV λ1549, C III] λ1909, Mg II λ2800, and Hα and evaluate their implications for black hole (BH) mass estimation. We confirm that Mg II and the Balmer lines share similar kinematics and that they deliver mutually consistent BH mass estimates with minimal internal scatter (∼<0.1 dex) using the latest virial mass estimators. Although no virial mass formalism has yet been calibrated for C III], this line does not appear promising for such an application because of the large spread of its velocity width compared to lines of both higher and lower ionization; part of the discrepancy may be due to the difficulty of deblending C III] from its neighboring lines. The situation for C IV is complex and, because of the limited statistics of our small sample, inconclusive. On the one hand, slightly more than half of our sample (4/7) have C IV line widths that correlate reasonably well with Hα line widths, and their respective BH mass estimates agree to within ∼0.15 dex. The rest, on the other hand, exhibit exceptionally broad C IV profiles that overestimate virial masses by factors of 2-5 compared to Hα. As C IV is widely used to study BH demographics at high redshifts, we urgently need to revisit our analysis with a larger sample.

A DEEP CHANDRA ACIS STUDY OF NGC 4151. II. THE INNERMOST EMISSION LINE REGION AND STRONG EVIDENCE FOR RADIO JET-NLR CLOUD COLLISION

International Nuclear Information System (INIS)

Wang Junfeng; Fabbiano, Giuseppina; Elvis, Martin; Risaliti, Guido; Karovska, Margarita; Zezas, Andreas; Mundell, Carole G.

2011-01-01

We have studied the X-ray emission within the inner ∼150 pc radius of NGC 4151 by constructing high spatial resolution emission line images of blended O VII, O VIII, and Ne IX. These maps show extended structures that are spatially correlated with the radio outflow and optical [O III] emission. We find strong evidence for jet-gas cloud interaction, including morphological correspondences with regions of X-ray enhancement, peaks of near-infrared [Fe II] emission, and optical clouds. In these regions, moreover, we find evidence of elevated Ne IX/O VII ratios; the X-ray emission of these regions also exceeds that expected from nuclear photoionization. Spectral fitting reveals the presence of a collisionally ionized component. The thermal energy of the hot gas suggests that ∼> 0.1% of the estimated jet power is deposited into the host interstellar medium through interaction between the radio jet and the dense medium of the circumnuclear region. We find possible pressure equilibrium between the collisionally ionized hot gas and the photoionized line-emitting cool clouds. We also obtain constraints on the extended iron and silicon fluorescent emission. Both lines are spatially unresolved. The upper limit on the contribution of an extended emission region to the Fe Kα emission is ∼< 5% of the total, in disagreement with a previous claim that 65% of the Fe Kα emission originates in the extended narrow line region.

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.

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

Transfer reactions in inverse kinematics at REX-ISOLDE

CERN Document Server

Tengborn, E

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

Response (re-)programming in aging: a kinematic analysis.

Science.gov (United States)

Bellgrove, M A; Phillips, J G; Bradshaw, J L; Gallucci, R M

1998-05-01

Age-related motor slowing may reflect either motor programming deficits, poorer movement execution, or mere strategic preferences for online guidance of movement. We controlled such preferences, limiting the extent to which movements could be programmed. Twenty-four young and 24 older adults performed a line drawing task that allowed movements to be prepared in advance in one case (i.e., cue initially available indicating target location) and not in another (i.e., no cue initially available as to target location). Participants connected large or small targets illuminated by light-emitting diodes upon a graphics tablet that sampled pen tip position at 200 Hz. Older adults had a disproportionate difficulty initiating movement when prevented from programming in advance. Older adults produced slower, less efficient movements, particularly when prevented from programming under greater precision requirements. The slower movements of older adults do not simply reflect a preference for online control, as older adults have less efficient movements when forced to reprogram their movements. Age-related motor slowing kinematically resembles that seen in patients with cerebellar dysfunction.

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.

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.

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.

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

Science.gov (United States)

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

2017-07-01

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

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

FT-IR measurements of NH3 in the 1.5 μm region: line positions, intensities and their quantum assignments

Science.gov (United States)

Sung, K.; Brown, L. R.; Huang, X.; Schwenke, D. W.; Lee, T. J.

2011-12-01

As part of an effort to provide a complete set of spectroscopic line parameters of NH3 in the 1.5 μm region, we have analyzed the laboratory spectra recorded at various temperatures (200 - 299 K) with the McMath-Pierce Fourier transform spectrometer (FTS) on Kitt Peak Observatory in Arizona. The integrated sum of observed line strengths is measured to be 4.7×10-19 cm/molecule in the 6300 - 7000 cm-1 region. In this poster, we present line positions and strengths for the lines from four strong bands (2v1, 2v3, v1+v3, v1+2v4 and v3+2v4), which contribute more than 65% of opacity in the region. Lower state energies and quantum assignments determined by constructing combination differences are also presented. A theoretical IR linelist (X. Huang, D. W. Schwenke, and T. J. Lee. J. Chem. Phys., 134, 044320/044321, 2011) built upon the recent HSL-2 potential energy surface (nonadiabatic corrections included) is complementarily used for the quantum assignments. This work will support spectroscopic studies of atmospheres of outer planets, low mass brown dwarfs, and possibly extrasolar planets, in the 1.5 μm region (the H-band), where ammonia is one of significant opacity sources. (Research described in this talk was performed at Jet Propulsion Laboratory, California Institute of Technology, and was supported by the Planetary Atmospheric Research Program under the National Aeronautics and Space Administration. The AMES group acknowledges support from the NASA APRA & Herschel GO Program, and X.H. acknowledges the support by NASA/SETI Institute Co-operative Agreement.)

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

International Nuclear Information System (INIS)

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

2009-01-01

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

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.

THE ARIZONA RADIO OBSERVATORY CO MAPPING SURVEY OF GALACTIC MOLECULAR CLOUDS. I. THE W51 REGION IN CO AND 13CO J = 2-1 EMISSION

International Nuclear Information System (INIS)

Bieging, John H.; Peters, William L.; Kang, Miju

2010-01-01

We present 38'' resolution maps of the CO and 13 CO J = 2-1 lines in the molecular clouds toward the H II region complex W51. The maps cover a 1. 0 25 x 1 0 section of the galactic plane and span +30 to +85 km s -1 (LSR) in velocity. The spectral resolution is ∼1.3 km s -1 . The velocity range of the images includes all the gas in the Sagittarius spiral arm. Color figures display the peak line brightness temperature, the velocity-integrated intensity, and 2 km s -1 channel-averaged maps for both isotopologs, and also the CO/ 13 CO J = 2-1 line intensity ratio as a function of velocity. The CO and 13 CO line intensity image cubes are made available in standard FITS format as electronically readable tables. We compare our molecular line maps with the 1.1 mm continuum image from the BOLOCAM Galactic Plane Survey. From our 13 CO image cube, we derive kinematic information for the 99 BGPS sources in the mapped field in the form of Gaussian component fits. The integrated 13 CO line intensity and the 1.1 mm source flux density show only a modest degree of correlation for the 99 sources, likely due to a range of dust and gas physical conditions within the sources. However, the 1.1 mm continuum surface brightness and the integrated 13 CO line intensity for small regions containing single BGPS sources and molecular clouds show very good correlations in many cases. Differences in the shapes of these correlations from one spatial region to another probably result from different physical conditions or structure in the clouds.

Kinematic Modeling of Distant Galaxies

Directory of Open Access Journals (Sweden)

Kipper Rain

2012-12-01

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

Numerical simulations of sheared magnetic lines at the solar null line

Science.gov (United States)

Kuźma, B.; Murawski, K.; Solov'ev, A.

2015-05-01

Aims: We perform numerical simulations of sheared magnetic lines at the magnetic null line configuration of two magnetic arcades that are settled in a gravitationally stratified and magnetically confined solar corona. Methods: We developed a general analytical model of a 2.5D solar atmospheric structure. As a particular application of this model, we adopted it for the curved magnetic field lines with an inverted Y shape that compose the null line above two magnetic arcades, which are embedded in the solar atmosphere that is specified by the realistic temperature distribution. The physical system is described by 2.5D magnetohydrodynamic equations that are numerically solved by the FLASH code. Results: The magnetic field line shearing, implemented about 200 km below the transition region, results in Alfvén and magnetoacoustic waves that are able to penetrate solar coronal regions above the magnetic null line. As a result of the coupling of these waves, partial reflection from the transition region and scattering from inhomogeneous regions the Alfvén waves experience fast attenuation on time scales comparable to their wave periods, and the physical system relaxes in time. The attenuation time grows with the large amplitude and characteristic growing time of the shearing. Conclusions: By having chosen a different magnetic flux function, the analytical model we devised can be adopted to derive equilibrium conditions for a diversity of 2.5D magnetic structures in the solar atmosphere. Movie associated to Fig. 5 is available in electronic form at http://www.aanda.org

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.

Constraining The Abundance Of Massive Black Hole Binaries By Spectroscopic Monitoring Of Quasars With Offset Broad Emission Lines

Science.gov (United States)

Liu, Xin; Shen, Y.

2012-05-01

A fraction of quasars have long been known to show significant bulk velocity offsets (of a few hundred to thousands of km/s) in the broad permitted emission lines with respect to host galaxy systemic redshift. Various scenarios may explain these features such as massive black hole binaries or broad line region gas kinematics. As previously demonstrated by the dedicated work of Eracleous and colleagues, long-term spectroscopic monitoring provides a promising test to discriminate between alternative scenarios. Here, we present a sample of 300 shifted-line quasars homogeneously selected from the SDSS DR7. For 60 of them, we have conducted second-epoch optical spectra using MMT/BCS, ARC 3.5m/DIS, and/or FLWO 1.5m/FAST. These new observations, combined with the existing SDSS spectra, enable us to constrain the velocity drifts of these shifted broad lines with time baselines of a few years up to a decade. Previous work has been focusing on objects with extreme velocity offsets: > 1000 km/s. Our work extends to the parameter space of smaller velocity offsets, where larger velocity drifts would be expected in the binary scenario. Our results may be used to identify strong candidates for and to constrain the abundance of massive black hole binaries, which are expected in the hierarchical universe, but have so far been illusive.

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 ...

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

Hemodiafiltration using pre-dilutional on-line citrate dialysate: A new technique for regional citrate anticoagulation: A feasibility study

Directory of Open Access Journals (Sweden)

Radhouane Bousselmi

2015-01-01

Full Text Available A prospective, observational, feasibility study was carried out on four patients with end-stage renal failure undergoing bicarbonate hemodialysis to study the feasibility of an on-line hemodiafiltration technique using a citrate dialysate with pre-dilutional infusion of citrate as a technique for regional citrate anticoagulation. All patients had contraindication to systemic heparin anticoagulation. The dialysis technique consisted of an on-line hemodiafiltration with a citrate dialysate without calcium using a Fresenius 4008S dialysis machine and Fresenius Polysulfone F60 dialyzers. The infusion solution was procured directly from the dialysate and was infused into the arterial line. To avoid the risk of hypocalcemia, calcium gluconate was infused to the venous return line. The study was carried out in two stages. During the first stage, the citrate infusion rate was 80 mL/min and the calcium infusion rate was 9 mmol/h. At the second stage, the rates were 100 mL/min and 11 mmol/h, respectively. The primary endpoint of this study was the incidence of thrombosis in the extracorporeal blood circuit and/or the dialyzer. A total of 78 sessions were conducted. All the sessions were well tolerated clinically and there were no major incidents in any of the four patients. At the first stage of the study, there were five incidences of small clots in the venous blood chamber, an incidence of extracorporeal blood circuit thrombosis of 12.5%. At the second stage of the study, no cases of extracorporeal blood circuit or dialyzer thrombosis were noted. Hemodiafiltration with on-line citrate dialysate infusion to the arterial line is safe and allows an effective regional anticoagulation of the extracorporeal blood circuit without the need for systemic anticoagulation.

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.

Synthetic tsunami waveform catalogs with kinematic constraints

Science.gov (United States)

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

2017-07-01

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

The Three-Dimensional Morphology of VY Canis Majoris. I. The Kinematics of the Ejecta

Science.gov (United States)

Humphreys, Roberta M.; Helton, L. Andrew; Jones, Terry J.

2007-06-01

Images of the complex circumstellar nebula associated with the famous red supergiant VY CMa show evidence for multiple and asymmetric mass-loss events over the past 1000 yr. Doppler velocities of the arcs and knots in the ejecta show that they are not only spatially distinct but also kinematically separate from the surrounding diffuse material. In this paper we describe second-epoch HST WFPC2 images to measure the transverse motions, which when combined with the radial motions provide a complete picture of the kinematics of the ejecta, including the total space motions and directions of the outflows. Our results show that the arcs and clumps of knots are moving at different velocities, in different directions, and at different angles relative to the plane of the sky and to the star, confirming their origin from eruptions at different times and from physically separate regions on the star. We conclude that the morphology and kinematics of the arcs and knots are consistent with a history of mass ejections not aligned with any presumed axis of symmetry. The arcs and clumps represent relatively massive outflows and ejections of gas very likely associated with large-scale convective activity and magnetic fields. Based on observations with the NASA/ESA Hubble Space Telescope, obtained at the Space Telescope Science Institute, which is operated by the Association of Universities for Research in Astronomy, Inc., under NASA contract NAS 5-26555.

PHIBSS: MOLECULAR GAS, EXTINCTION, STAR FORMATION, AND KINEMATICS IN THE z = 1.5 STAR-FORMING GALAXY EGS13011166

Energy Technology Data Exchange (ETDEWEB)

Genzel, R.; Tacconi, L. J.; Kurk, J.; Wuyts, S.; Foerster Schreiber, N. M.; Gracia-Carpio, J. [Max-Planck-Institut fuer extraterrestrische Physik (MPE), Giessenbachstr., D-85748 Garching (Germany); Combes, F.; Freundlich, J. [Observatoire de Paris, LERMA, CNRS, 61 Av. de l' Observatoire, F-75014 Paris (France); Bolatto, A. [Department of Astronomy, University of Maryland, College Park, MD 20742-2421 (United States); Cooper, M. C. [Department of Physics and Astronomy, Frederick Reines Hall, University of California, Irvine, CA 92697 (United States); Neri, R. [IRAM, 300 Rue de la Piscine, F-38406 St. Martin d' Heres, Grenoble (France); Nordon, R. [Sackler School of Physics and Astronomy, Tel Aviv University, Tel Aviv 69978 (Israel); Bournaud, F. [Service d' Astrophysique, DAPNIA, CEA/Saclay, F-91191 Gif-sur-Yvette Cedex (France); Burkert, A. [Universitaetssternwarte der Ludwig-Maximiliansuniversitaet, Scheinerstr. 1, D-81679 Muenchen (Germany); Comerford, J. [Department of Astronomy and McDonald Observatory, 1 University Station, C1402 Austin, TX 78712-0259 (United States); Cox, P. [Department of Physics, Le Conte Hall, University of California, 94720 Berkeley, CA (United States); Davis, M. [Department of Astronomy, Campbell Hall, University of California, Berkeley, CA 94720 (United States); Garcia-Burillo, S. [Observatorio Astronomico Nacional-OAN, Observatorio de Madrid, Alfonso XII, 3, E-28014 Madrid (Spain); Naab, T. [Max-Planck Institut fuer Astrophysik, Karl Schwarzschildstrasse 1, D-85748 Garching (Germany); Lutz, D., E-mail: genzel@mpe.mpg.de, E-mail: linda@mpe.mpg.de; and others

2013-08-10

We report matched resolution imaging spectroscopy of the CO 3-2 line (with the IRAM Plateau de Bure millimeter interferometer) and of the H{alpha} line (with LUCI at the Large Binocular Telescope) in the massive z = 1.53 main-sequence galaxy EGS 13011166, as part of the ''Plateau de Bure high-z, blue-sequence survey'' (PHIBSS: Tacconi et al.). We combine these data with Hubble Space Telescope V-I-J-H-band maps to derive spatially resolved distributions of stellar surface density, star formation rate, molecular gas surface density, optical extinction, and gas kinematics. The spatial distribution and kinematics of the ionized and molecular gas are remarkably similar and are well modeled by a turbulent, globally Toomre unstable, rotating disk. The stellar surface density distribution is smoother than the clumpy rest-frame UV/optical light distribution and peaks in an obscured, star-forming massive bulge near the dynamical center. The molecular gas surface density and the effective optical screen extinction track each other and are well modeled by a ''mixed'' extinction model. The inferred slope of the spatially resolved molecular gas to star formation rate relation, N = dlog{Sigma}{sub starform}/dlog{Sigma}{sub molgas}, depends strongly on the adopted extinction model, and can vary from 0.8 to 1.7. For the preferred mixed dust-gas model, we find N = 1.14 {+-} 0.1.

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

Assessing distances and consistency of kinematics in Gaia/TGAS

Science.gov (United States)

Schönrich, Ralph; Aumer, Michael

2017-12-01

We apply the statistical methods by Schönrich, Binney & Asplund to assess the quality of distances and kinematics in the Radial Velocity Experiment (RAVE)-Tycho-Gaia Astrometric Solution (TGAS) and Large Sky Area Multiobject Fiber Spectroscopic Telescope (LAMOST)-TGAS samples of Solar neighbourhood stars. These methods yield a nominal distance accuracy of 1-2 per cent. Other than common tests on parallax accuracy, they directly test distance estimations including the effects of distance priors. We show how to construct these priors including the survey selection functions (SSFs) directly from the data. We demonstrate that neglecting the SSFs causes severe distance biases. Due to the decline of the SSFs in distance, the simple 1/parallax estimate only mildly underestimates distances. We test the accuracy of measured line-of-sight velocities (vlos) by binning the samples in the nominal vlos uncertainties. We find: (i) the LAMOST vlos have a ∼-5 km s-1 offset; (ii) the average LAMOST measurement error for vlos is ∼7 km s-1, significantly smaller than, and nearly uncorrelated with the nominal LAMOST estimates. The RAVE sample shows either a moderate distance underestimate, or an unaccounted source of vlos dispersion (e∥) from measurement errors and binary stars. For a subsample of suspected binary stars in RAVE, our methods indicate significant distance underestimates. Separating a sample in metallicity or kinematics to select thick-disc/halo stars, discriminates between distance bias and e∥. For LAMOST, this separation yields consistency with pure vlos measurement errors. We find an anomaly near longitude l ∼ (300 ± 60)° and distance s ∼ (0.32 ± 0.03) kpc on both sides of the galactic plane, which could be explained by either a localized distance error or a breathing mode.

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)

A REVISED BROAD-LINE REGION RADIUS AND BLACK HOLE MASS FOR THE NARROW-LINE SEYFERT 1 NGC 4051

International Nuclear Information System (INIS)

Denney, K. D.; Watson, L. C.; Peterson, B. M.

2009-01-01

We present the first results from a high sampling rate, multimonth reverberation mapping campaign undertaken primarily at MDM Observatory with supporting observations from telescopes around the world. The primary goal of this campaign was to obtain either new or improved Hβ reverberation lag measurements for several relatively low luminosity active galactic nuclei (AGNs). We feature results for NGC 4051 here because, until now, this object has been a significant outlier from AGN scaling relationships, e.g., it was previously a ∼2-3σ outlier on the relationship between the broad-line region (BLR) radius and the optical continuum luminosity-the R BLR -L relationship. Our new measurements of the lag time between variations in the continuum and Hβ emission line made from spectroscopic monitoring of NGC 4051 lead to a measured BLR radius of R BLR = 1.87 +0.54 -0.50 light days and black hole mass of M BH = (1.73 +0.55 -0.52 ) x 10 6 M sun . This radius is consistent with that expected from the R BLR -L relationship, based on the present luminosity of NGC 4051 and the most current calibration of the relation by Bentz et al.. We also present a preliminary look at velocity-resolved Hβ light curves and time delay measurements, although we are unable to reconstruct an unambiguous velocity-resolved reverberation signal.

Mass density slope of elliptical galaxies from strong lensing and resolved stellar kinematics

Science.gov (United States)

Lyskova, N.; Churazov, E.; Naab, T.

2018-04-01

We discuss constraints on the mass density distribution (parametrized as ρ ∝ r-γ) in early-type galaxies provided by strong lensing and stellar kinematics data. The constraints come from mass measurements at two `pinch' radii. One `pinch' radius r1 = 2.2REinst is defined such that the Einstein (i.e. aperture) mass can be converted into the spherical mass almost independently of the mass-model. Another `pinch' radius r2 = Ropt is chosen so that the dynamical mass, derived from the line-of-sight velocity dispersion, is least sensitive to the anisotropy of stellar orbits. We verified the performance of this approach on a sample of simulated elliptical galaxies and on a sample of 15 SLACS lens galaxies at 0.01 ≤ z ≤ 0.35, which have already been analysed in Barnabè et al. by the self-consistent joint lensing and kinematic code. For massive simulated galaxies, the density slope γ is recovered with an accuracy of ˜13 per cent, unless r1 and r2 happen to be close to each other. For SLACS galaxies, we found good overall agreement with the results of Barnabè et al. with a sample-averaged slope γ = 2.1 ± 0.05. Although the two-pinch-radii approach has larger statistical uncertainties, it is much simpler and uses only few arithmetic operations with directly observable quantities.

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.

Interrogating Seyferts with NebulaBayes: Spatially Probing the Narrow-line Region Radiation Fields and Chemical Abundances