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

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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.

Distribution and Kinematics of Classical Cepheids in the Galactic Outer Ring

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Mel’nik A. M.

2015-03-01

Full Text Available The existence of an outer ring in the Galaxy can explain the kinematics of OB associations in the Perseus and Sagittarius stellar-gas complexes. Moreover, it can also explain the orientation of the Carina arm with respect to the major axis of the bar. We show in this paper that the morphological and kinematical features of the sample of classical Cepheids are consistent with the presence of an R1R′2 ring in the Galaxy.

Functional Morphology of Eunicidan (Polychaeta) Jaws

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Clemo, W. C.; Dorgan, K. M.

2016-02-01

Polychaetes exhibit diverse feeding strategies and diets, with some species possessing hardened teeth or jaws of varying complexity. Species in the order Eunicida have complex, rigidly articulated jaws consisting of multiple pairs of maxillae and a pair of mandibles. While all Eunicida possess this general jaw structure, a number of characteristics of the jaw parts vary considerably among families. These differences, described for fossilized and extant species' jaws, were used to infer evolutionary relationships, but current phylogeny shows that jaw structures that are similar among several families are convergent. Little has been done, however, to relate jaw functional morphology and feeding behavior to diet. To explore these relationships, we compared the jaw kinematics of two taxa with similar but evolutionarily convergent jaw structures: Diopatra (Onuphidae) and Lumbrineris (Lumbrineridae). Diopatra species are tube-dwelling and predominantly herbivorous, whereas Lumbrineris species are burrowing carnivores. Jaw kinematics were observed and analyzed by filming individuals biting or feeding and tracking tooth movements in videos. Differences in jaw structure and kinematics between Diopatra and Lumbrineris can be interpreted to be consistent with their differences in diet. Relating jaw morphology to diet would provide insight into early annelid communities by linking fossil teeth (scolecodonts) to the ecological roles of extant species with similar morphologies.

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

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O. Kurkina

2017-10-01

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

Parallel kinematics type, kinematics, and optimal design

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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...

REGISTRATION OF INTERNAL MORPHOLOGICAL CHARACTERISTICS OF THE TOOTH USING DENTAL PHOTOGRAPHY

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Todor T. Uzunov

2015-01-01

Full Text Available Purpose: Dental photography plays important role in the transfer of information between dentists as well as in communication between them and the dental technicians. It is very important to take precise photos of external and internal morphological characteristics of the teeth. There are different methods for that. The aim is to establish a protocol for registration of internal morphological characteristics of teeth by digital dental photography. Material and methods: For the accomplishment of the aim60intact frontal teeth of 30 patients aged between 18 and 20 years were photographed. The following basic and additional devices for dental photography were used: 1. Digital SLR (DSLR: • Body - Nikon D90 • Lens - Nikon AF-S Micro Nikkor 105 f / 2.8G VR • Flash - Nikon SB-R-200 Speedlight remote kit R1 2. Lingual contraster 3. Reflective disk with silver surface Lingual contraster was placed behind the respective tooth when taking photos. Light reflector was placed sideways near patient’s head. The head of the flash that is near to the reflector was oriented towards it. The other flash on the opposite side, activated at a minimum power, was directed to the tooth row. Results: Internal characteristics of the tooth - enamel cracks, translucency, transparency, opacity and opalescence were easily and predictably recorded by the described methodology. Conclusions: The method suggested by us can be successfully used for recording the internal morphological characteristics of the tooth.

Exploring the Origin of Kinematically Irregular Galaxies with MaNGA

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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.

Kinematic cross-correlation induces sensory integration across separate objects.

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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.

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

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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

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

Extensive jaw mobility in suckermouth armored catfishes (Loricariidae): a morphological and kinematic analysis of substrate scraping mode of feeding.

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Adriaens, Dominique; Geerinckx, Tom; Vlassenbroeck, Jelle; Van Hoorebeke, Luc; Herrel, Anthony

2009-01-01

Loricariidae, or suckermouth armored catfishes, possess upper and lower jaws that are ventrally oriented and that bear teeth that touch the substrate from which algae and other food items are scraped. The ventral orientation and the highly specialized morphology of the jaws, characterized by protrusible upper jaws and left-right decoupled lower jaws, are observed in Pterygoplichthys disjunctivus, the species investigated here. Kinematic data of the scraping feeding movements, obtained by external high-speed and x-ray recordings, are used to quantify jaw movement, especially to test for upper jaw mobility and versatility during substrate scraping. Our results show that the mobility of the jaws is indeed high compared with what is standard for catfishes. The upper jaw's ability to perform a substantial degree of rostrocaudal movement is quite unique for catfishes. The ventromedially oriented lower jaws, with the teeth and the coronoid process at opposite sides, display an extensive mobility: they rotate around the suspensorial articulation and around their longitudinal axis, resulting in an extended scraping movement and thereby covering a large surface area. The lower jaws also show a left-right asymmetry in their movements during scraping. Thus, our results suggest that the extreme morphological specializations of the jaws in loricariid catfishes are linked to an increased mobility and functional versatility, allowing these animals to efficiently scrape algae from substrates with irregular surfaces.

Bat flight: aerodynamics, kinematics and flight morphology.

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Hedenström, Anders; Johansson, L Christoffer

2015-03-01

Bats evolved the ability of powered flight more than 50 million years ago. The modern bat is an efficient flyer and recent research on bat flight has revealed many intriguing facts. By using particle image velocimetry to visualize wake vortices, both the magnitude and time-history of aerodynamic forces can be estimated. At most speeds the downstroke generates both lift and thrust, whereas the function of the upstroke changes with forward flight speed. At hovering and slow speed bats use a leading edge vortex to enhance the lift beyond that allowed by steady aerodynamics and an inverted wing during the upstroke to further aid weight support. The bat wing and its skeleton exhibit many features and control mechanisms that are presumed to improve flight performance. Whereas bats appear aerodynamically less efficient than birds when it comes to cruising flight, they have the edge over birds when it comes to manoeuvring. There is a direct relationship between kinematics and the aerodynamic performance, but there is still a lack of knowledge about how (and if) the bat controls the movements and shape (planform and camber) of the wing. Considering the relatively few bat species whose aerodynamic tracks have been characterized, there is scope for new discoveries and a need to study species representing more extreme positions in the bat morphospace. © 2015. Published by The Company of Biologists Ltd.

Sex Differences in Tibiocalcaneal Kinematics

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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.

3-Rooted Maxillary First Premolars: An Ex Vivo Study of External and Internal Morphologies.

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Beltes, Panagiotis; Kalaitzoglou, Maria-Elpida; Kantilieraki, Eleni; Beltes, Charalampos; Angelopoulos, Christos

2017-08-01

This study aimed to analyze the external and internal morphologies of 3-rooted maxillary first premolars using cone-beam computed tomographic (CBCT) imaging. Fifty-six three-rooted maxillary first premolars were imaged by CBCT imaging and classified into 4 groups on the basis of external root morphology. Internal morphologic features, including the shapes of the buccal and palatal orifices and distances of bifurcation of the buccal-palatal and mesiobuccal-distobuccal root canals from the cementoenamel junction (CEJ), were measured. The teeth were classified into 4 groups on the basis of external morphology: group A, separation of the buccal and palatal roots with bifurcation of the former into the mesiobuccal and distobuccal roots (n = 22); group B, fusion of 2 buccal roots with the palatal root being separate (n = 19); group C, complete or partial fusion of the distobuccal and palatal roots (n = 9); and group D, fusion of all 3 roots (n = 6). The buccal orifice was mainly triangular/heart shaped. The distance of bifurcation of the buccal-palatal root canals from the CEJ in group A differed significantly from those in groups B and C (P external and internal morphologies of 3-rooted maxillary first premolars vary considerably. Copyright © 2017 American Association of Endodontists. Published by Elsevier Inc. All rights reserved.

The Kinematics of the Permitted C ii λ 6578 Line in a Large Sample of Planetary Nebulae

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Richer, Michael G.; Suárez, Genaro; López, José Alberto; García Díaz, María Teresa, E-mail: richer@astrosen.unam.mx, E-mail: gsuarez@astro.unam.mx, E-mail: jal@astrosen.unam.mx, E-mail: tere@astro.unam.mx [Instituto de Astronomía, Universidad Nacional Autónoma de México, Ensenada, Baja California (Mexico)

2017-03-01

We present spectroscopic observations of the C ii λ 6578 permitted line for 83 lines of sight in 76 planetary nebulae at high spectral resolution, most of them obtained with the Manchester Echelle Spectrograph on the 2.1 m telescope at the Observatorio Astronómico Nacional on the Sierra San Pedro Mártir. We study the kinematics of the C ii λ 6578 permitted line with respect to other permitted and collisionally excited lines. Statistically, we find that the kinematics of the C ii λ 6578 line are not those expected if this line arises from the recombination of C{sup 2+} ions or the fluorescence of C{sup +} ions in ionization equilibrium in a chemically homogeneous nebular plasma, but instead its kinematics are those appropriate for a volume more internal than expected. The planetary nebulae in this sample have well-defined morphology and are restricted to a limited range in H α line widths (no large values) compared to their counterparts in the Milky Way bulge; both these features could be interpreted as the result of young nebular shells, an inference that is also supported by nebular modeling. Concerning the long-standing discrepancy between chemical abundances inferred from permitted and collisionally excited emission lines in photoionized nebulae, our results imply that multiple plasma components occur commonly in planetary nebulae.

Evaluating the Relationship Between Muscle Activation and Spine Kinematics Through Wavelet Coherence.

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Hay, Dean C; Wachowiak, Mark P; Graham, Ryan B

2016-10-01

Advances in time-frequency analysis can provide new insights into the important, yet complex relationship between muscle activation (ie, electromyography [EMG]) and motion during dynamic tasks. We use wavelet coherence to compare a fundamental cyclical movement (lumbar spine flexion and extension) to the surface EMG linear envelope of 2 trunk muscles (lumbar erector spinae and internal oblique). Both muscles cohere to the spine kinematics at the main cyclic frequency, but lumbar erector spinae exhibits significantly greater coherence than internal oblique to kinematics at 0.25, 0.5, and 1.0 Hz. Coherence phase plots of the 2 muscles exhibit different characteristics. The lumbar erector spinae precedes trunk extension at 0.25 Hz, whereas internal oblique is in phase with spine kinematics. These differences may be due to their proposed contrasting functions as a primary spine mover (lumbar erector spinae) versus a spine stabilizer (internal oblique). We believe that this method will be useful in evaluating how a variety of factors (eg, pain, dysfunction, pathology, fatigue) affect the relationship between muscles' motor inputs (ie, activation measured using EMG) and outputs (ie, the resulting joint motion patterns).

Scapula Kinematics of Youth Baseball Players

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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.

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

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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.

Polyp Morphology: An Interobserver Evaluation for the Paris Classification Among International Experts

NARCIS (Netherlands)

van Doorn, Sascha C.; Hazewinkel, Y.; East, James E.; van Leerdam, Monique E.; Rastogi, Amit; Pellisé, Maria; Sanduleanu-Dascalescu, Silvia; Bastiaansen, Barbara A. J.; Fockens, Paul; Dekker, Evelien

2015-01-01

OBJECTIVES: The Paris classification is an international classification system for describing polyp morphology. Thus far, the validity and reproducibility of this classification have not been assessed. We aimed to determine the interobserver agreement for the Paris classification among seven Western

The ATLAS(3D) project : VII. A new look at the morphology of nearby galaxies: the kinematic morphology-density relation

NARCIS (Netherlands)

Cappellari, Michele; Emsellem, Eric; Krajnovic, Davor; McDermid, Richard M.; Serra, Paolo; Alatalo, Katherine; Blitz, Leo; Bois, Maxime; Bournaud, Frederic; Bureau, M.; Davies, Roger L.; Davis, Timothy A.; de Zeeuw, P. T.; Khochfar, Sadegh; Kuntschner, Harald; Lablanche, Pierre-Yves; Morganti, Raffaella; Naab, Thorsten; Oosterloo, Tom; Sarzi, Marc; Scott, Nicholas; Weijmans, Anne-Marie; Young, Lisa M.

In Paper I of this series we introduced a volume-limited parent sample of 871 galaxies from which we extracted the ATLAS(3D) sample of 260 early-type galaxies (ETGs). In Papers II and III we classified the ETGs using their stellar kinematics, in a way that is nearly insensitive to the projection

The ATLAS3D project - VII. A new look at the morphology of nearby galaxies: the kinematic morphology-density relation

NARCIS (Netherlands)

Cappellari, Michele; Emsellem, Eric; Krajnović, Davor; McDermid, Richard M.; Serra, Paolo; Alatalo, Katherine; Blitz, Leo; Bois, Maxime; Bournaud, Frédéric; Bureau, M.; Davies, Roger L.; Davis, Timothy A.; de Zeeuw, P. T.; Khochfar, Sadegh; Kuntschner, Harald; Lablanche, Pierre-Yves; Morganti, Raffaella; Naab, Thorsten; Oosterloo, Tom; Sarzi, Marc; Scott, Nicholas; Weijmans, Anne-Marie; Young, Lisa M.

In Paper I of this series we introduced a volume-limited parent sample of 871 galaxies from which we extracted the ATLAS3D sample of 260 early-type galaxies (ETGs). In Papers II and III we classified the ETGs using their stellar kinematics, in a way that is nearly insensitive to the projection

A Descriptive Study of Lower Limb Torsional Kinematic Profiles in Children With Spastic Diplegia.

Science.gov (United States)

Simon, Anne-Laure; Ilharreborde, Brice; Megrot, Fabrice; Mallet, Cindy; Azarpira, Reza; Mazda, Keyvan; Presedo, Ana; Penneçot, Georges F

2015-09-01

Lower limb rotational anomalies in spastic diplegic children with cerebral palsy (CP) are common and difficult to identify through physical examination alone. The identification and treatment of the overall rotational disorders must be considered to restore physiological lever-arms lengths and lever-arms orientation.The aims of the study were to assess the prevalence of lower limb rotational malalignment and to describe the distribution of the different kinematic torsional profiles in children with spastic diplegia. Instrumented gait analysis data from 188 children with spastic diplegia were retrospectively reviewed. None of the patients had undergone surgery previously or received botulinum toxin treatment within 6 months before the review. Kinematic data, collected at the midstance phase, included: pelvic, hip, and ankle rotation and foot progression angle. The prevalence of kinematic rotational deviations was 98.4%. Sixty-one percent of the children walked with an internal foot progression angle and 21% exhibited external alignment. The pelvis was internally rotated in 41% of the cases and externally in another 27%. Hip rotation was internal in 29% and external in 27% of the cases. Ankle rotation was internal in 55% and external in 16% of the cases. Lower limb rotational anomalies involved more than one level in 77% of the limbs. A kinematic compensatory deviation was identified in at least one level in 48% of the limbs. Kinematic rotational anomalies were identified in nearly all the 188 children in the study. The multilevel involvement of lower limb malalignment was not systematically associated with compensatory mechanisms between the levels. Ankle rotational anomalies were the most frequent cause of lower limb torsional deviations followed by pelvic malalignment. Level IV.

Kinematics of Mass Transport Deposits revealed by magnetic fabrics

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Weinberger, R.; Levi, T.; Alsop, G. I.; Marco, S.

2017-08-01

The internal deformation and movement directions of Mass Transport Deposits (MTDs) are key factors in understanding the kinematics and dynamics of their emplacement. Although these are relatively easy to recover from well-bedded sediments, they are more difficult to deduce from massive beds without visible strain markers. In order to test the applicability of using anisotropy of magnetic susceptibility (AMS) to determine MTD movement, we compare AMS fabrics, with structural measurements of visible kinematic indicators. Our case study involves the structural analysis of slumped lake sediments extensively exposed in MTDs within the Dead Sea Basin. Structural analyses of MTDs outcropping for >100 km reveal radial transport directions toward the basin depocenter. We show that the AMS fabrics display the same transport directions as inferred from structural analyses. Based on this similarity, we outline a robust procedure to obtain the transport direction of slumped MTDs from AMS fabrics. Variations in the magnetic fabrics and anisotropies in fold-thrust systems within the slumps match the various structural domains. We therefore suggest that magnetic fabrics and anisotropy variations in drill cores may reflect internal deformation within the slumps rather than different slumps. Obtaining magnetic fabrics from MTDs provides a viable way to infer the transport directions and internal deformation of MTDs and reconstruct the basin depocenter in ancient settings. The present results also have implications beyond the kinematics of MTDs, as their geometry resembles fold-thrust systems in other geological settings, scales, and tectonic environments.

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.

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

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

Two-dimensional structure and kinematics of a representative sample of low-z ULIRGs

International Nuclear Information System (INIS)

Garcia-Marin, M; Colina, L; Arribas, S

2008-01-01

We present the optical INTEGRAL integral field spectroscopy data and Hubble Space Telescope archive images obtained for a representative sample of 22 local Ultraluminous Infrared Galaxies (ULIRGs L IR >10 12 L o-dot ). The sample has been designed for fulfilling a program aimed at studying the internal structure and kinematics of this type of galaxies. Taking advantage of the two-dimensional nature of the data, we study the structure of the stellar and ionized gas, the internal ionization state and the gas kinematics. In this contribution we present the sample and the most important results obtained so far.

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.

The role of foot morphology on foot function in diabetic subjects with or without neuropathy.

Science.gov (United States)

Guiotto, Annamaria; Sawacha, Zimi; Guarneri, Gabriella; Cristoferi, Giuseppe; Avogaro, Angelo; Cobelli, Claudio

2013-04-01

The aim of this study was to investigate the role of foot morphology, related with respect to diabetes and peripheral neuropathy in altering foot kinematics and plantar pressure during gait. Healthy and diabetic subjects with or without neuropathy with different foot types were analyzed. Three dimensional multisegment foot kinematics and plantar pressures were assessed on 120 feet: 40 feet (24 cavus, 20 with valgus heel and 11 with hallux valgus) in the control group, 80 feet in the diabetic (25 cavus 13 with valgus heel and 13 with hallux valgus) and the neuropathic groups (28 cavus, 24 with valgus heel and 18 with hallux valgus). Subjects were classified according to their foot morphology allowing further comparisons among the subgroups with the same foot morphology. When comparing neuropathic subjects with cavus foot, valgus heel with controls with the same foot morphology, important differences were noticed: increased dorsiflexion and peak plantar pressure on the forefoot (Pfoot morphology in altering both kinematics and plantar pressure in diabetic subjects, diabetes appeared to further contribute in altering foot biomechanics. Surprisingly, all the diabetic subjects with normal foot arch or with valgus hallux were no more likely to display significant differences in biomechanics parameters than controls. This data could be considered a valuable support for future research on diabetic foot function, and in planning preventive interventions. Copyright © 2012 Elsevier B.V. All rights reserved.

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 ...

Can co-activation reduce kinematic variability? A simulation study.

NARCIS (Netherlands)

Selen, L.P.J.; Beek, P.J.; van Dieen, J.H.

2005-01-01

Impedance modulation has been suggested as a means to suppress the effects of internal 'noise' on movement kinematics. We investigated this hypothesis in a neuro-musculo-skeletal model. A prerequisite is that the muscle model produces realistic force variability. We found that standard Hill-type

Kinematics and Dynamics Analysis of a 3-DOF Upper-Limb Exoskeleton with an Internally Rotated Elbow Joint

Directory of Open Access Journals (Sweden)

Xin Wang

2018-03-01

Full Text Available The contradiction between self-weight and load capacity of a power-assisted upper-limb exoskeleton for material hanging is unresolved. In this paper, a non-anthropomorphic 3-degree of freedom (DOF upper-limb exoskeleton with an internally rotated elbow joint is proposed based on an anthropomorphic 5-DOF upper-limb exoskeleton for power-assisted activity. The proposed 3-DOF upper-limb exoskeleton contains a 2-DOF shoulder joint and a 1-DOF internally rotated elbow joint. The structural parameters of the 3-DOF upper-limb exoskeleton were determined, and the differences and singularities of the two exoskeletons were analyzed. The workspace, the joint torques and the power consumption of two exoskeletons were analyzed by kinematics and dynamics, and an exoskeleton prototype experiment was performed. The results showed that, compared with a typical anthropomorphic upper-limb exoskeleton, the non-anthropomorphic 3-DOF upper-limb exoskeleton had the same actual workspace; eliminated singularities within the workspace; improved the elbow joint force situation; and the maximum elbow joint torque, elbow external-flexion/internal-extension and shoulder flexion/extension power consumption were significantly reduced. The proposed non-anthropomorphic 3-DOF upper-limb exoskeleton can be applied to a power-assisted upper-limb exoskeleton in industrial settings.

Verbal-motor attention-focusing instructions influence kinematics and performance on a golf-putting task.

Science.gov (United States)

Munzert, Jörn; Maurer, Heiko; Reiser, Mathias

2014-01-01

The authors examined how varying the content of verbal-motor instructions and requesting an internal versus external focus influenced the kinematics and outcome of a golf putting task. On Day 1, 30 novices performed 120 trials with the instruction to focus attention either on performing a pendulum-like movement (internal) or on the desired ball path (external). After 20 retention trials on Day 2, they performed 20 transfer trials with the opposite instruction. Group differences for retention and a group by block interaction showed that external instruction enhanced movement outcome. Kinematic data indicated that specific instruction content influenced outcomes by eliciting changes in movement execution. Switching from the external to the internal focus instruction resulted in a more pendulum-like movement.

Quantifying meniscal kinematics in dogs.

Science.gov (United States)

Park, Brian H; Banks, Scott A; Pozzi, Antonio

2017-11-06

The dog has been used extensively as an experimental model to study meniscal treatments such as meniscectomy, meniscal repair, transplantation, and regeneration. However, there is very little information on meniscal kinematics in the dog. This study used MR imaging to quantify in vitro meniscal kinematics in loaded dog knees in four distinct poses: extension, flexion, internal, and external rotation. A new method was used to track the meniscal poses along the convex and posteriorly tilted tibial plateau. Meniscal displacements were large, displacing 13.5 and 13.7 mm posteriorly on average for the lateral and medial menisci during flexion (p = 0.90). The medial anterior horn and lateral posterior horns were the most mobile structures, showing average translations of 15.9 and 15.1 mm, respectively. Canine menisci are highly mobile and exhibit movements that correlate closely with the relative tibiofemoral positions. © 2017 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res. © 2017 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.

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.

Links between galaxy evolution, morphology and internal physical processes

International Nuclear Information System (INIS)

Kraljic, Katarina

2014-01-01

This thesis aims at making the link between galaxy evolution, morphology and internal physical processes, namely star formation as the outcome of the turbulent multiphase interstellar medium, using the cosmological zoom-in simulations, simulations of isolated and merging galaxies, and the analytic model of star formation. In Chapter 1, I explain the motivation for this thesis and briefly review the necessary background related to galaxy formation and modeling with the use of numerical simulations. I first explore the evolution of the morphology of Milky-Way-mass galaxies in a suite of zoom-in cosmological simulations through the analysis of bars. I analyze the evolution of the fraction of bars with redshift, its dependence on the stellar mass and accretion history of individual galaxies. I show in particular, that the fraction of bars declines with increasing redshift, in agreement with the observations. This work also shows that the obtained results suggest that the bar formation epoch corresponds to the transition between an early 'violent' phase of spiral galaxies formation at z > 1, during which they are often disturbed by major mergers or multiple minor mergers as well as violent disk instabilities, and a late 'secular' phase at z [fr

Geometric technique for the kinematic modeling of a 5 DOF redundant manipulator

CSIR Research Space (South Africa)

Makondo, N

2012-11-01

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

Morphology of the human internal vertebral venous plexus : A cadaver study after latex injection in the 21-25-week fetus

NARCIS (Netherlands)

Groen, RJM; Grobbelaar, M; Muller, GIF; van Solinge, G; Verhoof, O; du Toit, DF; Hoogland, P.V.J.M.

The morphology of the anterior and posterior internal vertebral venous plexus (IVVP) in human fetuses between 21-25 weeks of gestational age is described. The results are compared to the findings of a previous morphological study of the IVVP in the aged. The morphological pattern of the anterior

Clearing and dissecting insects for internal skeletal morphological research with particular reference to bees

Directory of Open Access Journals (Sweden)

Diego Sasso Porto

2016-03-01

Full Text Available ABSTRACT A detailed protocol for chemical clearing of bee specimens is presented. Dry specimens as well as those preserved in liquid media can be cleared using this protocol. The procedure consists of a combined use of alkaline solution (KOH or NaOH and hydrogen peroxide (H2O2, followed by the boiling of the cleared specimens in 60–70% EtOH. Clearing is particularly useful for internal skeletal morphological research. This procedure allows for efficient study of internal projections of the exoskeleton (e.g., apodemes, furcae, phragmata, tentoria, internal ridges and sulci, but this process makes external features of the integument, as some sutures and sulci, readily available for observation as well. Upon completion of the chemical clearing process the specimens can be stored in glycerin. This procedure was developed and evaluated for the preparation of bees and other Apoidea, but modifications for use with other insect taxa should be straightforward after some experimentation on variations of timing of steps, concentration of solutions, temperatures, and the necessity of a given step. Comments on the long-term storage, morphological examination, and photodocumentation of cleared specimens are also provided.

Cellular Internalization and Biocompatibility of Periodic Mesoporous Organosilica Nanoparticles with Tunable Morphologies: From Nanospheres to Nanowires

KAUST Repository

Fatieiev, Yevhen

2017-01-10

This work describes the sol-gel syntheses of para-substituted phenylene-bridged periodic mesoporous organosilica (PMO) nanoparticles (NPs) with tunable morphologies ranging from nanowires to nanospheres. The findings show the key role of the addition of organic co-solvents in the aqueous templates on the final morphologies of PMO NPs. Other factors such as the temperature, the stirring speed, and the amount of organic solvents also influence the shape of PMO NPs. The tuning of the shape of the PMO nanomaterials made it possible to study the influence of the particle morphology on the cellular internalization and biocompatibility.

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.)

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

Modeling initial contact dynamics during ambulation with dynamic simulation.

Science.gov (United States)

Meyer, Andrew R; Wang, Mei; Smith, Peter A; Harris, Gerald F

2007-04-01

Ankle-foot orthoses are frequently used interventions to correct pathological gait. Their effects on the kinematics and kinetics of the proximal joints are of great interest when prescribing ankle-foot orthoses to specific patient groups. Mathematical Dynamic Model (MADYMO) is developed to simulate motor vehicle crash situations and analyze tissue injuries of the occupants based multibody dynamic theories. Joint kinetics output from an inverse model were perturbed and input to the forward model to examine the effects of changes in the internal sagittal ankle moment on knee and hip kinematics following heel strike. Increasing the internal ankle moment (augmentation, equivalent to gastroc-soleus contraction) produced less pronounced changes in kinematic results at the hip, knee and ankle than decreasing the moment (attenuation, equivalent to gastroc-soleus relaxation). Altering the internal ankle moment produced two distinctly different kinematic curve morphologies at the hip. Decreased internal ankle moments increased hip flexion, peaking at roughly 8% of the gait cycle. Increasing internal ankle moments decreased hip flexion to a lesser degree, and approached normal at the same point in the gait cycle. Increasing the internal ankle moment produced relatively small, well-behaved extension-biased kinematic results at the knee. Decreasing the internal ankle moment produced more substantial changes in knee kinematics towards flexion that increased with perturbation magnitude. Curve morphologies were similar to those at the hip. Immediately following heel strike, kinematic results at the ankle showed movement in the direction of the internal moment perturbation. Increased internal moments resulted in kinematic patterns that rapidly approach normal after initial differences. When the internal ankle moment was decreased, differences from normal were much greater and did not rapidly decrease. This study shows that MADYMO can be successfully applied to accomplish forward

Polyp morphology: an interobserver evaluation for the Paris classification among international experts.

Science.gov (United States)

van Doorn, Sascha C; Hazewinkel, Y; East, James E; van Leerdam, Monique E; Rastogi, Amit; Pellisé, Maria; Sanduleanu-Dascalescu, Silvia; Bastiaansen, Barbara A J; Fockens, Paul; Dekker, Evelien

2015-01-01

The Paris classification is an international classification system for describing polyp morphology. Thus far, the validity and reproducibility of this classification have not been assessed. We aimed to determine the interobserver agreement for the Paris classification among seven Western expert endoscopists. A total of 85 short endoscopic video clips depicting polyps were created and assessed by seven expert endoscopists according to the Paris classification. After a digital training module, the same 85 polyps were assessed again. We calculated the interobserver agreement with a Fleiss kappa and as the proportion of pairwise agreement. The interobserver agreement of the Paris classification among seven experts was moderate with a Fleiss kappa of 0.42 and a mean pairwise agreement of 67%. The proportion of lesions assessed as "flat" by the experts ranged between 13 and 40% (Pagreement did not change (kappa 0.38, pairwise agreement 60%). Our study is the first to validate the Paris classification for polyp morphology. We demonstrated only a moderate interobserver agreement among international Western experts for this classification system. Our data suggest that, in its current version, the use of this classification system in daily practice is questionable and it is unsuitable for comparative endoscopic research. We therefore suggest introduction of a simplification of the classification system.

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

International Nuclear Information System (INIS)

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

2014-01-01

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

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

Energy Technology Data Exchange (ETDEWEB)

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

2014-09-20

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

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

Kinematic behaviour of a large earthflow defined by surface displacement monitoring, DEM differencing, and ERT imaging

Science.gov (United States)

Prokešová, Roberta; Kardoš, Miroslav; Tábořík, Petr; Medveďová, Alžbeta; Stacke, Václav; Chudý, František

2014-11-01

Large earthflow-type landslides are destructive mass movement phenomena with highly unpredictable behaviour. Knowledge of earthflow kinematics is essential for understanding the mechanisms that control its movements. The present paper characterises the kinematic behaviour of a large earthflow near the village of Ľubietová in Central Slovakia over a period of 35 years following its most recent reactivation in 1977. For this purpose, multi-temporal spatial data acquired by point-based in-situ monitoring and optical remote sensing methods have been used. Quantitative data analyses including strain modelling and DEM differencing techniques have enabled us to: (i) calculate the annual landslide movement rates; (ii) detect the trend of surface displacements; (iii) characterise spatial variability of movement rates; (iv) measure changes in the surface topography on a decadal scale; and (v) define areas with distinct kinematic behaviour. The results also integrate the qualitative characteristics of surface topography, in particular the distribution of surface structures as defined by a high-resolution DEM, and the landslide subsurface structure, as revealed by 2D resistivity imaging. Then, the ground surface kinematics of the landslide is evaluated with respect to the specific conditions encountered in the study area including slope morphology, landslide subsurface structure, and local geological and hydrometeorological conditions. Finally, the broader implications of the presented research are discussed with particular focus on the role that strain-related structures play in landslide kinematic behaviour.

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 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.

New data on internal morphology of exceptionally preserved Nannirhynchia pygmaea (Morris, 1847 from the Lusitanian Basin (Brachiopoda, Early Jurassic, Portugal

Directory of Open Access Journals (Sweden)

M. Schemm-Gregory

2012-08-01

Full Text Available Pyritized internal moulds of articulated shells of the Early Jurassic brachiopod taxon Nannirhynchia pygmaea were found in beds closely below the early Toarcian oceanic anoxic event in the Polymorphum Zone in Portugal. The material allows a detailed study of the outline of the muscle fields, the length and direction of the crura, and the orientation of the cardinalia, which are hitherto undescribed. Three-dimensional reconstructions of articulated shells of N. pygmaea occurring in a single horizon were produced to show the orientation and length of arcuiform crura. The preservation of internal moulds together with the three-dimensional reconstruction of the internal shell morphology allow a more precise description of the internal morphology of this taxon than it is possible with articulated shells and serial sections. doi:10.1002/mmng.201200005

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

Science.gov (United States)

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

2014-10-01

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

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....

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

Science.gov (United States)

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

2004-04-01

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

Altered Perceptual Sensitivity to Kinematic Invariants in Parkinson's Disease

OpenAIRE

Dayan, Eran; Inzelberg, Rivka; Flash, Tamar

2012-01-01

Ample evidence exists for coupling between action and perception in neurologically healthy individuals, yet the precise nature of the internal representations shared between these domains remains unclear. One experimentally derived view is that the invariant properties and constraints characterizing movement generation are also manifested during motion perception. One prominent motor invariant is the "two-third power law," describing the strong relation between the kinematics of motion and th...

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.

Internal Morphologies of Cycled Li-Metal Electrodes Investigated by Nano-Scale Resolution X-ray Computed Tomography.

Science.gov (United States)

Frisco, Sarah; Liu, Danny X; Kumar, Arjun; Whitacre, Jay F; Love, Corey T; Swider-Lyons, Karen E; Litster, Shawn

2017-06-07

While some commercially available primary batteries have lithium metal anodes, there has yet to be a commercially viable secondary battery with this type of electrode. Research prototypes of these cells typically exhibit a limited cycle life before dendrites form and cause internal cell shorting, an occurrence that is more pronounced during high-rate cycling. To better understand the effects of high-rate cycling that can lead to cell failure, we use ex situ nanoscale-resolution X-ray computed tomography (nano-CT) with the aid of Zernike phase contrast to image the internal morphologies of lithium metal electrodes on copper wire current collectors that have been cycled at low and high current densities. The Li that is deposited on a Cu wire and then stripped and deposited at low current density appears uniform in morphology. Those cycled at high current density undergo short voltage transients to >3 V during Li-stripping from the electrode, during which electrolyte oxidation and Cu dissolution from the current collector may occur. The effect of temperature is also explored with separate cycling experiments performed at 5 and 33 °C. The resulting morphologies are nonuniform films filled with voids that are semispherical in shape with diameters ranging from hundreds of nanometers to tens of micrometers, where the void size distributions are temperature-dependent. Low-temperature cycling elicits a high proportion of submicrometer voids, while the higher-temperature sample morphology is dominated by voids larger than 2 μm. In evaluating these morphologies, we consider the importance of nonidealities during extreme charging, such as electrolyte decomposition. We conclude that nano-CT is an effective tool for resolving features and aggressive cycling-induced anomalies in Li films in the range of 100 nm to 100 μm.

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.

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.

Geometry and Kinematics of the Lopukangri Fault System: Implications for Internal Deformation of the Tibetan Plateau

Science.gov (United States)

Murphy, M. A.; Taylor, M. H.

2006-12-01

Karakoram fault between 32°N to 30°N shows that its slip direction swings to more easterly orientations from north to south, paralleling the trace of the Himalayan thrust belt. We present a preliminary kinematic model to explain the fault slip data and regional geometry of these fault systems that incorporates eastward translation and counterclockwise rotation of a semi-triangular-shaped block. The Karakoram fault, the Dangardzong-Lopukangri fault system, and the Awong Co fault represent the major block boundaries. Although there is internal deformation within the block, inspection of satellite imagery and geologic maps suggests it is minor. We hypothesize that this strain pattern results from radial expansion of the Himalayan arc that causes regions within it to undergo arc-parallel stretching as well as arc-normal shortening. In this scenario rotation facilitates arc-normal shortening and arc-parallel stretching between south- western Tibetan plateau and Himalayan fold-thrust belt.

Clinical evaluation of shoulder kinematic MRI using an open-type system

International Nuclear Information System (INIS)

Ohno, Seiichiro; Togami, Izumi; Sasai, Nobuya

2000-01-01

Previous studies on kinematic MRI of the shoulder using cylindrical-type MRI systems were limited to internal or external rotation. The open-type MRI system enables kinematic MRI to be carried out for the abductive position, and is expected to permit evaluation of the superior and inferior glenoid labrum. It is important to evaluate the superior and inferior glenoid labrum in cases of sports injuries (baseball, tennis, etc.). We evaluated the superior and inferior glenoid labrum for abductive motion in asymptomatic healthy volunteers as a preliminary study. As the abduction angle increased, the superior labrum moved into the joint space. Its shape changed from round or triangular to crescent (p<0.0001), and there was increased signal for larger abduction angles (p<0.0001). On the other hand, the shape of the inferior labrum tended to change from crescent to triangular or round (p<0.0001). Increased signal was seen in the inferior labrum on about half the shoulders (N.P.). This did not change as the abduction angle increased. Our results define normal patterns for the superior and inferior glenoid labrum on abductive kinematic MRI in healthy volunteers. Abductive kinematic studies using an open-type MRI system, which permits dynamic evaluation of the superior and inferior glenoid labrum, are expected to be useful for various patients with sports injuries. (author)

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}.

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)

Functional anatomy and kinematics of the oral jaw system during terrestrial feeding in Periophthalmus barbarus.

Science.gov (United States)

Michel, Krijn B; Adriaens, Dominique; Aerts, Peter; Dierick, Manuel; Wassenbergh, Sam Van

2014-10-01

The Atlantic mudskipper, Periophthalmus barbarus, is an amphibious fish that successfully overcomes the numerous physical challenges of capturing prey in a terrestrial environment. However, it is unclear what changes in the morphology and function of the feeding apparatus contribute to the mudskipper's successful transition from aquatic to terrestrial capture of prey. In particular, how does the mudskipper achieve effective prehension of land-based prey using its percomorph feeding apparatus? To address that question, we performed a morphological analysis of the feeding apparatus of P. barbarus based on microcomputed tomography scanning, histological sectioning, and dissections as well as a kinematic analysis based on high-speed video and X-ray video to quantify the movements of the oral jaw apparatus elements. Our results show that the neurocranium remains in a fixed position relative to the pectoral girdle as the fish pivots over its pectoral fins toward the prey. The premaxilla rotates dorsally and protrudes downward over the prey. The dentary is rotated ventrally over an angle of 120°, which is facilitated by an intramandibular joint. These motions of the neurocranium, premaxilla, and dentary reorient the mouth aperture so it is parallel to the substrate, thereby allowing the jaws to be placed over the prey. The prey is grabbed between the oral teeth or scooped into the mouth primarily via rapid closing motion of the lower jaw. This analysis of P. barbarus clarifies the morphological and kinematic characteristics required by fish to become successful terrestrial feeders at the environmental transition between water and land. © 2014 Wiley Periodicals, Inc.

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

Science.gov (United States)

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

2003-04-01

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

Thin Layer Sensory Cues Affect Antarctic Krill Swimming Kinematics

Science.gov (United States)

True, A. C.; Webster, D. R.; Weissburg, M. J.; Yen, J.

2013-11-01

A Bickley jet (laminar, planar free jet) is employed in a recirculating flume system to replicate thin shear and phytoplankton layers for krill behavioral assays. Planar laser-induced fluorescence (LIF) and particle image velocimetry (PIV) measurements quantify the spatiotemporal structure of the chemical and free shear layers, respectively, ensuring a close match to in situ hydrodynamic and biochemical conditions. Path kinematics from digitized trajectories of free-swimming Euphausia superba examine the effects of hydrodynamic sensory cues (deformation rate) and bloom level phytoplankton patches (~1000 cells/mL, Tetraselamis spp.) on krill behavior (body orientation, swimming modes and kinematics, path fracticality). Krill morphology is finely tuned for receiving and deciphering both hydrodynamic and chemical information that is vital for basic life processes such as schooling behaviors, predator/prey, and mate interactions. Changes in individual krill behavior in response to ecologically-relevant sensory cues have the potential to produce population-scale phenomena with significant ecological implications. Krill are a vital trophic link between primary producers (phytoplankton) and larger animals (seabirds, whales, fish, penguins, seals) as well as the subjects of a valuable commercial fishery in the Southern Ocean; thus quantifying krill behavioral responses to relevant sensory cues is an important step towards accurately modeling Antarctic ecosystems.

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.

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.

Sperm kinematic, head morphometric and kinetic-morphometric subpopulations in the blue fox (Alopex lagopus

Directory of Open Access Journals (Sweden)

Carles Soler

2017-01-01

Full Text Available This work provides information on the blue fox ejaculated sperm quality needed for seminal dose calculations. Twenty semen samples, obtained by masturbation, were analyzed for kinematic and morphometric parameters by using CASA-Mot and CASA-Morph system and principal component (PC analysis. For motility, eight kinematic parameters were evaluated, which were reduced to PC1, related to linear variables, and PC2, related to oscillatory movement. The whole population was divided into three independent subpopulations: SP1, fast cells with linear movement; SP2, slow cells and nonoscillatory motility; and SP3, medium speed cells and oscillatory movement. In almost all cases, the subpopulation distribution by animal was significantly different. Head morphology analysis generated four size and four shape parameters, which were reduced to PC1, related to size, and PC2, related to shape of the cells. Three morphometric subpopulations existed: SP1: large oval cells; SP2: medium size elongated cells; and SP3: small and short cells. The subpopulation distribution differed between animals. Combining the kinematic and morphometric datasets produced PC1, related to morphometric parameters, and PC2, related to kinematics, which generated four sperm subpopulations - SP1: high oscillatory motility, large and short heads; SP2: medium velocity with small and short heads; SP3: slow motion small and elongated cells; and SP4: high linear speed and large elongated cells. Subpopulation distribution was different in all animals. The establishment of sperm subpopulations from kinematic, morphometric, and combined variables not only improves the well-defined fox semen characteristics and offers a good conceptual basis for fertility and sperm preservation techniques in this species, but also opens the door to use this approach in other species, included humans.

Investigating The Kinematics of Canids and Felids

Science.gov (United States)

Sur, D.

2016-12-01

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

Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator

Directory of Open Access Journals (Sweden)

Ikhsan Eka Prasetia

2015-03-01

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

Inverse Kinematics

Directory of Open Access Journals (Sweden)

Joel Sereno

2010-01-01

Full Text Available Inverse kinematics is the process of converting a Cartesian point in space into a set of joint angles to more efficiently move the end effector of a robot to a desired orientation. This project investigates the inverse kinematics of a robotic hand with fingers under various scenarios. Assuming the parameters of a provided robot, a general equation for the end effector point was calculated and used to plot the region of space that it can reach. Further, the benefits obtained from the addition of a prismatic joint versus an extra variable angle joint were considered. The results confirmed that having more movable parts, such as prismatic points and changing angles, increases the effective reach of a robotic hand.

Inverse Kinematics With Closed Form Solution For Denso Robot Manipulator

OpenAIRE

Ikhsan Eka Prasetia; Trihastuti Agustinah

2015-01-01

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

Gender differences in gait kinematics in runners with iliotibial band syndrome.

Science.gov (United States)

Phinyomark, A; Osis, S; Hettinga, B A; Leigh, R; Ferber, R

2015-12-01

Atypical running gait biomechanics are considered a primary factor in the etiology of iliotibial band syndrome (ITBS). However, a general consensus on the underpinning kinematic differences between runners with and without ITBS is yet to be reached. This lack of consensus may be due in part to three issues: gender differences in gait mechanics, the preselection of discrete biomechanical variables, and/or relatively small sample sizes. Therefore, this study was designed to address two purposes: (a) examining differences in gait kinematics for male and female runners experiencing ITBS at the time of testing and (b) assessing differences in gait kinematics between healthy gender- and age-matched runners as compared with their ITBS counterparts using waveform analysis. Ninety-six runners participated in this study: 48 ITBS and 48 healthy runners. The results show that female ITBS runners exhibited significantly greater hip external rotation compared with male ITBS and female healthy runners. On the contrary, male ITBS runners exhibited significantly greater ankle internal rotation compared with healthy males. These results suggest that care should be taken to account for gender when investigating the biomechanical etiology of ITBS. © 2015 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

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

DEFF Research Database (Denmark)

Fuglede, Niels; Thomsen, Jon Juel

2016-01-01

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

Kinematic measures for upper limb robot-assisted therapy following stroke and correlations with clinical outcome measures: A review.

Science.gov (United States)

Tran, Vi Do; Dario, Paolo; Mazzoleni, Stefano

2018-03-01

This review classifies the kinematic measures used to evaluate post-stroke motor impairment following upper limb robot-assisted rehabilitation and investigates their correlations with clinical outcome measures. An online literature search was carried out in PubMed, MEDLINE, Scopus and IEEE-Xplore databases. Kinematic parameters mentioned in the studies included were categorized into the International Classification of Functioning, Disability and Health (ICF) domains. The correlations between these parameters and the clinical scales were summarized. Forty-nine kinematic parameters were identified from 67 articles involving 1750 patients. The most frequently used parameters were: movement speed, movement accuracy, peak speed, number of speed peaks, and movement distance and duration. According to the ICF domains, 44 kinematic parameters were categorized into Body Functions and Structure, 5 into Activities and no parameters were categorized into Participation and Personal and Environmental Factors. Thirteen articles investigated the correlations between kinematic parameters and clinical outcome measures. Some kinematic measures showed a significant correlation coefficient with clinical scores, but most were weak or moderate. The proposed classification of kinematic measures into ICF domains and their correlations with clinical scales could contribute to identifying the most relevant ones for an integrated assessment of upper limb robot-assisted rehabilitation treatments following stroke. Increasing the assessment frequency by means of kinematic parameters could optimize clinical assessment procedures and enhance the effectiveness of rehabilitation treatments. Copyright © 2018 IPEM. Published by Elsevier Ltd. All rights reserved.

A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel

Energy Technology Data Exchange (ETDEWEB)

Pessi, Pekka [Lappeenranta University of Technology, Lappeenranta (Finland)], E-mail: pessi@lut.fi; Wu, Huapeng; Handroos, Heikki [Lappeenranta University of Technology, Lappeenranta (Finland); Jones, Lawrence [EFDA Close Support Unit, Boltzmannstrasse 2, Garching D-85748 (Germany)

2007-10-15

The present paper introduces a mobile parallel robot developed for International Thermonuclear Experimental Reactor (ITER). The task of the robot is to carry out welding and machining processes inside the ITER vacuum vessel. The kinematic design of the robot has been optimized for the ITER access. The kinematic analysis is given in the paper. A virtual prototype of the parallel robot is built. A dynamic behavior of the whole robot is studied by the multi-body system simulation (MBS)

A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel

International Nuclear Information System (INIS)

Pessi, Pekka; Wu, Huapeng; Handroos, Heikki; Jones, Lawrence

2007-01-01

The present paper introduces a mobile parallel robot developed for International Thermonuclear Experimental Reactor (ITER). The task of the robot is to carry out welding and machining processes inside the ITER vacuum vessel. The kinematic design of the robot has been optimized for the ITER access. The kinematic analysis is given in the paper. A virtual prototype of the parallel robot is built. A dynamic behavior of the whole robot is studied by the multi-body system simulation (MBS)

Effects of internal mixing and aggregate morphology on optical properties of black carbon using a discrete dipole approximation model

Directory of Open Access Journals (Sweden)

B. V. Scarnato

2013-05-01

Full Text Available According to recent studies, internal mixing of black carbon (BC with other aerosol materials in the atmosphere alters its aggregate shape, absorption of solar radiation, and radiative forcing. These mixing state effects are not yet fully understood. In this study, we characterize the morphology and mixing state of bare BC and BC internally mixed with sodium chloride (NaCl using electron microscopy and examine the sensitivity of optical properties to BC mixing state and aggregate morphology using a discrete dipole approximation model (DDSCAT. DDSCAT is flexible in simulating the geometry and refractive index of particle aggregates. DDSCAT predicts a higher mass absorption coefficient (MAC, lower single scattering albedo (SSA, and higher absorption Angstrom exponent (AAE for bare BC aggregates that are lacy rather than compact. Predicted values of SSA at 550 nm range between 0.16 and 0.27 for lacy and compact aggregates, respectively, in agreement with reported experimental values of 0.25 ± 0.05. The variation in absorption with wavelength does not adhere precisely to a power law relationship over the 200 to 1000 nm range. Consequently, AAE values depend on the wavelength region over which they are computed. The MAC of BC (averaged over the 200–1000 nm range is amplified when internally mixed with NaCl (100–300 nm in radius by factors ranging from 1.0 for lacy BC aggregates partially immersed in NaCl to 2.2 for compact BC aggregates fully immersed in NaCl. The SSA of BC internally mixed with NaCl is higher than for bare BC and increases with the embedding in the NaCl. Internally mixed BC SSA values decrease in the 200–400 nm wavelength range, a feature also common to the optical properties of dust and organics. Linear polarization features are also predicted in DDSCAT and are dependent on particle size and morphology. This study shows that DDSCAT predicts complex morphology and mixing state dependent aerosol optical properties that have

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

NARCIS (Netherlands)

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

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

Effects of marathon fatigue on running kinematics and economy

OpenAIRE

Nicol , Caroline; Komi , P V; Marconnet , P

1991-01-01

International audience; The influence of marathon fatigue on both running kinematics and economy was investigated with 8 subjects. The measurements included a treadmill test at 3 steady submaximal speeds performed before and after the marathon. One complete left leg cycle was videotaped at 100 Hz from the left side at each speed. The analysis included contact time (braking and push-off') and flight time as well as displacements and angular velocities of the left hip and knee. This analysis wa...

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.

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

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

Directory of Open Access Journals (Sweden)

Trąbka Arkadiusz

2014-12-01

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

Kinematic 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)

Linking morphology and motion: a test of a four-bar mechanism in seahorses.

Science.gov (United States)

Roos, Gert; Leysen, Heleen; Van Wassenbergh, Sam; Herrel, Anthony; Jacobs, Patric; Dierick, Manuel; Aerts, Peter; Adriaens, Dominique

2009-01-01

Syngnathid fishes (seahorses, pipefish, and sea dragons) possess a highly modified cranium characterized by a long and tubular snout with minute jaws at its end. Previous studies indicated that these species are extremely fast suction feeders with their feeding strike characterized by a rapid elevation of the head accompanied by rotation of the hyoid. A planar four-bar model is proposed to explain the coupled motion of the neurocranium and the hyoid. Because neurocranial elevation as well as hyoid rotation are crucial for the feeding mechanism in previously studied Syngnathidae, a detailed evaluation of this model is needed. In this study, we present kinematic data of the feeding strike in the seahorse Hippocampus reidi. We combined these data with a detailed morphological analysis of the important linkages and joints involved in rotation of the neurocranium and the hyoid, and we compared the kinematic measurements with output of a theoretical four-bar model. The kinematic analysis shows that neurocranial rotation never preceded hyoid rotation, thus indicating that hyoid rotation triggers the explosive feeding strike. Our data suggest that while neurocranium and hyoid initially (first 1.5 ms) behave as predicted by the four-bar model, eventually, the hyoid rotation is underestimated by the model. Shortening, or a posterior displacement of the sternohyoid muscle (of which the posterior end is confluent with the hypaxial muscles in H. reidi), probably explains the discrepancy between the model and our kinematic measurements. As a result, while four-bar modeling indicates a clear coupling between hyoid rotation and neurocranial elevation, the detailed morphological determination of the linkages and joints of this four-bar model remain crucial in order to fully understand this mechanism in seahorse feeding.

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

Science.gov (United States)

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

2014-01-01

lowest in the upper and lower parts. As the velocity of movement initiated and increased, stretching of the earth flow body induced the formation of normal faults. Conversely, decreasing velocity and shortening of the earth flow induced the formation of thrust faults. A zone with relatively few structures, bounded by strike-slip faults, was located between stretching and shortening areas. These kinematic elements indicate that the overall earth flow was actually composed of numerous linked internal earth flows, with each internal flow having a distinct pattern of structures representative of stretching and shortening (Guerriero et al., in review). These observations indicated that the spatial variation in movement velocity associated with each internal earth flow, mimicked the pattern of movement for the overall earth flow. That is, the earth flow displayed a self-similar pattern at different scales. Furthermore, the presence of other structures such as back-tilted surfaces, flank-ridges, and hydrological elements provide specific information about the shape of the basal topographic surface. Our multi-temporal maps provided a basis for interpretation of the long-term kinematic evolution of the earth flow and the influence of the basal-slip surface on the earth flow movement. Our maps showed that main faults remained stationary through time, despite extensive mobilization and movement of material. This observation indicated that the slip-surface has remained relatively stationary since at least 1954.

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.

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

International Nuclear Information System (INIS)

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

2015-01-01

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

Biquaternions and relativistic kinematics

International Nuclear Information System (INIS)

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

1979-01-01

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

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

Science.gov (United States)

Nguyen, Charles C.; Pooran, Farhad J.

1989-01-01

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

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

Science.gov (United States)

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

2016-01-01

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

Does Focus of Attention Improve Snatch Lift Kinematics?

Science.gov (United States)

Schutts, Kyle S; Wu, Will F W; Vidal, Anthony D; Hiegel, Jamie; Becker, James

2017-10-01

Recent motor control literature has demonstrated that using verbal instructions to direct a performer's attention externally (i.e., toward the movement outcome) enhances motor skill performance. The purpose of this study was to investigate how an athlete's focus of attention impacts kinematic performance of the snatch. Using a counterbalanced within-participant design, 12 competitively trained athletes (8 male and 4 female athletes) performed 2 instructional blocks of 3 snatch repetitions at 80% of their most recent training 1 repetition maximum. Blocks of internal and external instructions were given to the athlete in a random fashion. Results showed that, when focusing internally, athletes significantly (p ≤ 0.05) increased elbow velocity relative to focusing externally, whereas the external instructions significantly increased horizontal barbell velocity, relative to internal instructions. Additionally, an internal focus resulted in significantly larger barbell-cervical-hip angles at maximum height of the barbell compared with an external focus, indicating that the athletes squatted under the barbell too soon. This information adds to the literature suggesting small changes in coaching instructions can impact performance significantly. It is recommended that coaches use instructions that direct an athlete's attention externally, toward the movement outcome, rather than the action itself.

The Kinematic and Static Analysis of the Tibio-Femoral Joint Based on a Novel Spatial Mechanism

Directory of Open Access Journals (Sweden)

Yonggang Xu

2012-11-01

Full Text Available To reveal the characteristics of knee movement and tibio-femoral joint contact force, a novel single degree of freedom spatial mechanism is built to simulate the joint kinematics based on a three dimensional model of the human knee. The length changes of the three ligaments can be obtained by establishing and solving the kinematics spiral function. Based on this mechanism, a static model is built where linear springs are used to model the ligaments and whose stiffness coefficients are obtained by the finite element method. The main strength of the proposed model is that it associates the knee's flexion motion with internal/external rotation of the tibia based on the isometricity of the anterior cruciate ligament. This offers an efficient method to model and analyse the changes of ligament lengths and static kinematics after ligament reconstruction, which is crucial in designing knee recovery and rehabilitation equipment.

Ontogenetic scaling of locomotor kinetics and kinematics of the ostrich (Struthio camelus).

Science.gov (United States)

Smith, Nicola C; Jespers, Karin J; Wilson, Alan M

2010-04-01

Kinematic and kinetic parameters of running gait were investigated through growth in the ostrich, from two weeks up to 10 months of age, in order to investigate the effects of increasing body size. Ontogenetic scaling relationships were compared with published scaling relationships found to exist with increasing body size between species to determine whether dynamic similarity is maintained during growth. During the study, ostrich mass (M(b)) ranged from 0.7 kg to 108.8 kg. Morphological measurements showed that lengths scaled with positive allometry during growth (hip height proportional to M(b)(0.40); foot segment length proportional to M(b)(0.40); tarsometatarsus length proportional to M(b)(0.41); tibiotarsus length proportional to M(b)(0.38); femur length proportional to M(b)(0.37)), significantly exceeding the close to geometric scaling observed between mammalian and avian species of increasing body size. Scaling of kinematic variables largely agreed with predicted scaling for increasing size and demonstrated relationships close to dynamic similarity and, as such, ontogenetic scaling of locomotor parameters was similar to that observed with increasing body mass between species. However, the ways in which these scaling trends were achieved were very different, with ontogenetic scaling of locomotor mechanics largely resulting from simple scaling of the limb segments rather than postural changes, likely to be due to developmental constraints. Small deviations from dynamic similarity of kinematic parameters and a reduction in the predicted scaling of limb stiffness (proportional to M(b)(0.59)) were found to be accounted for by the positive allometric scaling of the limb during growth.

Exclusive measurements of quasi-free proton scattering reactions in inverse and complete kinematics

Directory of Open Access Journals (Sweden)

V. Panin

2016-02-01

Full Text Available Quasi-free scattering reactions of the type (p,2p were measured for the first time exclusively in complete and inverse kinematics, using a 12C beam at an energy of ∼400 MeV/u as a benchmark. This new technique has been developed to study the single-particle structure of exotic nuclei in experiments with radioactive-ion beams. The outgoing pair of protons and the fragments were measured simultaneously, enabling an unambiguous identification of the reaction channels and a redundant measurement of the kinematic observables. Both valence and deeply-bound nucleon orbits are probed, including those leading to unbound states of the daughter nucleus. Exclusive (p,2p cross sections of 15.8(18 mb, 1.9(2 mb and 1.5(2 mb to the low-lying 0p-hole states overlapping with the ground state (3/2− and with the bound excited states of 11B at 2.125 MeV (1/2− and 5.02 MeV (3/2−, respectively, were determined via γ-ray spectroscopy. Particle-unstable deep-hole states, corresponding to proton removal from the 0s-orbital, were studied via the invariant-mass technique. Cross sections and momentum distributions were extracted and compared to theoretical calculations employing the eikonal formalism. The obtained results are in a good agreement with this theory and with direct-kinematics experiments. The dependence of the proton–proton scattering kinematics on the internal momentum of the struck proton and on its separation energy was investigated for the first time in inverse kinematics employing a large-acceptance measurement.

Dancers with achilles tendinopathy demonstrate altered lower extremity takeoff kinematics.

Science.gov (United States)

Kulig, Kornelia; Loudon, Janice K; Popovich, John M; Pollard, Christine D; Winder, Brooke R

2011-08-01

Controlled laboratory study using a cross-sectional design. To analyze lower extremity kinematics during takeoff of a "saut de chat" (leap) in dancers with and without a history of Achilles tendinopathy (AT). We hypothesized that dancers with AT would demonstrate different kinematic strategies compared to dancers without pathology, and that these differences would be prominent in the transverse and frontal planes. AT is a common injury experienced by dancers. Dance leaps such as the saut de chat place a large demand on the Achilles tendon. Sixteen female dancers with and without a history of AT (mean ± SD age, 18.8 ± 1.2 years) participated. Three-dimensional kinematics at the hip, knee, and ankle were quantified for the takeoff of the saut de chat, using a motion analysis system. A force platform was used to determine braking and push-off phases of takeoff. Peak sagittal, frontal, and transverse plane joint positions during the braking and push-off phases of the takeoff were examined statistically. Independent samples t tests were used to evaluate group differences (α = .05). The dancers in the tendinopathy group demonstrated significantly higher peak hip adduction during the braking phase of takeoff (mean ± SD, 13.5° ± 6.1° versus 7.7° ± 4.2°; P = .046). During the push-off phase, dancers with AT demonstrated significantly more internal rotation at the knee (13.2° ± 5.2° versus 6.9° ± 4.9°; P = .024). Dancers with AT demonstrate increased peak transverse and frontal plane kinematics when performing the takeoff of a saut de chat. These larger displacements may be either causative or compensatory factors in the development of AT.

Kinematic Origins of Motor Inconsistency in Expert Pianists.

Directory of Open Access Journals (Sweden)

Kenta Tominaga

Full Text Available For top performers, including athletes and musicians, even subtle inconsistencies in rhythm and force during movement production decrease the quality of performance. However, extensive training over many years beginning in childhood is unable to perfect dexterous motor performance so that it is without any error. To gain insight into the biological mechanisms underlying the subtle defects of motor actions, the present study sought to identify the kinematic origins of inconsistency of dexterous finger movements in musical performance. Seven highly-skilled pianists who have won prizes at international piano competitions played a short sequence of tones with the right hand at a predetermined tempo. Time-varying joint angles of the fingers were recorded using a custom-made data glove, and the timing and velocity of the individual keystrokes were recorded from a digital piano. Both ridge and stepwise multiple regression analyses demonstrated an association of the inter-trial variability of the inter-keystroke interval (i.e., rhythmic inconsistency with both the rotational velocity of joints of the finger used for a keystroke (i.e., striking finger and the movement independence between the striking and non-striking fingers. This indicates a relationship between rhythmic inconsistency in musical performance and the dynamic features of movements in not only the striking finger but also the non-striking fingers. In contrast, the inter-trial variability of the key-descending velocity (i.e., loudness inconsistency was associated mostly with the kinematic features of the striking finger at the moment of the keystroke. Furthermore, there was no correlation between the rhythmic and loudness inconsistencies. The results suggest distinct kinematic origins of inconsistencies in rhythm and loudness in expert musical performance.

Kinematic Origins of Motor Inconsistency in Expert Pianists.

Science.gov (United States)

Tominaga, Kenta; Lee, André; Altenmüller, Eckart; Miyazaki, Fumio; Furuya, Shinichi

2016-01-01

For top performers, including athletes and musicians, even subtle inconsistencies in rhythm and force during movement production decrease the quality of performance. However, extensive training over many years beginning in childhood is unable to perfect dexterous motor performance so that it is without any error. To gain insight into the biological mechanisms underlying the subtle defects of motor actions, the present study sought to identify the kinematic origins of inconsistency of dexterous finger movements in musical performance. Seven highly-skilled pianists who have won prizes at international piano competitions played a short sequence of tones with the right hand at a predetermined tempo. Time-varying joint angles of the fingers were recorded using a custom-made data glove, and the timing and velocity of the individual keystrokes were recorded from a digital piano. Both ridge and stepwise multiple regression analyses demonstrated an association of the inter-trial variability of the inter-keystroke interval (i.e., rhythmic inconsistency) with both the rotational velocity of joints of the finger used for a keystroke (i.e., striking finger) and the movement independence between the striking and non-striking fingers. This indicates a relationship between rhythmic inconsistency in musical performance and the dynamic features of movements in not only the striking finger but also the non-striking fingers. In contrast, the inter-trial variability of the key-descending velocity (i.e., loudness inconsistency) was associated mostly with the kinematic features of the striking finger at the moment of the keystroke. Furthermore, there was no correlation between the rhythmic and loudness inconsistencies. The results suggest distinct kinematic origins of inconsistencies in rhythm and loudness in expert musical performance.

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.

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.

In vivo six-degree-of-freedom knee-joint kinematics in overground and treadmill walking following total knee arthroplasty.

Science.gov (United States)

Guan, Shanyuanye; Gray, Hans A; Schache, Anthony G; Feller, Julian; de Steiger, Richard; Pandy, Marcus G

2017-08-01

No data are available to describe six-degree-of-freedom (6-DOF) knee-joint kinematics for one complete cycle of overground walking following total knee arthroplasty (TKA). The aims of this study were firstly, to measure 6-DOF knee-joint kinematics and condylar motion for overground walking following TKA; and secondly, to determine whether such data differed between overground and treadmill gait when participants walked at the same speed during both tasks. A unique mobile biplane X-ray imaging system enabled accurate measurement of 6-DOF TKA knee kinematics during overground walking by simultaneously tracking and imaging the joint. The largest rotations occurred for flexion-extension and internal-external rotation whereas the largest translations were associated with joint distraction and anterior-posterior drawer. Strong associations were found between flexion-extension and adduction-abduction (R 2  = 0.92), joint distraction (R 2  = 1.00), and anterior-posterior translation (R 2  = 0.77), providing evidence of kinematic coupling in the TKA knee. Although the measured kinematic profiles for overground walking were grossly similar to those for treadmill walking, several statistically significant differences were observed between the two conditions with respect to temporo-spatial parameters, 6-DOF knee-joint kinematics, and condylar contact locations and sliding. Thus, caution is advised when making recommendations regarding knee implant performance based on treadmill-measured knee-joint kinematic data. © 2016 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 35:1634-1643, 2017. © 2016 Orthopaedic Research Society. Published by Wiley Periodicals, Inc.

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...

The effects of attentional focus on jump performance and knee joint kinematics in patients after ACL reconstruction

NARCIS (Netherlands)

Gokeler, Alli; Benjaminse, Anne; Welling, Wouter; Alferink, Malou; Eppinga, Peter; Otten, Bert

Objectives: The purpose of this study was to determine the effect of an internal and external attentional focus on single leg hop jump distance and knee kinematics in patients after ACL reconstruction (ACLR). Design: Experimental. Setting: Outpatient physical therapy facility. Participants: Sixteen

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...

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.

Human movement analysis using stereophotogrammetry. Part 4: assessment of anatomical landmark misplacement and its effects on joint kinematics.

Science.gov (United States)

Della Croce, Ugo; Leardini, Alberto; Chiari, Lorenzo; Cappozzo, Aurelio

2005-02-01

Estimating the effects of different sources of error on joint kinematics is crucial for assessing the reliability of human movement analysis. The goal of the present paper is to review the different approaches dealing with joint kinematics sensitivity to rotation axes and the precision of anatomical landmark determination. Consistent with the previous papers in this series, the review is limited to studies performed with video-based stereophotogrammetric systems. Initially, studies dealing with estimates of precision in determining the location of both palpable and internal anatomical landmarks are reviewed. Next, the effects of anatomical landmark position uncertainty on anatomical frames are shown. Then, methods reported in the literature for estimating error propagation from anatomical axes location to joint kinematics are described. Interestingly, studies carried out using different approaches reported a common conclusion: when joint rotations occur mainly in a single plane, minor rotations out of this plane are strongly affected by errors introduced at the anatomical landmark identification level and are prone to misinterpretation. Finally, attempts at reducing joint kinematics errors due to anatomical landmark position uncertainty are reported. Given the relevance of this source of errors in the determination of joint kinematics, it is the authors' opinion that further efforts should be made in improving the reliability of the joint axes determination.

Sex differences in lower extremity kinematics and patellofemoral kinetics during running.

Science.gov (United States)

Almonroeder, Thomas G; Benson, Lauren C

2017-08-01

The incidence of patellofemoral pain (PFP) is 2 times greater in females compared with males of similar activity levels; however, the exact reason for this discrepancy remains unclear. Abnormal mechanics of the hip and knee in the sagittal, frontal, and transverse planes have been associated with an increased risk of PFP. The purpose of this study was to compare the mechanics of the lower extremity in males and females during running in order to better understand the reason(s) behind the sex discrepancy in PFP. Three-dimensional kinematic and kinetic data were collected as male and female participants completed overground running trials at a speed of 4.0 m · s -1 (±5%). Patellofemoral joint stress (PFJS) was estimated using a sagittal plane knee model. The kinematics of the hip and knee in the frontal and transverse planes were also analysed. Male participants demonstrated significantly greater sagittal plane peak PFJS in comparison with the female participants (P < .001, ES = 1.9). However, the female participants demonstrated 3.5° greater peak hip adduction and 3.4° greater peak hip internal rotation (IR). As a result, it appears that the sex discrepancy in PFP is more likely to be related to differences in the kinematics of the hip in the frontal and transverse planes than differences in sagittal plane PFJS.

The Pleiades apex and its kinematical structure

Science.gov (United States)

Elsanhoury, W. H.; Postnikova, E. S.; Chupina, N. V.; Vereshchagin, S. V.; Sariya, Devesh P.; Yadav, R. K. S.; Jiang, Ing-Guey

2018-03-01

A study of cluster characteristics and internal kinematical structure of the middle-aged Pleiades open star cluster is presented. The individual star apexes and various cluster kinematical parameters including the velocity ellipsoid parameters are determined using both Hipparcos and Gaia data. Modern astrometric parameters were taken from the Gaia Data Release 1 (DR1) in combination with the Radial Velocity Experiment Fifth Data Release (DR5). The necessary set of parameters including parallaxes, proper motions and radial velocities are used for n=17 stars from Gaia DR1+RAVE DR5 and for n=19 stars from the Hipparcos catalog using SIMBAD data base. Single stars are used to improve accuracy by eliminating orbital movements. RAVE DR5 measurements were taken only for the stars with the radial velocity errors not exceeding 2 km/s. For the Pleiades stars taken from Gaia, we found mean heliocentric distance as 136.8 ± 6.4 pc, and the apex position is calculated as: A_{CP}=92°.52± 1°.72, D_{CP}=-42°.28± 2°.56 by the convergent point method and A0=95°.59± 2°.30 and D0=-50°.90± 2°.04 using AD-diagram method (n=17 in both cases). The results are compared with those obtained historically before the Gaia mission era.

The influence of limited kinematic hardening in shakedown analysis

International Nuclear Information System (INIS)

Nery, Domingos E.S.; Jospin, Reinaldo R.; Zouain, Nestor

2009-01-01

The use of the Design by Analysis concept is a trend in modern pressure vessel and piping calculations. DBA flexibility allow us to deal with unexpected configurations detected at in-service inspections. It is also important, in life extension calculations, when deviations of the original standard hypothesis adopted initially in Design by Formula, can happen. To apply the DBA to structures under variable mechanic and thermal loads, it is necessary that, alternate plasticity and incremental collapse (with instantaneous plastic collapse as a particular case), be precluded. These are two basic failure modes considered by ASME or European Standards in DBA. The shakedown theory is the tool available to achieve this goal. In order to apply it, is necessary only the range of the variable loads and the material properties. Precise, robust and efficient algorithms to solve the very large nonlinear optimization problems generated in numerical applications of the shakedown theory is a recent achievement. Zouain and co-workers developed one of these algorithms for elastic ideally-plastic materials. But, it is necessary to consider more realistic material properties in real practical applications. This paper shows an enhancement of this algorithm to dealing with limited kinematic hardening, a typical property of the usual steels. This is done using internal thermodynamic variables. A discrete algorithm is obtained using a plane stress, mixed finite element, with internal variable. An example, a beam encased in an end, under constant axial force and variable moment is presented to show the importance of considering the limited kinematic hardening in a shakedown analysis. (author)

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...

Barefoot running and hip kinematics: good news for the knee?

Science.gov (United States)

McCarthy, Colm; Fleming, Neil; Donne, Bernard; Blanksby, Brian

2015-05-01

Patellofemoral pain and iliotibial band syndromes are common running injuries. Excessive hip adduction (HADD), hip internal rotation (HIR), and contralateral pelvic drop (CLPD) during running have been suggested as causes of injury in female runners. This study compared these kinematic variables during barefoot and shod running. Three-dimensional gait analyses of 23 habitually shod, uninjured female recreational athletes running at 3.33 m·s while shod and barefoot were studied. Spatiotemporal and kinematic data at initial contact (IC), 10% of stance (corresponding to the vertical impact peak), and peak angles were collected from each participant for HADD, HIR, and CLPD, and differences were compared across footwear conditions. Step rates when running barefoot were 178 ± 13 versus 172 ± 11 steps per minute when shod (P strike patterns changed from a group mean heel-toe latency indicating a rear-foot strike (20.8 ms) when shod, to one indicating a forefoot strike (-1.1 ms) when barefoot (P knee injuries in female runners, barefoot running could have potential for injury prevention or treatment in this cohort.

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...

Kinematic analysis of anterior cruciate ligament reconstruction in total knee arthroplasty

Science.gov (United States)

Liu, Hua-Wei; Ni, Ming; Zhang, Guo-Qiang; Li, Xiang; Chen, Hui; Zhang, Qiang; Chai, Wei; Zhou, Yong-Gang; Chen, Ji-Ying; Liu, Yu-Liang; Cheng, Cheng-Kung; Wang, Yan

2016-01-01

Background: This study aims to retain normal knee kinematics after knee replacement surgeries by reconstructing anterior cruciate ligament during total knee arthroplasty. Method: We use computational simulation tools to establish four dynamic knee models, including normal knee model, posterior cruciate ligament retaining knee model, posterior cruciate ligament substituting knee model, and anterior cruciate ligament reconstructing knee model. Our proposed method utilizes magnetic resonance images to reconstruct solid bones and attachments of ligaments, and assemble femoral and tibial components according representative literatures and operational specifications. Dynamic data of axial tibial rotation and femoral translation from full-extension to 135 were measured for analyzing the motion of knee models. Findings: The computational simulation results show that comparing with the posterior cruciate ligament retained knee model and the posterior cruciate ligament substituted knee model, reconstructing anterior cruciate ligament improves the posterior movement of the lateral condyle, medial condyle and tibial internal rotation through a full range of flexion. The maximum posterior translations of the lateral condyle, medial condyle and tibial internal rotation of the anterior cruciate ligament reconstructed knee are 15.3 mm, 4.6 mm and 20.6 at 135 of flexion. Interpretation: Reconstructing anterior cruciate ligament in total knee arthroplasty has been approved to be an more efficient way of maintaining normal knee kinematics comparing to posterior cruciate ligament retained and posterior cruciate ligament substituted total knee arthroplasty. PMID:27347334

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...

Bearing Capacity of the Working Platform with Kinematic Method

Directory of Open Access Journals (Sweden)

Białek Katarzyna

2015-03-01

Full Text Available Bearing capacity of the working platform for heavy tracks was analysed using Distinct Layout Optimization (DLO method. The platform layer constructed from cohesionless soils is resting on weak cohesive subgrade. Different thickness of the platform, its effective angle of internal friction and undrained shear strength of the soft soil were taken into consideration. Kinematic method permits different failure mechanisms to be analyzed. Margin of safety for a given load and subsoil conditions was determined using two approaches: increasing the load or decreasing the shear strength up to failure. The results were compared with solution proposed in BRE recommendations.

Interpreting locomotor biomechanics from the morphology of human footprints.

Science.gov (United States)

Hatala, Kevin G; Wunderlich, Roshna E; Dingwall, Heather L; Richmond, Brian G

2016-01-01

Fossil hominin footprints offer unique direct windows to the locomotor behaviors of our ancestors. These data could allow a clearer understanding of the evolution of human locomotion by circumventing issues associated with indirect interpretations of habitual locomotor patterns from fossil skeletal material. However, before we can use fossil hominin footprints to understand better the evolution of human locomotion, we must first develop an understanding of how locomotor biomechanics are preserved in, and can be inferred from, footprint morphologies. In this experimental study, 41 habitually barefoot modern humans created footprints under controlled conditions in which variables related to locomotor biomechanics could be quantified. Measurements of regional topography (depth) were taken from 3D models of those footprints, and principal components analysis was used to identify orthogonal axes that described the largest proportions of topographic variance within the human experimental sample. Linear mixed effects models were used to quantify the influences of biomechanical variables on the first five principal axes of footprint topographic variation, thus providing new information on the biomechanical variables most evidently expressed in the morphology of human footprints. The footprint's overall depth was considered as a confounding variable, since biomechanics may be linked to the extent to which a substrate deforms. Three of five axes showed statistically significant relationships with variables related to both locomotor biomechanics and substrate displacement; one axis was influenced only by biomechanics and another only by the overall depth of the footprint. Principal axes of footprint morphological variation were significantly related to gait type (walking or running), kinematics of the hip and ankle joints and the distribution of pressure beneath the foot. These results provide the first quantitative framework for developing hypotheses regarding the

Effects of prophylactic knee bracing on knee joint kinetics and kinematics during netball specific movements.

Science.gov (United States)

Sinclair, Jonathan K; Vincent, Hayley; Richards, Jim D

2017-01-01

To investigate the effects of a prophylactic knee brace on knee joint kinetics and kinematics during netball specific movements. Repeated measures. Laboratory. Twenty university first team level female netball players. Participants performed three movements, run, cut and vertical jump under two conditions (brace and no-brace). 3-D knee joint kinetics and kinematics were measured using an eight-camera motion analysis system. Knee joint kinetics and kinematics were examined using 2 × 3 repeated measures ANOVA whilst the subjective ratings of comfort and stability were investigated using chi-squared tests. The results showed no differences (p > 0.05) in knee joint kinetics. However the internal/external rotation range of motion was significantly (p < 0.05) reduced when wearing the brace in all movements. The subjective ratings of stability revealed that netballers felt that the knee brace improved knee stability in all movements. Further study is required to determine whether reductions in transverse plane knee range of motion serve to attenuate the risk from injury in netballers. Copyright © 2016 Elsevier Ltd. All rights reserved.

Effect of Processing Variables on Tensile Modulus and Morphology of Polyethylene/Clay Nanocomposites Prepared in an Internal Mixer

Science.gov (United States)

Ujianto, O.; Jollands, M.; Kao, N.

2018-03-01

A comparative study on effect of internal mixer on high density Polyethylene (HDPE)/clay nanocomposites preparation was done. Effect of temperature, rotor rotation (rpm), and mixing time, as well as rotor type (Roller and Banbury) on mechanical properties and morphology of HDPE/clay nanocomposites were studied using Box-Behnken experimental design. The model was developed according to secant modulus and confirmed to morphology analysis using Transmission Electron Microscopy (TEM). The finding suggests that there is different mechanisms occurred in each rotor to improve the mechanical properties. The mechanism in Roller is medium shear and medium diffusion, while Banbury is high shear and low diffusion. The difference in mechanism to disperse the clay particles attribute to the different optimum processing conditions in each rotor. The settings for roller samples are predicted around mid temperature, mid speed, and mid mixing time. There is no optimum setting for Banbury within the processing boundaries. The best settings for Banbury are at low, high, low settings. The morphology results showed a hybrid composite structure, with some exfoliations and some intercalations. There was a correlation between better mechanical properties and morphology with more exfoliation and thinner intercalated particles.

Disassociation between primary motor cortical activity and movement kinematics during adaptation to reach perturbations.

Science.gov (United States)

Cai, X; Shimansky, Y P; Weber, D J; He, Jiping

2004-01-01

The relationship between movement kinematics and motor cortical activity was studied in monkeys performing a center-out reaching task during their adaptation to force perturbations applied to the wrist. The main feature of adaptive changes in movement kinematics was anticipatory deviation of hand paths in the direction opposite to that of the upcoming perturbation. We identified a group of neurons in the dorsal lateral portion of the primary motor cortex where a gradual buildup of spike activity immediately preceding the actual (in perturbation trials) or the "would-be" (in unperturbed/catch trials) perturbation onset was observed. These neurons were actively involved in the adaptation process, which was evident from the gradual increase in the amplitude of their movement-related modulation of spike activity from virtual zero and development of certain directional tuning pattern (DTP). However, the day-to-day dynamics of the kinematics adaptation was dramatically different from that of the neuronal activity. Hence, the adaptive modification of the motor cortical activity is more likely to reflect the development of the internal model of the perturbation dynamics, rather than motor instructions determining the adaptive behavior.

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

Posterior tibial slope impacts intraoperatively measured mid-flexion anteroposterior kinematics during cruciate-retaining total knee arthroplasty.

Science.gov (United States)

Dai, Yifei; Cross, Michael B; Angibaud, Laurent D; Hamad, Cyril; Jung, Amaury; Jenny, Jean-Yves

2018-02-23

Posterior tibial slope (PTS) for cruciate-retaining (CR) total knee arthroplasty (TKA) is usually pre-determined by the surgeon. Limited information is available comparing different choices of PTS on the kinematics of the CR TKA, independent of the balancing of the extension gap. This study hypothesized that with the same balanced extension gap, the choice of PTS significantly impacts the intraoperatively measured kinematics of CR TKA. Navigated CR TKAs were performed on seven fresh-frozen cadavers with healthy knees and intact posterior cruciate ligament (PCL). A custom designed tibial baseplate was implanted to allow in situ modification of the PTS, which altered the flexion gap but maintained the extension gap. Knee kinematics were measured by performing passive range of motion (ROM) tests from full extension to 120° of flexion on the intact knee and CR TKAs with four different PTSs (1°, 4°, 7°, and 10°). The measured kinematics were compared across test conditions to assess the impact of PTS. With a consistent extension gap, the change of PTS had significant impact on the anteroposterior (AP) kinematics of the CR TKA knees in mid-flexion range (45°-90°), but not so much for the high-flexion range (90°-120°). No considerable impacts were found on internal/external (I/E) rotation and hip-knee-ankle (HKA) angle. However, the findings on the individual basis suggested the impact of PTS on I/E rotation and HKA angle may be patient-specific. The data suggested that the choice of PTS had the greatest impact on the mid-flexion AP translation among the intraoperatively measured kinematics. This impact may be considered while making surgical decisions in the context of AP kinematics. When using a tibial component designed with "center" pivoting PTS, a surgeon may be able to fine tune the PTS to achieve proper mid-flexion AP stability.

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).

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.

ACL-reconstructed and ACL-deficient individuals show differentiated trunk, hip, and knee kinematics during vertical hops more than 20 years post-injury.

Science.gov (United States)

Markström, Jonas L; Tengman, Eva; Häger, Charlotte K

2018-02-01

Little is known regarding movement strategies in the long term following injury of the anterior cruciate ligament (ACL), and even less about comparisons of reconstructed and deficient knees in relation to healthy controls. The present purpose was to compare trunk, hip, and knee kinematics during a one-leg vertical hop (VH) ~20 years post-ACL injury between persons treated with surgery and physiotherapy (ACL R ), solely physiotherapy (ACL PT ), and controls (CTRL). Between-leg kinematic differences within groups were also investigated. Sixty-six persons who suffered unilateral ACL injury on average 23 ± 2 years ago (32 ACL R , 34 ACL PT ) and 33 controls performed the VH. Peak trunk, hip, and knee angles during Take-off and Landing phases recorded with a 3D motion capture system were analysed with multivariate statistics. Significant group effects during both Take-off and Landing were found, with ACL PT differing from CTRL in Take-off with a combination of less knee flexion and knee internal rotation, and from both ACL R and CTRL in Landing with less hip and knee flexion, knee internal rotation, and greater hip adduction. ACL R also presented different kinematics to ACL PT and CTRL in Take-off with a combination of greater trunk flexion, hip flexion, hip internal rotation, and less knee abduction, and in Landing with greater trunk flexion and hip internal rotation. Further, different kinematics and hop height were found between legs within groups in both Take-off and Landing for both ACL groups, but not for CTRL. Different kinematics for the injured leg for both ACL groups compared to CTRL and between treatment groups, as well as between legs within treatment groups, indicate long-term consequences of injury. Compensatory mechanisms for knee protection seem to prevail over time irrespective of initial treatment, possibly increasing the risk of re-injury and triggering the development of osteoarthritis. Detailed investigation of movement strategies during the VH

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.

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.

SPACEBAR: Kinematic design by computer graphics

Science.gov (United States)

Ricci, R. J.

1975-01-01

The interactive graphics computer program SPACEBAR, conceived to reduce the time and complexity associated with the development of kinematic mechanisms on the design board, was described. This program allows the direct design and analysis of mechanisms right at the terminal screen. All input variables, including linkage geometry, stiffness, and applied loading conditions, can be fed into or changed at the terminal and may be displayed in three dimensions. All mechanism configurations can be cycled through their range of travel and viewed in their various geometric positions. Output data includes geometric positioning in orthogonal coordinates of each node point in the mechanism, velocity and acceleration of the node points, and internal loads and displacements of the node points and linkages. All analysis calculations take at most a few seconds to complete. Output data can be viewed at the scope and also printed at the discretion of the user.

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

Science.gov (United States)

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

2015-06-01

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

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.

Three-Dimensional Scapular Kinematics in Patients with Reverse Total Shoulder Arthroplasty during Arm Motion.

Science.gov (United States)

Lee, Kwang Won; Kim, Yong In; Kim, Ha Yong; Yang, Dae Suk; Lee, Gyu Sang; Choy, Won Sik

2016-09-01

There have been few reports on altered kinematics of the shoulder after reverse total shoulder arthroplasty (RTSA). We investigated differences in 3-dimensional (3D) scapular motions assessed using an optical tracking system between RTSA treated shoulders and asymptomatic contralateral shoulders during arm motion. Thirteen patients who underwent RTSA were assessed for active arm elevation in 2 distinct elevation planes (sagittal plane flexion and scapular plane abduction). Their mean age was 72 years (range, 69 to 79 years) and the mean follow-up was 24.4 months (range, 13 to 48 months). The dominant side was the right side in all the 13 patients, and it was also the side treated with RTSA. Scapular kinematics was recorded with an optical tracking system. The scapular kinematics and the scapulohumeral rhythm (SHR) of the RTSA shoulders and asymptomatic contralateral shoulders were recorded and analyzed during arm elevation. There were no significant differences in internal/external rotation and anterior/posterior tilting of the scapula between shoulders during arm motion (p > 0.05). However, upward rotation of the scapula differed significantly during arm motion (p = 0.035 for sagittal plane flexion; p = 0.046 for scapular plane abduction). There were significant differences in the SHR between the two shoulders (p = 0.016 for sagittal plane flexion; p = 0.021 for scapular plane abduction). The shoulder kinematics after RTSA showed significant differences from the contralateral asymptomatic shoulders. Increased upward rotation and decreased SHR after RTSA indicate that RTSA shoulders use more scapulothoracic motion and less glenohumeral motion to elevate the arm.

Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods

Directory of Open Access Journals (Sweden)

Yingzhong Tian

2016-01-01

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

Shoulder and Scapular Kinematics during the Windmill Softball Pitch

OpenAIRE

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

2013-01-01

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

Heavy baryon spectroscopy with relativistic kinematics

International Nuclear Information System (INIS)

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

2014-01-01

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

Kinematic and neuromuscular relationships between lower extremity clinical movement assessments.

Science.gov (United States)

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

2018-06-01

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

Inverse kinematics of a dual linear actuator pitch/roll heliostat

Science.gov (United States)

Freeman, Joshua; Shankar, Balakrishnan; Sundaram, Ganesh

2017-06-01

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

Prediction of Kinematic and Kinetic Performance in a Drop Vertical Jump with Individual Anthropometric Factors in Adolescent Female Athletes: Implications for Cadaveric Investigations

Science.gov (United States)

Bates, Nathaniel A.; Myer, Gregory D.; Hewett, Timothy E.

2014-01-01

Anterior cruciate ligament injuries are common, expensive to repair, and often debilitate athletic careers. Robotic manipulators have evaluated knee ligament biomechanics in cadaveric specimens, but face limitations such as accounting for variation in bony geometry between specimens that may influence dynamic motion pathways. This study examined individual anthropometric measures for significant linear relationships with in vivo kinematic and kinetic performance and determined their implications for robotic studies. Anthropometrics and 3D motion during a 31 cm drop vertical jump task were collected in high school female basketball players. Anthropometric measures demonstrated differential statistical significance in linear regression models relative to kinematic variables (P-range 0.20) relative to peak flexion moment, peak adduction moment, flexion moment range, abduction moment range, and internal rotation moment range. The current findings indicate that anthropometric measures are less associated with kinematics than with kinetics. Relative to the robotic manipulation of cadaveric limbs, the results do not support the need to normalize kinematic rotations relative to specimen dimensions. PMID:25266933

Prediction of kinematic and kinetic performance in a drop vertical jump with individual anthropometric factors in adolescent female athletes: implications for cadaveric investigations.

Science.gov (United States)

Bates, Nathaniel A; Myer, Gregory D; Hewett, Timothy E

2015-04-01

Anterior cruciate ligament injuries are common, expensive to repair, and often debilitate athletic careers. Robotic manipulators have evaluated knee ligament biomechanics in cadaveric specimens, but face limitations such as accounting for variation in bony geometry between specimens that may influence dynamic motion pathways. This study examined individual anthropometric measures for significant linear relationships with in vivo kinematic and kinetic performance and determined their implications for robotic studies. Anthropometrics and 3D motion during a 31 cm drop vertical jump task were collected in high school female basketball players. Anthropometric measures demonstrated differential statistical significance in linear regression models relative to kinematic variables (p-range 0.20) relative to peak flexion moment, peak adduction moment, flexion moment range, abduction moment range, and internal rotation moment range. The current findings indicate that anthropometric measures are less associated with kinematics than with kinetics. Relative to the robotic manipulation of cadaveric limbs, the results do not support the need to normalize kinematic rotations relative to specimen dimensions.

FABRICATION, MORPHOLOGICAL AND OPTOELECTRONIC ...

African Journals Online (AJOL)

2014-12-31

Dec 31, 2014 ... porous silicon has better optoelectronic properties than bulk .... Measurement: The morphological properties of PS layer such as nanocrystalline size, the .... excess carrier removal by internal recombination and diffusion.

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.

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

Science.gov (United States)

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

2017-09-01

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

Evaluation of thoracic limb loads, elbow movement, and morphology in dogs before and after arthroscopic management of unilateral medial coronoid process disease.

Science.gov (United States)

Galindo-Zamora, Vladimir; Dziallas, Peter; Wolf, Davina C; Kramer, Sabine; Abdelhadi, Jalal; Lucas, Karin; Nolte, Ingo; Wefstaedt, Patrick

2014-10-01

To (1) evaluate thoracic limb loads and symmetry, and elbow function and morphology, before and after arthroscopic treatment of unilateral medial coronoid process disease (MCPD), and (2) determine if functional variables correlate with morphologic findings. Prospective case series. Dogs (n = 14) with thoracic limb lameness. Dogs were included when unilateral MCPD was confirmed as the cause of lameness. Kinetic analysis of both thoracic limbs, along with kinematic analysis and goniometry of both elbows were carried out before, and 60, 120, and 180 days after partial coronoidectomy by arthroscopy. Radiography and computed tomography of both elbows were performed before and 180 days after arthroscopy. A nonsignificant (P = .11) increase in the peak vertical loads (PFz), and a significant (P = .022) increase in the vertical impulse (iFz) applied by the affected limb were seen. Symmetry indices improved, with significant differences between sessions (PFz: P = .019; iFz: P = .003). Kinematic variables showed no significant differences, between sessions or when comparing both elbows within sessions. Goniometry revealed no significant differences between sessions, but some significant differences were identified when comparing both elbows within sessions. Osteophytosis and degree of lameness showed no correlation, before (rs  = -0.077; P = .79) or after arthroscopy (rs  = 0.27; P = .35). Kinetic variables improved after arthroscopy, without full restoration of function. Kinematic variables did not change significantly. Osteoarthritis and goniometric measurements in the affected joint worsened. Functional variables did not correlate with morphologic findings. © Copyright 2014 by The American College of Veterinary Surgeons.

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

System-morphological approach: Another look at morphology research and geomorphological mapping

Science.gov (United States)

Lastochkin, Alexander N.; Zhirov, Andrey I.; Boltramovich, Sergei F.

2018-02-01

A large number of studies require a clear and unambiguous morphological basis. For over thirty years, Russian scientists have been applying a system-morphological approach for the Arctic and Antarctic research, ocean floor investigation, for various infrastructure construction projects (oil and gas, sports, etc.), in landscape and environmental studies. This article is a review aimed to introduce this methodological approach to the international scientific community. The details of the methods and techniques can be found in a series of earlier papers published in the Russian language in 1987-2016. The proposed system-morphological approach includes: 1) partitioning of the Earth surface, i.e. precise identification of linear, point, and areal elements of topography considered as a two-dimensional surface without any geological substance; 2) further identification of larger formations: geomorphological systems and regions; 3) analysis of structural relations and symmetry of topography; and 4) various dynamic (litho- and glaciodynamic, tectonic, etc.) interpretations of the observed morphology. This method can be used to study the morphology of the surface topography as well as less accessible interfaces such as submarine and subglacial ones.

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.

Distal radius fractures result in alterations in scapular kinematics: a three-dimensional motion analysis.

Science.gov (United States)

Ayhan, Cigdem; Turgut, Elif; Baltaci, Gul

2015-03-01

Scapular motion is closely integrated with arm motion. Injury to a distal segment requires compensatory changes in the proximal segments leading to alterations in scapular motion. Since the effects of distal injuries on scapular kinematics remain unknown, in the present study we investigated the influences on scapular motion in patients with distal injuries. Sixteen subjects with a history of distal radius fracture and 20 asymptomatic healthy subjects (controls) participated in the study. Three-dimensional scapular and humeral kinematic data were collected on all 3 planes of shoulder elevation: frontal, sagittal, and scapular. All testing was performed in a single session; therefore, the sensors remained attached to the participants for all testing. The position and orientation data of the scapula at 30°, 60°, 90°, and 120° humerothoracic elevation and 120°, 90°, 60°, and 30° lowering were used for statistical comparisons. Independent samples t-test was used to compare the scapular internal/external rotation, upward/downward rotation, and anterior/posterior tilt between the affected side of subjects with a distal radius fracture and the dominant side of asymptomatic subjects at the same stage of humerothoracic elevation. Scapular internal rotation was significantly increased at 30° elevation (P=0.01), 90° elevation (P=0.03), and 30° lowering (P=0.03), and upward rotation was increased at 30° and 60° elevation (Pplane elevation. Scapular upward rotation and anterior tilt were significantly increased during 30° lowering on both the scapular (P=0.002 and 0.02, respectively) and sagittal planes (P=0.01 and 0.02. respectively). Patients with distal radius fractures exhibit altered scapular kinematics, which may further contribute to the development of secondary musculoskeletal pathologies. Copyright © 2014 Elsevier Ltd. All rights reserved.

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

Science.gov (United States)

Presedo, Ana; Simon, Anne-Laure; Mallet, Cindy; Ilharreborde, Brice; Mazda, Keyvan; Pennecot, Georges-François

2017-05-01

In diplegic patients, the orientation of foot progression depends on multiple factors. We investigated the relationship between foot progression alignment, hip and pelvic rotations during gait, femoral anteversion, and tibial torsion. Kinematic and clinical parameters were evaluated for 114 children who walked independently and had not undergone previous surgery. Causes of intoeing presented combined in 72% of cases. Internal foot progression correlated with internal hip rotation and showed an inverse correlation with tibial torsion. Our results indicate that data from clinical examination and gait analysis should be evaluated carefully before making treatment recommendations, especially in terms of the correction of torsional problems, in patients with cerebral palsy.

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.

The spontaneous spinal epidural hematoma : A clinical and anatomical study with correlations to the morphology of the internal vertebral venous plexus

NARCIS (Netherlands)

Groen, Rob

1997-01-01

This thesis concerns a clinical study of the spontaneous spinal epidural hematoma (SSEH) and a study of the vascular anatomy of the spinal epidural space. In particular the morphology of the internal vertebral venous plexus is studied, in an attempt to find an explanation for the etiology of this

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

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

Science.gov (United States)

Maiti, Raman

2016-06-01

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

Treatment of photon radiation in kinematics fits at future e+e- colliders

International Nuclear Information System (INIS)

Beckmann, M.; List, J.; List, B.

2010-05-01

Kinematic fitting, where constraints such as energy and momentum conservation are imposed on measured four-vectors of jets and leptons, is an important tool to improve the resolution in high-energy physics experiments. At future e + e - colliders, photon radiation parallel to the beam carrying away large amounts of energy and momentum will become a challenge for kinematic fitting. A photon with longitudinal momentum p z,γ (η) is introduced, which is parametrized such that η follows a normal distribution. In the fit, η is treated as having a measured value of zero, which corresponds to p z,γ , = 0. As a result, fits with constraints on energy and momentum conservation converge well even in the presence of a highly energetic photon, while the resolution of fits without such a photon is retained. A fully simulated and reconstructed e + e - →q anti qq anti q event sample at √(s)=500 GeV is used to investigate the performance of this method under realistic conditions, as expected at the International Linear Collider. (orig.)

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)

Gender differences in tibio-femoral kinematics and quadriceps muscle force during weight-bearing knee flexion in vitro.

Science.gov (United States)

Wünschel, Markus; Wülker, Nikolaus; Müller, Otto

2013-11-01

Females have a higher risk in terms of anterior cruciate ligament injuries during sports than males. Reasons for this fact may be different anatomy and muscle recruitment patterns leading to less protection for the cruciate- and collateral-ligaments. This in vitro study aims to evaluate gender differences in knee joint kinematics and muscle force during weight-bearing knee flexions. Thirty-four human knee specimens (17 females/17 males) were mounted on a dynamic knee simulator. Weight-bearing single-leg knee flexions were performed with different amounts of simulated body weight (BW). Gender-specific kinematics was measured with an ultrasonic motion capture system and different loading conditions were examined. Knee joint kinematics did not show significant differences regarding anteroposterior and medial-lateral movement as well as tibial varus-valgus and internal-external rotation. This applied to all simulated amounts of BW. Simulating 100 N BW in contrast to AF50 led to a significant higher quadriceps overall force in female knees from 45° to 85° of flexion in contrast to BW 50 N. In these female specimens, the quadriceps overall force was about 20 % higher than in male knees being constant in higher flexion angles. It is indicated by our results that in a squatting movement females compared with males produce higher muscle forces, suggesting an increased demand for muscular stabilization, whereas tibio-femoral kinematics was similar for both genders.

THE BOLOCAM GALACTIC PLANE SURVEY. VIII. A MID-INFRARED KINEMATIC DISTANCE DISCRIMINATION METHOD

Energy Technology Data Exchange (ETDEWEB)

Ellsworth-Bowers, Timothy P.; Glenn, Jason; Battersby, Cara; Ginsburg, Adam; Bally, John [CASA, University of Colorado, UCB 389, University of Colorado, Boulder, CO 80309 (United States); Rosolowsky, Erik [Department of Physics and Astronomy, University of British Columbia Okanagan, 3333 University Way, Kelowna, BC V1V 1V7 (Canada); Mairs, Steven [Department of Physics and Astronomy, University of Victoria, 3800 Finnerty Road, Victoria, BC V8P 1A1 (Canada); Evans, Neal J. II [Department of Astronomy, University of Texas, 1 University Station C1400, Austin, TX 78712 (United States); Shirley, Yancy L., E-mail: timothy.ellsworthbowers@colorado.edu [Steward Observatory, University of Arizona, 933 North Cherry Avenue, Tucson, AZ 85721 (United States)

2013-06-10

We present a new distance estimation method for dust-continuum-identified molecular cloud clumps. Recent (sub-)millimeter Galactic plane surveys have cataloged tens of thousands of these objects, plausible precursors to stellar clusters, but detailed study of their physical properties requires robust distance determinations. We derive Bayesian distance probability density functions (DPDFs) for 770 objects from the Bolocam Galactic Plane Survey in the Galactic longitude range 7. Degree-Sign 5 {<=} l {<=} 65 Degree-Sign . The DPDF formalism is based on kinematic distances, and uses any number of external data sets to place prior distance probabilities to resolve the kinematic distance ambiguity (KDA) for objects in the inner Galaxy. We present here priors related to the mid-infrared absorption of dust in dense molecular regions and the distribution of molecular gas in the Galactic disk. By assuming a numerical model of Galactic mid-infrared emission and simple radiative transfer, we match the morphology of (sub-)millimeter thermal dust emission with mid-infrared absorption to compute a prior DPDF for distance discrimination. Selecting objects first from (sub-)millimeter source catalogs avoids a bias towards the darkest infrared dark clouds (IRDCs) and extends the range of heliocentric distance probed by mid-infrared extinction and includes lower-contrast sources. We derive well-constrained KDA resolutions for 618 molecular cloud clumps, with approximately 15% placed at or beyond the tangent distance. Objects with mid-infrared contrast sufficient to be cataloged as IRDCs are generally placed at the near kinematic distance. Distance comparisons with Galactic Ring Survey KDA resolutions yield a 92% agreement. A face-on view of the Milky Way using resolved distances reveals sections of the Sagittarius and Scutum-Centaurus Arms. This KDA-resolution method for large catalogs of sources through the combination of (sub-)millimeter and mid-infrared observations of molecular

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.

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…

Cellular internalization and morphological analysis after intravenous injection of a highly hydrophilic octahedral rhenium cluster complex - a new promising X-ray contrast agent.

Science.gov (United States)

Krasilnikova, Anna A; Solovieva, Anastasiya O; Trifonova, Kristina E; Brylev, Konstantin A; Ivanov, Anton A; Kim, Sung-Jin; Shestopalov, Michael A; Fufaeva, Maria S; Shestopalov, Alexander M; Mironov, Yuri V; Poveshchenko, Alexander F; Shestopalova, Lidia V

2016-11-01

The octahedral cluster compound Na 2 H 8 [{Re 6 Se 8 }(P(C 2 H 4 CONH 2 )(C 2 H 4 COO) 2 ) 6 ] has been shown to be highly radio dense, thus becoming a promising X-ray contrast agent. It was also shown that this compound had low cytotoxic effect in vitro, low acute toxicity in vivo and was eliminated rapidly from the body through the urinary tract. The present contribution describes a more detailed cellular internalization assay and morphological analysis after intravenous injection of this hexarhenium cluster compound at different doses. The median lethal dose (LD 50 ) of intravenously administrated compound was calculated (4.67 ± 0.69 g/kg). Results of the study clearly indicated that the cluster complex H n [{Re 6 Se 8 }(P(C 2 H 4 CONH 2 )(C 2 H 4 COO) 2 ) 6 ] n-10 was not internalized into cells in vitro and induced only moderate morphological alterations of kidneys at high doses without any changes in morphology of liver, spleen, duodenum, or heart of mice. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 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.

Uncertainty estimation and multi sensor fusion for kinematic laser tracker measurements

Science.gov (United States)

Ulrich, Thomas

2013-08-01

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

Dose exposure work planning using DMU kinematics tools

International Nuclear Information System (INIS)

Rosli Darmawan

2010-01-01

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

Analisys and Choice of the Exoskeleton’s Actuator Kinematic Structure

Directory of Open Access Journals (Sweden)

A. A. Vereikin

2014-01-01

Full Text Available The urgency of designing of robotic exoskeletons as one of the most prospective means of modern robotics is proved. A literature review concerning the design issues of anthropomorphic walking robots and exoskeletons is performed. Some problems, accompanying the designing process of exoskeleton actuator, are highlighted. Among them synthesis of its tree-like kinematic structure takes leading place. Its complication is explained by the specific human-machine interaction.The problem of exoskeleton actuator kinematic scheme synthesis is formulated and possible approaches to its solution are shown. The paper presents the synthesis results obtained using the software complex CATIA-based means of ergonomic design. It investigates the degrees of freedom of human-operator’s foot, shin, and thigh. And it identifies a number of shortcomings of this software complex associated with the ambiguity to solve the inverse kinematics problem, leading to a significant complication of kinematics synthesis.A model of human lower limb on which further studies of the exoskeleton actuator kinematic scheme, ensuring fulfillment of the human-operator standard movements (squats, kick their feet, bending body, walking, running stairs, etc., are based, is developed in SolidWorks software complex. The reasonability of the exoskeleton kinematic scheme synthesis in software package SolidWorks using anthropometric data from the software complex CATIA, is justified.The proposed method allows to analyze different kinematic schemes of actuator for the stage of conceptual design and to choose the best of them in accordance with established criterions. Thus, the developer receives the final version of the kinematic scheme before the detailed design of the actuator starts, thus significantly reducing its labor costs.

Kinematics of Rotation in Joints of the Lower Limbs and Pelvis during Gait: Early Results—SB ACLR Approach versus DB ACLR Approach

Directory of Open Access Journals (Sweden)

Andrzej Czamara

2015-01-01

Full Text Available It is difficult to find publications comparing rotation kinematics in large joints of the lower limbs and pelvis during gait in patients after single-bundle (SB reconstruction of the anterior cruciate ligament (ACLR with double-bundle (DB ACLR of the knee. The aim of this study was to compare rotation kinematics in ankle, knee, and hip joints and the pelvis during gait in the 14th week after SB and DB ACLR. The subjects were males after SB (n=10 and DB (n=13 ACLR and a control group (n=15. The values of kinematic parameters were recorded during internal (IR and external (ER rotation in the joints during gait using the BTS SMART. The SB ACLR group obtained significantly higher values of ER in the involved knee comparing to DB ACLR and controls and excessive IR in the hip comparing to controls. In the DB ACLR group, excessive ER was noted in the involved leg's foot. Comparing with the DB ACLR and control groups, SB ACLR subjects had more substantial disorders of rotation kinematics in the lower limb joints. However, in both ACLR groups, 14 weeks of postoperative physiotherapy were not enough to fully restore rotation kinematics in joints of the lower limbs during gait.

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.

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.

Comparative morphology of the axial complex and interdependence of internal organ systems in sea urchins (Echinodermata: Echinoidea).

Science.gov (United States)

Ziegler, Alexander; Faber, Cornelius; Bartolomaeus, Thomas

2009-06-09

The axial complex of echinoderms (Echinodermata) is composed of various primary and secondary body cavities that interact with each other. In sea urchins (Echinoidea), structural differences of the axial complex in "regular" and irregular species have been observed, but the reasons underlying these differences are not fully understood. In addition, a better knowledge of axial complex diversity could not only be useful for phylogenetic inferences, but improve also an understanding of the function of this enigmatic structure. We therefore analyzed numerous species of almost all sea urchin orders by magnetic resonance imaging, dissection, histology, and transmission electron microscopy and compared the results with findings from published studies spanning almost two centuries. These combined analyses demonstrate that the axial complex is present in all sea urchin orders and has remained structurally conserved for a long time, at least in the "regular" species. Within the Irregularia, a considerable morphological variation of the axial complex can be observed with gradual changes in topography, size, and internal architecture. These modifications are related to the growing size of the gastric caecum as well as to the rearrangement of the morphology of the digestive tract as a whole. The structurally most divergent axial complex can be observed in the highly derived Atelostomata in which the reorganization of the digestive tract is most pronounced. Our findings demonstrate a structural interdependence of various internal organs, including digestive tract, mesenteries, and the axial complex.

Nonlinear kinematics for piezoelectricity in ALEGRA-EMMA.

Energy Technology Data Exchange (ETDEWEB)

Mitchell, John Anthony; Fuller, Timothy Jesse

2013-09-01

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

Nonlinear kinematic hardening under non-proportional loading

International Nuclear Information System (INIS)

Ottosen, N.S.

1979-07-01

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

Of gluons and gravitons. Exploring color-kinematics duality

International Nuclear Information System (INIS)

Isermann, Reinke Sven

2013-06-01

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

Of gluons and gravitons. Exploring color-kinematics duality

Energy Technology Data Exchange (ETDEWEB)

Isermann, Reinke Sven

2013-06-15

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

Running in ostriches (Struthio camelus): three-dimensional joint axes alignment and joint kinematics.

Science.gov (United States)

Rubenson, Jonas; Lloyd, David G; Besier, Thor F; Heliams, Denham B; Fournier, Paul A

2007-07-01

Although locomotor kinematics in walking and running birds have been examined in studies exploring many biological aspects of bipedalism, these studies have been largely limited to two-dimensional analyses. Incorporating a five-segment, 17 degree-of-freedom (d.f.) kinematic model of the ostrich hind limb developed from anatomical specimens, we quantified the three-dimensional (3-D) joint axis alignment and joint kinematics during running (at approximately 3.3 m s(-1)) in the largest avian biped, the ostrich. Our analysis revealed that the majority of the segment motion during running in the ostrich occurs in flexion/extension. Importantly, however, the alignment of the average flexion/extension helical axes of the knee and ankle are rotated externally to the direction of travel (37 degrees and 21 degrees , respectively) so that pure flexion and extension at the knee will act to adduct and adbuct the tibiotarsus relative to the plane of movement, and pure flexion and extension at the ankle will act to abduct and adduct the tarsometatarsus relative to the plane of movement. This feature of the limb anatomy appears to provide the major lateral (non-sagittal) displacement of the lower limb necessary for steering the swinging limb clear of the stance limb and replaces what would otherwise require greater adduction/abduction and/or internal/external rotation, allowing for less complex joints, musculoskeletal geometry and neuromuscular control. Significant rotation about the joints' non-flexion/extension axes nevertheless occurs over the running stride. In particular, hip abduction and knee internal/external and varus/valgus motion may further facilitate limb clearance during the swing phase, and substantial non-flexion/extension movement at the knee is also observed during stance. Measurement of 3-D segment and joint motion in birds will be aided by the use of functionally determined axes of rotation rather than assumed axes, proving important when interpreting the

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.

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

Multiple half-second acquisition method of the moving knee joint. Kinematic MR imaging of the anterior cruciate ligament

Energy Technology Data Exchange (ETDEWEB)

Niitsu, Mamoru; Ikeda, Kotaroh; Fukubayashi, Tohru; Echigo, Junko; Itai, Yuji [Tsukuba Univ., Ibaraki (Japan). Inst. of Clinical Medicine

1996-10-01

The objective of this study was to delineate the moving anterior cruciate ligament (ACL) with multiple rapid magnetic resonance (MR) imaging. Rapid gradient echo MR images with an one-shot acquisition time of a half-second were accomplished by short repetition time and phase encoding reduction. Using a mobile knee brace and a flexible surface coil, half-second acquisitions were sequentially acquired during active, constant knee movement. Sixteen knees with intact ACLs and 27 knees with arthroscopically proven ACL tears were examined. Normal ACLs were identified as moving linear low-intensities. The ligaments were readily identified as straight or minimally curved structures when the knee was in semi-flexion compared to the knee extension. Torn ACLs were demonstrated as moving fragments or an amorphous configuration. Intermittent appearances of joint fluid interrupted the ligamentous continuities. Compared to the static images, no significant superiority of the kinematic imaging was found in diagnosis of ACL tears. However, this instant kinematic imaging is feasible with a standard MR system and can provide morphological information for functional analysis of the knee. (author)

Comparative kinematical analyses of Venus flytrap (Dionaea muscipula snap traps

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Simon Poppinga

2016-05-01

Full Text Available Although the Venus flytrap (Dionaea muscipula can be considered as one of the most extensively investigated carnivorous plants, knowledge is still scarce about diversity of the snap-trap motion, the functionality of snap traps under varying environmental conditions, and their opening motion. By conducting simple snap-trap closure experiments in air and under water, we present striking evidence that adult Dionaea snaps similarly fast in aerial and submersed states and, hence, is potentially able to gain nutrients from fast aquatic prey during seasonal inundation. We reveal three snapping modes of adult traps, all incorporating snap buckling, and show that millimeter-sized, much slower seedling traps do not yet incorporate such elastic instabilities. Moreover, opening kinematics of young and adult Dionaea snap traps reveal that reverse snap buckling is not performed, corroborating the assumption that growth takes place on certain trap lobe regions. Our findings are discussed in an evolutionary, biomechanical, functional–morphological and biomimetic context.

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

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.

Hip kinematics and kinetics in persons with and without cam femoroacetabular impingement during a deep squat task.

Science.gov (United States)

Bagwell, Jennifer J; Snibbe, Jason; Gerhardt, Michael; Powers, Christopher M

2016-01-01

Previous studies have indicated that hip and pelvis kinematics may be altered during functional tasks in persons with femoroacetabular impingement. The purpose of this study was to compare hip and pelvis kinematics and kinetics during a deep squat task between persons with cam femoroacetabular impingement and pain-free controls. Fifteen persons with cam femoroacetabular impingement and 15 persons without cam femoroacetabular impingement performed a deep squat task. Peak hip flexion, abduction, and internal rotation, and mean hip extensor, adductor, and external rotator moments were quantified. Independent t-tests (αsquat descent compared to the control group, resulting in a more anteriorly tilted pelvis at the time peak hip flexion (12.5° (SD 17.1°) vs. 23.0° (SD 12.4°); P=0.024). The decreased hip internal rotation observed in persons with cam femoroacetabular impingement may be the result of bony impingement. Furthermore, the decrease in posterior pelvis tilt may contribute to impingement by further approximating the femoral head-neck junction with the acetabulum. Additionally, decreased hip extensor moments suggest that diminished hip extensor muscle activity may contribute to decreased posterior pelvis tilt. Copyright © 2015 Elsevier Ltd. All rights reserved.

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

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

Kinematics and Kinetics of Squat and Deadlift Exercises with Varying Stance Widths

Science.gov (United States)

DeWitt, John K.; Fincke, Renita S.; Logan, Rachel L.

2011-01-01

The primary motion of squat and deadlift exercise involves flexion and extension of the hips, knees, and ankles, but each exercise can be performed with variations in stance width. These variations may result in differing kinematics and ground reaction forces (GRF), which may in turn affect joint loading. PURPOSE: The purpose of this investigation was to compare ankle, knee, and hip kinematics and kinetics of normal squat (NS), wide-stance squat (WS), normal deadlift (ND), and sumo deadlift (SD). We hypothesized that hip joint kinematics and work at each joint would differ between exercise variations. METHODS: Six subjects (3 m/3 f; 70.0 plus or minus 13.7 kg; 168 plus or minus 9.9 cm) performed each lift in normal gravity on the ground-based version of the Advanced Resistive Exercise Device (ARED) used on the International Space Station. The ARED provided resistance with a combination vacuum tube/flywheel mechanism designed to replicate the gravitational and inertial forces of free weights. Subjects completed each lift with their 10-repetition maximum load. Kinematic data were collected at 250 Hz by a 12-camera motion-capture system (Smart-D, BTS Bioengineering, Milan, Italy), and GRF data were collected at 1000 Hz with independent force platforms for each leg (Model 9261, Kistler Instruments AG, Winterhur, Switzerland). All data were captured simultaneously on a single workstation. The right leg of a single lift for each motion was analyzed. Modeling software (OpenSim 2.2.0, Simbios, Palo Alto, CA) determined joint kinematics and net positive and negative work at each lower extremity joint. Total work was found as the sum of work across all joints and was normalized by system mass. Effect sizes and their 95% confidence intervals were computed between conditions. RESULTS: Peak GRF were similar for each lift. There were no differences between conditions in hip flexion range of motion (ROM). For hip adduction ROM, there were no differences between the NS, WS, and SD

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.)

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.

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.

Influence of new military athletic footwear on the kinetics and kinematics of running in relation to army boots.

Science.gov (United States)

Sinclair, Jonathan; Taylor, Paul J

2014-10-01

Musculoskeletal injuries in the lower extremities are common in military recruits. Army boots have frequently been cited as a potential mechanism behind these high injury rates. In response to this, the British Army introduced new footwear models, the PT-03 (cross-trainer) and PT1000 (running shoes), which are issued to each new recruit in an attempt to reduce the incidence of these injuries. The aim of the current investigation was to examine the kinetics and kinematic of the PT-03 and PT1000 footwear in relation to conventional army boots. Thirteen participants ran at 4.0 m·s in each footwear condition. Three-dimensional kinematics from the hip, knee, and ankle were measured using an 8-camera motion analysis system. In addition, simultaneous ground reaction forces were obtained. Kinetic parameters were obtained alongside joint kinematics and compared using repeated-measures analyses of variance. The kinetic analysis revealed that impact parameters were significantly greater when running in the army boot compared with the PT-03 and PT1000. The kinematic analysis indicated that, in comparison with the PT-03 and PT1000, running in army boots was associated with significantly greater eversion and tibial internal rotation. It was also found that when running in the PT-03 footwear, participants exhibited significantly greater hip adduction and knee abduction compared with the army boots and PT1000. The results of this study suggest that the army boots and PT-03 footwear are associated with kinetic and kinematic parameters that have been linked to the etiology of injury; thus, it is recommended that the PT1000 footwear be adopted for running exercises.

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.

The Syntax-Semantics Interface in Distributed Morphology

Science.gov (United States)

Kelly, Justin Robert

2013-01-01

Distributed Morphology (DM; Halle & Marantz 1993; Marantz 1997) is founded on the premise that the syntax is the only computational component of the grammar. Much research focuses on how this premise is relevant to the syntax-morphology interface in DM. In this dissertation, I examine theory-internal issues related to the syntax-semantics…

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...

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.

[Forensic medical evaluation of a burn injury from combustion of flammable fluids on the human body based on morphological changes in internal organs].

Science.gov (United States)

Khushkadamov, Z K

2009-01-01

The author describes morphological features of splanchnic organs in the patients that suffered an injury from combustion of flammable fluids at the body surface. The burn injury is a specific form of trauma originating from a combination of several injurious factors including thermoinhalation and intoxication with combustion products in the absence of oxygen in the centre of the hot spot. A rather specific combination of morphological changes in internal organs along with results of laboratory studies provides the most reliable criterion for forensic medical diagnosis of burn injuries from combustion of flammable fluids on the human body.

Development of a morphology-based modeling technique for tracking solid-body displacements: examining the reliability of a potential MRI-only approach for joint kinematics assessment

International Nuclear Information System (INIS)

Mahato, Niladri K.; Montuelle, Stephane; Cotton, John; Williams, Susan; Thomas, James; Clark, Brian

2016-01-01

Single or biplanar video radiography and Roentgen stereophotogrammetry (RSA) techniques used for the assessment of in-vivo joint kinematics involves application of ionizing radiation, which is a limitation for clinical research involving human subjects. To overcome this limitation, our long-term goal is to develop a magnetic resonance imaging (MRI)-only, three dimensional (3-D) modeling technique that permits dynamic imaging of joint motion in humans. Here, we present our initial findings, as well as reliability data, for an MRI-only protocol and modeling technique. We developed a morphology-based motion-analysis technique that uses MRI of custom-built solid-body objects to animate and quantify experimental displacements between them. The technique involved four major steps. First, the imaging volume was calibrated using a custom-built grid. Second, 3-D models were segmented from axial scans of two custom-built solid-body cubes. Third, these cubes were positioned at pre-determined relative displacements (translation and rotation) in the magnetic resonance coil and scanned with a T 1 and a fast contrast-enhanced pulse sequences. The digital imaging and communications in medicine (DICOM) images were then processed for animation. The fourth step involved importing these processed images into an animation software, where they were displayed as background scenes. In the same step, 3-D models of the cubes were imported into the animation software, where the user manipulated the models to match their outlines in the scene (rotoscoping) and registered the models into an anatomical joint system. Measurements of displacements obtained from two different rotoscoping sessions were tested for reliability using coefficient of variations (CV), intraclass correlation coefficients (ICC), Bland-Altman plots, and Limits of Agreement analyses. Between-session reliability was high for both the T 1 and the contrast-enhanced sequences. Specifically, the average CVs for translation were 4

Development of a morphology-based modeling technique for tracking solid-body displacements: examining the reliability of a potential MRI-only approach for joint kinematics assessment.

Science.gov (United States)

Mahato, Niladri K; Montuelle, Stephane; Cotton, John; Williams, Susan; Thomas, James; Clark, Brian

2016-05-18

Single or biplanar video radiography and Roentgen stereophotogrammetry (RSA) techniques used for the assessment of in-vivo joint kinematics involves application of ionizing radiation, which is a limitation for clinical research involving human subjects. To overcome this limitation, our long-term goal is to develop a magnetic resonance imaging (MRI)-only, three dimensional (3-D) modeling technique that permits dynamic imaging of joint motion in humans. Here, we present our initial findings, as well as reliability data, for an MRI-only protocol and modeling technique. We developed a morphology-based motion-analysis technique that uses MRI of custom-built solid-body objects to animate and quantify experimental displacements between them. The technique involved four major steps. First, the imaging volume was calibrated using a custom-built grid. Second, 3-D models were segmented from axial scans of two custom-built solid-body cubes. Third, these cubes were positioned at pre-determined relative displacements (translation and rotation) in the magnetic resonance coil and scanned with a T1 and a fast contrast-enhanced pulse sequences. The digital imaging and communications in medicine (DICOM) images were then processed for animation. The fourth step involved importing these processed images into an animation software, where they were displayed as background scenes. In the same step, 3-D models of the cubes were imported into the animation software, where the user manipulated the models to match their outlines in the scene (rotoscoping) and registered the models into an anatomical joint system. Measurements of displacements obtained from two different rotoscoping sessions were tested for reliability using coefficient of variations (CV), intraclass correlation coefficients (ICC), Bland-Altman plots, and Limits of Agreement analyses. Between-session reliability was high for both the T1 and the contrast-enhanced sequences. Specifically, the average CVs for translation were 4

Relationship between gluteal muscle activation and upper extremity kinematics and kinetics in softball position players.

Science.gov (United States)

Oliver, Gretchen D

2014-03-01

As the biomechanical literature concerning softball pitching is evolving, there are no data to support the mechanics of softball position players. Pitching literature supports the whole kinetic chain approach including the lower extremity in proper throwing mechanics. The purpose of this project was to examine the gluteal muscle group activation patterns and their relationship with shoulder and elbow kinematics and kinetics during the overhead throwing motion of softball position players. Eighteen Division I National Collegiate Athletic Association softball players (19.2 ± 1.0 years; 68.9 ± 8.7 kg; 168.6 ± 6.6 cm) who were listed on the active playing roster volunteered. Electromyographic, kinematic, and kinetic data were collected while players caught a simulated hit or pitched ball and perform their position throw. Pearson correlation revealed a significant negative correlation between non-throwing gluteus maximus during the phase of maximum external rotation to maximum internal rotation (MIR) and elbow moments at ball release (r = -0.52). While at ball release, trunk flexion and rotation both had a positive relationship with shoulder moments at MIR (r = 0.69, r = 0.82, respectively) suggesting that the kinematic actions of the pelvis and trunk are strongly related to the actions of the shoulder during throwing.

Distinct hip and rearfoot kinematics in female runners with a history of tibial stress fracture.

Science.gov (United States)

Milner, Clare E; Hamill, Joseph; Davis, Irene S

2010-02-01

Cross-sectional controlled laboratory study. To investigate the kinematics of the hip, knee, and rearfoot in the frontal and transverse planes in female distance runners with a history of tibial stress fracture. Tibial stress fractures are a common overuse injury in runners, accounting for up to half of all stress fractures. Abnormal kinematics of the lower extremity may contribute to abnormal musculoskeletal load distributions, leading to an increased risk of stress fractures. Thirty female runners with a history of tibial stress fracture were compared to 30 age-matched and weekly-running-distance-matched control subjects with no previous lower extremity bony injuries. Kinematic and kinetic data were collected using a motion capture system and a force platform, respectively, as subjects ran in the laboratory. Selected variables of interest were compared between the groups using a multivariate analysis of variance (MANOVA). Peak hip adduction and peak rearfoot eversion angles were greater in the stress fracture group compared to the control group. Peak knee adduction and knee internal rotation angles and all joint angles at impact peak were similar between the groups. Runners with a previous tibial stress fracture exhibited greater peak hip adduction and rearfoot eversion angles during the stance phase of running compared to healthy controls. A consequence of these mechanics may be altered load distribution within the lower extremity, predisposing individuals to stress fracture.

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.

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.

Kinematic scaling relations of CALIFA galaxies: A dynamical mass proxy for galaxies across the Hubble sequence.

Science.gov (United States)

Aquino-Ortíz, E.; Valenzuela, O.; Sánchez, S. F.; Hernández-Toledo, H.; Ávila-Reese, V.; van de Ven, G.; Rodríguez-Puebla, A.; Zhu, L.; Mancillas, B.; Cano-Díaz, M.; García-Benito, R.

2018-06-01

We used ionized gas and stellar kinematics for 667 spatially resolved galaxies publicly available from the Calar Alto Legacy Integral Field Area survey (CALIFA) 3rd Data Release with the aim of studying kinematic scaling relations as the Tully & Fisher (TF) relation using rotation velocity, Vrot, the Faber & Jackson (FJ) relation using velocity dispersion, σ, and also a combination of Vrot and σ through the SK parameter defined as SK^2 = KV_{rot}^2 + σ ^2 with constant K. Late-type and early-type galaxies reproduce the TF and FJ relations. Some early-type galaxies also follow the TF relation and some late-type galaxies the FJ relation, but always with larger scatter. On the contrary, when we use the SK parameter, all galaxies, regardless of the morphological type, lie on the same scaling relation, showing a tight correlation with the total stellar mass, M⋆. Indeed, we find that the scatter in this relation is smaller or equal to that of the TF and FJ relations. We explore different values of the K parameter without significant differences (slope and scatter) in our final results with respect the case K = 0.5 besides than a small change in the zero point. We calibrate the kinematic SK^2 dynamical mass proxy in order to make it consistent with sophisticated published dynamical models within 0.15 dex. We show that the SK proxy is able to reproduce the relation between the dynamical mass and the stellar mass in the inner regions of galaxies. Our result may be useful in order to produce fast estimations of the central dynamical mass in galaxies and to study correlations in large galaxy surveys.

Scapula kinematics of pull-up techniques: Avoiding impingement risk with training changes.

Science.gov (United States)

Prinold, Joe A I; Bull, Anthony M J

2016-08-01

Overhead athletic activities and scapula dyskinesia are linked with shoulder pathology; pull-ups are a common training method for some overhead sports. Different pull-up techniques exist: anecdotally some are easier to perform, and others linked to greater incidences of pathology. This study aims to quantify scapular kinematics and external forces for three pull-up techniques, thus discussing potential injury implications. An observational study was performed with eleven participants (age=26.8±2.4 years) who regularly perform pull-ups. The upward motions of three pull-up techniques were analysed: palms facing anterior, palms facing posterior and wide-grip. A skin-fixed scapula tracking technique with attached retro-reflective markers was used. High intra-participant repeatability was observed: mean coefficients of multiple correlations of 0.87-1.00 in humerothoracic rotations and 0.77-0.90 for scapulothoracic rotations. Standard deviations of hand force was low: kinematics were observed between the pull-up techniques. The reverse technique has extreme glenohumeral internal-external rotation and large deviation from the scapula plane. The wide technique has a reduced range of pro/retraction in the same HT plane of elevation and 90° of arm abduction with 45° external rotation was observed. All these factors suggest increased sub-acromial impingement risk. The scapula tracking technique showed high repeatability. High arm elevation during pull-ups reduces sub-acromial space and increases pressure, increasing the risk of impingement injury. Wide and reverse pull-ups demonstrate kinematics patterns linked with increased impingement risk. Weight-assisted front pull-ups require further investigation and could be recommended for weaker participants. Copyright © 2015 Sports Medicine Australia. Published by Elsevier Ltd. All rights reserved.

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...

Short-term Impact of Anterior Cruciate Ligament Reconstruction in an Adolescent Population on 3D Knee Kinematics

OpenAIRE

Laforest, Guillaume; Fuentes, Alexandre; Therrien, Marc; Grimard, Guy

2017-01-01

Objectives: Gait analysis is a proven method for assessing knee biomechanical adaptations in anterior cruciate ligament deficient (ACLD) patients and to quantify the impact of the reconstructive surgery (ACLR). In an adult population, ACLR has shown partial kinematic correction, as they remain in internal tibial rotation, putting them at risk of rotational instability and develop osteoartitis. ACLD adolescents likely adopt similar gait changes to reduce knee instability, but may show quicker ...

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....

Treatment of photon radiation in kinematics fits at future e{sup +}e{sup -} colliders

Energy Technology Data Exchange (ETDEWEB)

Beckmann, M.; List, J. [Deutsches Elektronen-Synchrotron (DESY), Hamburg (Germany); List, B. [Hamburg Univ. (Germany). Inst. fuer Experimentalphysik

2010-05-15

Kinematic fitting, where constraints such as energy and momentum conservation are imposed on measured four-vectors of jets and leptons, is an important tool to improve the resolution in high-energy physics experiments. At future e{sup +}e{sup -} colliders, photon radiation parallel to the beam carrying away large amounts of energy and momentum will become a challenge for kinematic fitting. A photon with longitudinal momentum p{sub z,{gamma}} ({eta}) is introduced, which is parametrized such that {eta} follows a normal distribution. In the fit, {eta} is treated as having a measured value of zero, which corresponds to p{sub z,{gamma}}, = 0. As a result, fits with constraints on energy and momentum conservation converge well even in the presence of a highly energetic photon, while the resolution of fits without such a photon is retained. A fully simulated and reconstructed e{sup +}e{sup -}{yields}q anti qq anti q event sample at {radical}(s)=500 GeV is used to investigate the performance of this method under realistic conditions, as expected at the International Linear Collider. (orig.)

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.

A Study of the Internal and External Morphology in the Mandibular first Premolar of the Middle-Aged Korean Using a Microcomputed Tomography

International Nuclear Information System (INIS)

Chun, K. J.; Lee, H. J.; Lee, J. Y.

2005-01-01

Dental statistics for Koreans are far from complete and the majority of previous researches have adopted techniques such as radiological analysis and sectioning of teeth for morphological information, which are time-consuming, less accurate and destructive. Thus, a new nondestructive method is necessary to get precise dental standardization data for Koreans. For the above purpose, each of the first premolars was scanned by a micro-CT (SkyScan, Belgium) with a resolution of 21.31 μm at an interval of 0.022mm along the plane horizontally parallel to an occlusion plane. Internal and external morphological sections were measured and compared to the values in the average tooth size table for permanent teeth presented by G. V Black

An introduction to the mathematics of ocular kinematics

Directory of Open Access Journals (Sweden)

Graeme E MacKenzie

2006-12-01

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

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

Science.gov (United States)

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

2017-09-06

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

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

Science.gov (United States)

Duarte, Jaime E; Reinkensmeyer, David J

2015-04-01

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

Morphology control in polymer blend fibers—a high throughput computing approach

Science.gov (United States)

Sesha Sarath Pokuri, Balaji; Ganapathysubramanian, Baskar

2016-08-01

Fibers made from polymer blends have conventionally enjoyed wide use, particularly in textiles. This wide applicability is primarily aided by the ease of manufacturing such fibers. More recently, the ability to tailor the internal morphology of polymer blend fibers by carefully designing processing conditions has enabled such fibers to be used in technologically relevant applications. Some examples include anisotropic insulating properties for heat and anisotropic wicking of moisture, coaxial morphologies for optical applications as well as fibers with high internal surface area for filtration and catalysis applications. However, identifying the appropriate processing conditions from the large space of possibilities using conventional trial-and-error approaches is a tedious and resource-intensive process. Here, we illustrate a high throughput computational approach to rapidly explore and characterize how processing conditions (specifically blend ratio and evaporation rates) affect the internal morphology of polymer blends during solvent based fabrication. We focus on a PS: PMMA system and identify two distinct classes of morphologies formed due to variations in the processing conditions. We subsequently map the processing conditions to the morphology class, thus constructing a ‘phase diagram’ that enables rapid identification of processing parameters for specific morphology class. We finally demonstrate the potential for time dependent processing conditions to get desired features of the morphology. This opens up the possibility of rational stage-wise design of processing pathways for tailored fiber morphology using high throughput computing.

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

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

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

Science.gov (United States)

Kenaley, Christopher P; Lauder, George V

2016-07-01

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

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.

THE HUBBLE SPACE TELESCOPE UV LEGACY SURVEY OF GALACTIC GLOBULAR CLUSTERS: THE INTERNAL KINEMATICS OF THE MULTIPLE STELLAR POPULATIONS IN NGC 2808

International Nuclear Information System (INIS)

Bellini, A.; Anderson, J.; Marel, R. P. van der; Vesperini, E.; Hong, J.; Piotto, G.; Milone, A. P.; Marino, A. F.; Bedin, L. R.; Renzini, A.; Cassisi, S.; D’Antona, F.

2015-01-01

Numerous observational studies have revealed the ubiquitous presence of multiple stellar populations in globular clusters and cast many difficult challenges for the study of the formation and dynamical history of these stellar systems. In this Letter we present the results of a study of the kinematic properties of multiple populations in NGC 2808 based on high-precision Hubble Space Telescope proper-motion measurements. In a recent study, Milone et al. identified five distinct populations (A–E) in NGC 2808. Populations D and E coincide with the helium-enhanced populations in the middle and the blue main sequences (mMS and bMS) previously discovered by Piotto et al.; populations A–C correspond to the redder main sequence that, in Piotto et al., was associated with the primordial stellar population. Our analysis shows that, in the outermost regions probed (between about 1.5 and 2 times the cluster half-light radius), the velocity distribution of populations D and E is radially anisotropic (the deviation from an isotropic distribution is significant at the ∼3.5σ level). Stars of populations D and E have a smaller tangential velocity dispersion than those of populations A–C, while no significant differences are found in the radial velocity dispersion. We present the results of a numerical simulation showing that the observed differences between the kinematics of these stellar populations are consistent with the expected kinematic fingerprint of the diffusion toward the cluster outer regions of stellar populations initially more centrally concentrated

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.

Kinematics of partial and total ruptures of the medial collateral ligament of the elbow

DEFF Research Database (Denmark)

Eygendaal, D; Olsen, Bo Sanderhoff; Jensen, Steen Lund

2000-01-01

In this study the kinematics of partial and total ruptures of the medial collateral ligament of the elbow are investigated. After selective transection of the medial collateral ligament of 8 osteoligamentous intact elbow preparations was performed, 3-dimensional measurements of angular displacement......, increase in medial joint opening, and translation of the radial head were examined during application of relevant stress. Increase in joint opening was significant only after complete transection of the anterior part of the medial collateral ligament was performed. The joint opening was detected during...... valgus and internal rotatory stress only. After partial transection of the anterior bundle of the medial collateral ligament was performed, there was an elbow laxity to valgus and internal rotatory force, which became significant after transection of 100% of the anterior bundle of the medial collateral...

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

Morphological Evolution of Block Copolymer Particles: Effect of Solvent Evaporation Rate on Particle Shape and Morphology.

Science.gov (United States)

Shin, Jae Man; Kim, YongJoo; Yun, Hongseok; Yi, Gi-Ra; Kim, Bumjoon J

2017-02-28

Shape and morphology of polymeric particles are of great importance in controlling their optical properties or self-assembly into unusual superstructures. Confinement of block copolymers (BCPs) in evaporative emulsions affords particles with diverse structures, including prolate ellipsoids, onion-like spheres, oblate ellipsoids, and others. Herein, we report that the evaporation rate of solvent from emulsions encapsulating symmetric polystyrene-b-polybutadiene (PS-b-PB) determines the shape and internal nanostructure of micron-sized BCP particles. A distinct morphological transition from the ellipsoids with striped lamellae to the onion-like spheres was observed with decreasing evaporation rate. Experiments and dissipative particle dynamics (DPD) simulations showed that the evaporation rate affected the organization of BCPs at the particle surface, which determined the final shape and internal nanostructure of the particles. Differences in the solvent diffusion rates in PS and PB at rapid evaporation rates induced alignment of both domains perpendicular to the particle surface, resulting in ellipsoids with axial lamellar stripes. Slower evaporation rates provided sufficient time for BCP organization into onion-like structures with PB as the outermost layer, owing to the preferential interaction of PB with the surroundings. BCP molecular weight was found to influence the critical evaporation rate corresponding to the morphological transition from ellipsoid to onion-like particles, as well as the ellipsoid aspect ratio. DPD simulations produced morphologies similar to those obtained from experiments and thus elucidated the mechanism and driving forces responsible for the evaporation-induced assembly of BCPs into particles with well-defined shapes and morphologies.

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.

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.

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

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

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.

Discordant tasks and motor adjustments affect interactions between adaptations to altered kinematics and dynamics

Directory of Open Access Journals (Sweden)

Fritzie Arce

2010-01-01

Full Text Available Motor control and adaptation are multi-determinate processes with complex interactions. This is reflected for example in the ambiguous nature of interactions during sequential adaptation of reaching under kinematics and dynamics perturbations. It has been suggested that perturbations based on the same kinematic parameter interfere. Others posited that opposing motor adjustments underlie interference. Here, we examined the influence of discordances in task and in motor adjustments on sequential adaptations to visuomotor rotation and viscous force field perturbations. These two factors – perturbation direction and task discordance – have been examined separately by previous studies, thus the inherent difficulty to identify the roots of interference. Forty-eight human subjects adapted sequentially to one or two types of perturbations, of matched or conflicting directions. We found a gradient of interaction effects based on perturbation direction and task discordance. Perturbations of matched directions showed facilitation while perturbations of opposite directions, which required opposing motor adjustments, interfered with each other. Further, interaction effects increased with greater task discordance. We also found that force field and visuomotor rotation had mutual anterograde and retrograde effects. However, we found independence between anterograde and retrograde interferences between similar tasks. The results suggest that the newly acquired internal models of kinematic and dynamic perturbations are not independent but they share common neuronal resources and interact between them. Such overlap does not necessarily imply competition of resources. Rather, our results point to an additional principle of sensorimotor adaptation allowing the system to tap or harness common features across diverse sensory inputs and task contexts whenever available.

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.

Macular morphology and visual acuity after macular hole surgery with or without internal limiting membrane peeling

DEFF Research Database (Denmark)

Christensen, U.C.; Kroyer, K.; Sander, B.

2010-01-01

Aim: To examine postoperative macular morphology and visual outcome after 12 months in relation to internal limiting membrane (ILM) peeling versus no peeling, indocyanine green (ICG) staining and re-operation in eyes that achieved macular hole closure after surgery. Methods: Seventy-four eyes...... with closed stage 2 or 3 macular holes were recruited from a randomised clinical trial comparing: (1) vitrectomy without ILM peeling; (2) vitrectomy with 0.05% isotonic ICG-assisted ILM peeling; and (3) vitrectomy with 0.15% trypan blue-assisted ILM peeling. Contrast-enhanced Stratus optical coherence...... between subgroups. Conclusions: Poor vision after 12 months despite macular hole closure was associated with attenuation and disruption of the foveolar photoreceptor matrix. The extent of attenuation and disruption was independent of peeling and staining....

Consistency of kinematic and kinetic patterns during a prolonged spell of cricket fast bowling: an exploratory laboratory study.

Science.gov (United States)

Schaefer, Andrew; O'dwyer, Nicholas; Ferdinands, René E D; Edwards, Suzi

2018-03-01

Due to the high incidence of lumbar spine injury in fast bowlers, international cricket organisations advocate limits on workload for bowlers under 19 years of age in training/matches. The purpose of this study was to determine whether significant changes in either fast bowling technique or movement variability could be detected throughout a 10-over bowling spell that exceeded the recommended limit. Twenty-five junior male fast bowlers bowled at competition pace while three-dimensional kinematic and kinetic data were collected for the leading leg, trunk and bowling arm. Separate analyses for the mean and within-participant standard deviation of each variable were performed using repeated measures factorial analyses of variance and computation of effect sizes. No substantial changes were observed in mean values or variability of any kinematic, kinetic or performance variables, which instead revealed a high degree of consistency in kinematic and kinetic patterns. Therefore, the suggestion that exceeding the workload limit per spell causes technique- and loading-related changes associated with lumbar injury risk is not valid and cannot be used to justify the restriction of bowling workload. For injury prevention, the focus instead should be on the long-term effect of repeated spells and on the fast bowling technique itself.

Kinematic Tests of Small Arms

Science.gov (United States)

2016-03-15

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

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

International Nuclear Information System (INIS)

Starikova, G.A.

1981-01-01

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

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

Science.gov (United States)

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

2016-01-01

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

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

Science.gov (United States)

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

2014-02-01

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

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.

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

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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.

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

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.

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

Real-time solution of the forward kinematics for a parallel haptic device using a numerical approach based on neural networks

International Nuclear Information System (INIS)

Liu, Guan Yang; Zhang, Yuru; Wang, Yan; Xie, Zheng

2015-01-01

This paper proposes a neural network (NN)-based approach to solve the forward kinematics of a 3-RRR spherical parallel mechanism designed for a haptic device. The proposed algorithm aims to remarkably speed up computation to meet the requirement of high frequency rendering for haptic display. To achieve high accuracy, the workspace of the haptic device is divided into smaller subspaces. The proposed algorithm contains NNs of two different precision levels: a rough estimation NN to identify the index of the subspace and several precise estimation networks with expected accuracy to calculate the forward kinematics. For continuous motion, the algorithm structure is further simplified to save internal memory and increase computing speed, which are critical for a haptic device control system running on an embedded platform. Compared with the mostly used Newton-Raphson method, the proposed algorithm and its simplified version greatly increase the calculation speed by about four times and 10 times, respectively, while achieving the same accuracy level. The proposed approach is of great significance for solving the forward kinematics of parallel mechanism used as haptic devices when high update frequency is needed but hardware resources are limited.

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)

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

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Sapir, Nir; Dudley, Robert

2012-10-15

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

Internal-external malalignment of the femoral component in kinematically aligned total knee arthroplasty increases tibial force imbalance but does not change laxities of the tibiofemoral joint.

Science.gov (United States)

Riley, Jeremy; Roth, Joshua D; Howell, Stephen M; Hull, Maury L

2018-06-01

The purposes of this study were to quantify the increase in tibial force imbalance (i.e. magnitude of difference between medial and lateral tibial forces) and changes in laxities caused by  2° and 4° of internal-external (I-E) malalignment of the femoral component in kinematically aligned total knee arthroplasty. Because I-E malalignment would introduce the greatest changes to the articular surfaces near 90° of flexion, the hypotheses were that the tibial force imbalance would be significantly increased near 90° flexion and that primarily varus-valgus laxity would be affected near 90° flexion. Kinematically aligned TKA was performed on ten human cadaveric knee specimens using disposable manual instruments without soft tissue release. One 3D-printed reference femoral component, with unmodified geometry, was aligned to restore the native distal and posterior femoral joint lines. Four 3D-printed femoral components, with modified geometry, introduced I-E malalignments of 2° and 4° from the reference component. Medial and lateral tibial forces were measured from 0° to 120° flexion using a custom tibial force sensor. Bidirectional laxities in four degrees of freedom were measured from 0° to 120° flexion using a custom load application system. Tibial force imbalance increased the greatest at 60° flexion where a regression analysis against the degree of I-E malalignment yielded sensitivities (i.e. slopes) of 30 N/° (medial tibial force > lateral tibial force) and 10 N/° (lateral tibial force > medial tibial force) for internal and external malalignments, respectively. Valgus laxity increased significantly with the 4° external component with the greatest increase of 1.5° occurring at 90° flexion (p < 0.0001). With the tibial component correctly aligned, I-E malalignment of the femoral component caused significant increases in tibial force imbalance. Minimizing I-E malalignment lowers the increase in the tibial force imbalance. By keeping

The Effect of Shoulder Plyometric Training on Amortization Time and Upper-Extremity Kinematics.

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Swanik, Kathleen A; Thomas, Stephen J; Struminger, Aaron H; Bliven, Kellie C Huxel; Kelly, John D; Swanik, Charles B

2016-12-01

Plyometric training is credited with providing benefits in performance and dynamic restraint. However, limited prospective data exist quantifying kinematic adaptations such as amortization time, glenohumeral rotation, and scapulothoracic position, which may underlie the efficacy of plyometric training for upper-extremity rehabilitation or performance enhancement. To measure upper-extremity kinematics and plyometric phase times before and after an 8-wk upper-extremity strength- and plyometric-training program. Randomized pretest-posttest design. Research laboratory. 40 recreationally active men (plyometric group, age 20.43 ± 1.40 y, height 180.00 ± 8.80 cm, weight 73.07 ± 7.21 kg; strength group, age 21.95 ± 3.40 y, height 173.98 ± 11.91 cm, weight 74.79 ± 13.55 kg). Participants were randomly assigned to either a strength-training group or a strength- and plyometric-training group. Each participant performed the assigned training for 8 wk. Dynamic and static glenohumeral and scapular-rotation measurements were taken before and after the training programs. Dynamic measurement of scapular rotation and time spent in each plyometric phase (concentric, eccentric, and amortization) during a ball-toss exercise were recorded while the subjects were fitted with an electromagnetic tracking system. Static measures included scapular upward rotation at 3 different glenohumeral-abduction angles, glenohumeral internal rotation, and glenohumeral external rotation. Posttesting showed that both groups significantly decreased the time spent in the amortization, concentric, and eccentric phases of a ball-toss exercise (P plyometric-training group exhibited an increase in internal rotation that was not present in the strength-training group (P plyometrics and strength training for reducing commonly identified upper-extremity-injury risk factors and improving upper-extremity performance.

Adding Image Constraints to Inverse Kinematics for Human Motion Capture

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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.

ISS Squat and Deadlift Kinematics on the Advanced Resistive Exercise Device

Science.gov (United States)

Newby, N.; Caldwell, E.; Sibonga, J.; Ploutz-Snyder, L.

2014-01-01

Visual assessment of exercise form on the Advanced Resistive Exercise Device (ARED) on orbit is difficult due to the motion of the entire device on its Vibration Isolation System (VIS). The VIS allows for two degrees of device translational motion, and one degree of rotational motion. In order to minimize the forces that the VIS must damp in these planes of motion, the floor of the ARED moves as well during exercise to reduce changes in the center of mass of the system. To help trainers and other exercise personnel better assess squat and deadlift form a tool was developed that removes the VIS motion and creates a stick figure video of the exerciser. Another goal of the study was to determine whether any useful kinematic information could be obtained from just a single camera. Finally, the use of these data may aid in the interpretation of QCT hip structure data in response to ARED exercises performed in-flight. After obtaining informed consent, four International Space Station (ISS) crewmembers participated in this investigation. Exercise was videotaped using a single camera positioned to view the side of the crewmember during exercise on the ARED. One crewmember wore reflective tape on the toe, heel, ankle, knee, hip, and shoulder joints. This technique was not available for the other three crewmembers, so joint locations were assessed and digitized frame-by-frame by lab personnel. A custom Matlab program was used to assign two-dimensional coordinates to the joint locations throughout exercise. A second custom Matlab program was used to scale the data, calculate joint angles, estimate the foot center of pressure (COP), approximate normal and shear loads, and to create the VIS motion-corrected stick figure videos. Kinematics for the squat and deadlift vary considerably for the four crewmembers in this investigation. Some have very shallow knee and hip angles, and others have quite large ranges of motion at these joints. Joint angle analysis showed that crewmembers

Science education with handheld devices: A comparison of Nintendo WiiMote and iPod touch for kinematics learning

OpenAIRE

Hochberg, K.; Kuhn, J.; Müller, A.

2016-01-01

Experiential science learning based on the in-built sensors of handheld devices such as smartphones, tablet computer and game consoles has seen quite a strong development in recent years. In particular, such devices with internal acceleration sensors offer an innovative approach to kinematics learning in classroom physics, a notoriously difficult topic for pupils. In view of research and teaching in this domain, the practical advantages and disadvantages of two such devices, the Nintendo WiiM...

Fatigue effects on bar kinematics during the bench press.

Science.gov (United States)

Duffey, Michael J; Challis, John H

2007-05-01

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

KINEMATICS AND DYNAMICS MODELS OF CYLINDRICAL ROLLER BEARING OF RAILWAY TRANSPORT

Directory of Open Access Journals (Sweden)

A. V. Gaydamaka

2014-05-01

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

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

Science.gov (United States)

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

2016-11-01

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

The effects of localised fatigue on upper extremity jump shot kinematics and kinetics in team handball.

Science.gov (United States)

Plummer, Hillary A; Oliver, Gretchen D

2017-01-01

Team handball is a popular sport worldwide that requires numerous throws to be made throughout the course of a game. Because of the upper extremity demands of repetitive throwing, it is possible that fatigue can alter the mechanics of a shot. The purpose of this study was to determine the influence of localised fatigue on jump shot kinematics and kinetics. Eleven male team handball players (23.1 ± 3.1 years; 185.1 ± 8.3 cm; 89.7 ± 12.2 kg) volunteered. An electromagnetic tracking system was used to examine the jump shot prior to and following localised fatigue. The fatiguing protocol consisted of throwing a 2.2 kg medicine ball into a rebounder until volitional fatigue. No significant kinematic or kinetic differences were observed following fatigue. Shoulder external rotation was -74.8 ± 14.9° prior to and -79.0 ± 14.7° following fatigue at MER. Scapula, external rotation at ball release (BR) prior to fatigue was -2.2 ± 7.0° and -3.2 ± 11.1° following fatigue. Scapular internal rotation, at maximum shoulder internal rotation (MIR), changed from 18.4 ± 11.2° to 20.4 ± 11.8°. Ball velocity decreased from19.8 m · s -1 to 18.8 m · s -1 (P = 0.12). Accuracy percentage in the pre-fatigue trials was 60.8 ± 14.1% and 52.8 ± 12.7% following fatigue (P = 0.20). While no significant changes were observed, it is possible that other fatiguing protocols that more closely represent the aerobic and throwing demands of the sport may have a greater effect on the kinematics and kinetics of the jump shot.

Climbing fibers predict movement kinematics and performance errors.

Science.gov (United States)

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

2017-09-01

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

Kinematics of roller chain drives - Exact and approximate analysis

DEFF Research Database (Denmark)

Fuglede, Niels; Thomsen, Jon Juel

2016-01-01

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

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

Science.gov (United States)

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

2016-03-01

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

THE INFLUENCE OF HIP STRENGTH ON KNEE KINEMATICS DURING A SINGLE-LEGGED MEDIAL DROP LANDING AMONG COMPETITIVE COLLEGIATE BASKETBALL PLAYERS.

Science.gov (United States)

Suzuki, Hidetomo; Omori, Go; Uematsu, Daisuke; Nishino, Katsutoshi; Endo, Naoto

2015-10-01

A smaller knee flexion angle and larger knee valgus angle during weight-bearing activities have been identified as risk factors for non-contact anterior cruciate ligament (ACL) injuries. To prevent such injuries, attention has been focused on the role of hip strength in knee motion control. However, gender differences in the relationship between hip strength and knee kinematics during weight-bearing activities in the frontal plane have not been evaluated. The purpose of this study was to determine the influence of hip strength on knee kinematics in both genders during a single-legged landing task in the frontal plane. The hypotheses were that 1) subjects with a greater hip strength would demonstrate larger knee flexion and smaller knee valgus and internal rotation angles and 2) no gender differences would exist during the single-legged landing task. Forty-three Japanese collegiate basketball players (20 males, 23 females) participated in this study. Three-dimensional motion analysis was used to evaluate knee kinematics during a single-legged medial drop landing (SML). A hand-held dynamometer was used to assess hip extensor (HEXT), abductor (HAB), and external rotator (in two positions: seated position [SHER] and prone [PHER]) isometric strength. Spearman rank correlation coefficients (ρ) were determined for correlations between hip strength and knee kinematics at initial contact (IC) and peak (PK) during SML (p genders. Hip strength may, therefore, play an important role in knee motion control during sports activities, suggesting that increased hip strength may help to prevent non-contact ACL injuries in athletes of both genders. Moreover, gender-specific programs may be needed to control abnormal knee motion, as the influence of hip strength on knee kinematics may differ based on gender. 3.

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

International Nuclear Information System (INIS)

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

2014-01-01

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

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

Science.gov (United States)

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

2008-11-01

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

Brief communication: Landslide motion from cross correlation of UAV-derived morphological attributes

Science.gov (United States)

Peppa, Maria V.; Mills, Jon P.; Moore, Phil; Miller, Pauline E.; Chambers, Jonathan E.

2017-12-01

Unmanned aerial vehicles (UAVs) can provide observations of high spatio-temporal resolution to enable operational landslide monitoring. In this research, the construction of digital elevation models (DEMs) and orthomosaics from UAV imagery is achieved using structure-from-motion (SfM) photogrammetric procedures. The study examines the additional value that the morphological attribute of openness, amongst others, can provide to surface deformation analysis. Image-cross-correlation functions and DEM subtraction techniques are applied to the SfM outputs. Through the proposed integrated analysis, the automated quantification of a landslide's motion over time is demonstrated, with implications for the wider interpretation of landslide kinematics via UAV surveys.

Distal hindlimb kinematics of galloping Thoroughbred racehorses on dirt and synthetic racetrack surfaces.

Science.gov (United States)

Symons, J E; Garcia, T C; Stover, S M

2014-03-01

The effect of racetrack surface (dirt or synthetic) on distal hindlimb kinematics of racehorses running at competition speeds is not known. To compare distal hindlimb and hoof kinematics during stance of breezing (unrestrained gallop) racehorses between dirt and synthetic surfaces. Two-dimensional kinematic video analysis of 5 Thoroughbred racehorses galloping at high speeds (12-17 m/s) on a dirt racetrack and a synthetic racetrack. The positions of kinematic markers applied to the left hindlimb were recorded at 500 Hz. Position, velocity and acceleration of joint angles and hoof translation during stance were calculated in the sagittal plane. Peak translational and angular kinematic values were compared between the dirt and synthetic race surfaces using mixed model analyses of covariance. Maximum and heel-strike metatarsophalangeal (fetlock) angles were greater (Pdirt surface than on the synthetic surface. Maximum fetlock angle occurred earlier during stance on the dirt surface (Pdirt surface (Pdirt surface than on a synthetic surface. Synthetic race surfaces may mitigate risk of injury to hindlimb fetlock structures by reducing fetlock hyperextension and associated strains in fetlock support structures. Differences in hoof slide may contribute to different distal hindlimb kinematics between surfaces. © 2013 EVJ Ltd.

Kinematics of the symbiotic system R Aqr

Science.gov (United States)

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

2014-04-01

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

Directed Neutron Beams From Inverse Kinematic Reactions

Science.gov (United States)

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

2011-06-01

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

Plasma electron hole kinematics. I. Momentum conservation

Energy Technology Data Exchange (ETDEWEB)

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

2016-08-15

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

The Effect of Direction on Cursor Moving Kinematics

Directory of Open Access Journals (Sweden)

Chiu-Ping Lu

2012-02-01

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

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

NARCIS (Netherlands)

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

2008-01-01

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

Adaptive simplification and the evolution of gecko locomotion: Morphological and biomechanical consequences of losing adhesion

Science.gov (United States)

Higham, Timothy E.; Birn-Jeffery, Aleksandra V.; Collins, Clint E.; Hulsey, C. Darrin; Russell, Anthony P.

2015-01-01

Innovations permit the diversification of lineages, but they may also impose functional constraints on behaviors such as locomotion. Thus, it is not surprising that secondary simplification of novel locomotory traits has occurred several times among vertebrates and could potentially lead to exceptional divergence when constraints are relaxed. For example, the gecko adhesive system is a remarkable innovation that permits locomotion on surfaces unavailable to other animals, but has been lost or simplified in species that have reverted to a terrestrial lifestyle. We examined the functional and morphological consequences of this adaptive simplification in the Pachydactylus radiation of geckos, which exhibits multiple unambiguous losses or bouts of simplification of the adhesive system. We found that the rates of morphological and 3D locomotor kinematic evolution are elevated in those species that have simplified or lost adhesive capabilities. This finding suggests that the constraints associated with adhesion have been circumvented, permitting these species to either run faster or burrow. The association between a terrestrial lifestyle and the loss/reduction of adhesion suggests a direct link between morphology, biomechanics, and ecology. PMID:25548182

Kinematic Description of Elite Vs. Low Level Players in Team-Handball Jump Throw

Science.gov (United States)

Wagner, Herbert; Buchecker, Michael; von Duvillard, Serge P.; Müller, Erich

2010-01-01

The jump throw is the most applied throwing technique in team- handball (Wagner et al., 2008); however, a comprehensive analysis of 3D-kinematics of the team-handball jump throw is lacking. Therefore, the purpose of our study was: 1) to measure differences in ball release speed in team- handball jump throw and anthropometric parameters between groups of different levels of performance and (2) to analyze upper body 3D-kinematics (flexion/extension and rotation) to determine significant differences between these groups. Three-dimensional kinematic data was analyzed via the Vicon MX 13 motion capturing system (Vicon Peak, Oxford, UK) from 26 male team-handball players of different performance levels (mean age: 21.2 ± 5.0 years). The participants were instructed to throw the ball (IHF Size 3) onto a target at 8 m distance, and to hit the center of a square of 1 × 1 m at about eye level (1.75 m), with maximum ball release speed. Significant differences between elite vs. low level players were found in the ball release speed (p handball players who were taller and of greater body weight have the ability to achieve a higher ball release speed in the jump throw, and that an increase in trunk flexion and rotation angular velocity improve the performance in team-handball jump throw that should result in an increase of ball release speed. Key points Team-handball players who were taller and of greater body weight have the ability to achieve a higher ball release speed. An increase in trunk flexion, trunk rotation and shoulder internal rotation angular velocity should result in an increase of ball release speed. Trunk movements are normally well observable for experienced coaches, easy correctable and therefore practical to improve the performance in team-handball jump throw of low level players during training without using complex measurement devices. PMID:24149381

A feasibility study of hand kinematics for EVA analysis using magnetic resonance imaging

Science.gov (United States)

Dickenson, Rueben D.; Lorenz, Christine H.; Peterson, Steven W.; Strauss, Alvin M.; Main, John A.

1992-01-01

A new method of analyzing the kinematics of joint motion is developed. Magnetic Resonance Imaging (MRI) offers several distinct advantages. Past methods of studying anatomic joint motion have usually centered on four approaches. These methods are x-ray projection, goniometric linkage analysis, sonic digitization, and landmark measurement of photogrammetry. Of these four, only x-ray is applicable for in vivo studies. The remaining three methods utilize other types of projections of inter-joint measurements, which can cause various types of error. MRI offers accuracy in measurement due to its tomographic nature (as opposed to projection) without the problems associated with x-ray dosage. Once the data acquisition of MR images was complete, the images were processed using a 3D volume rendering workstation. The metacarpalphalangeal (MCP) joint of the left index finger was selected and reconstructed into a three-dimensional graphic display. From the reconstructed volumetric images, measurements of the angles of movement of the applicable bones were obtained and processed by analyzing the screw motion of the MCP joint. Landmark positions were chosen at distinctive locations of the joint at fixed image threshold intensity levels to ensure repeatability. The primarily two dimensional planar motion of this joint was then studied using a method of constructing coordinate systems using three (or more) points. A transformation matrix based on a world coordinate system described the location and orientation of a local target coordinate system. Future research involving volume rendering of MRI data focusing on the internal kinematics of the hand's individual ligaments, cartilage, tendons, etc. will follow. Its findings will show the applicability of MRI to joint kinematics for gaining further knowledge of the hand-glove (power assisted) design for extravehicular activity (EVA).

KIN-Nav navigation system for kinematic assessment in anterior cruciate ligament reconstruction: features, use, and perspectives.

Science.gov (United States)

Martelli, S; Zaffagnini, S; Bignozzi, S; Lopomo, N F; Iacono, F; Marcacci, M

2007-10-01

In this paper a new navigation system, KIN-Nav, developed for research and used during 80 anterior cruciate ligament (ACL) reconstructions is described. KIN-Nav is a user-friendly navigation system for flexible intraoperative acquisitions of anatomical and kinematic data, suitable for validation of biomechanical hypotheses. It performs real-time quantitative evaluation of antero-posterior, internal-external, and varus-valgus knee laxity at any degree of flexion and provides a new interface for this task, suitable also for comparison of pre-operative and post-operative knee laxity and surgical documentation. In this paper the concept and features of KIN-Nav, which represents a new approach to navigation and allows the investigation of new quantitative measurements in ACL reconstruction, are described. Two clinical studies are reported, as examples of clinical potentiality and correct use of this methodology. In this paper a preliminary analysis of KIN-Nav's reliability and clinical efficacy, performed during blinded repeated measures by three independent examiners, is also given. This analysis is the first assessment of the potential of navigation systems for evaluating knee kinematics.

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

Energy Technology Data Exchange (ETDEWEB)

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

2014-10-15

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

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

International Nuclear Information System (INIS)

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

2014-01-01

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

Pure Gravities via Color-Kinematics Duality for Fundamental Matter

CERN Document Server

Johansson, Henrik

2015-01-01

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

Fin Ray Stiffness and Fin Morphology Control Ribbon-Fin-Based Propulsion.

Science.gov (United States)

Liu, Hanlin; Taylor, Bevan; Curet, Oscar M

2017-06-01

Ribbon-fin-based propulsion has rich locomotor capabilities that can enhance the mobility and performance of underwater vehicles navigating in complex environments. Bony fishes using this type of propulsion send one or multiple traveling waves along an elongated fin with the actuation of highly flexible rays that are interconnected by an elastic membrane. In this work, we study how the use of flexible rays and different morphology can affect the performance of ribbon-fin propulsion. We developed a physical model composed of 15 rays that are interconnected with an elastic membrane. We tested four different ray flexural stiffness and four aspect ratios. The robotic model was tested in a low-turbulence flume under two flow conditions ([Formula: see text] wavelength/s). In two experimental sets, we measured fin kinematics, net surge forces, and power consumption. Using these data, we perform a thrust and power analysis of the undulating fin. We present the thrust coefficient, power coefficient, and propulsive efficiency. We find that the thrust generation was linear with the enclosed area swept by the fin, and square of the relative velocity between the incoming flow and traveling wave. The thrust coefficient levels off around 0.5. In addition, for our parameter range, we find that the power consumption scales by the cube of the effective tangential velocity of the rays [Formula: see text] (A is the amplitude of the ray oscillating motion, and [Formula: see text] is the angular velocity). We show that a decay in stiffness decreases both thrust production and power consumption. However, for rays with high flexural stiffness, the difference in thrust compared with rigid rays is minimal. Moreover, our results show that flexible rays can improve the propulsive efficiency compared with a rigid counterpart. Finally, we find that the morphology of ribbon fin affects its propulsive efficiency. For the aspect ratio considered in our experiments, [Formula: see text] was the most

Ionised gas kinematics in bipolar H II regions

Science.gov (United States)

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

2018-05-01

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

Detailed solution to a complex kinematics chain manipulator

International Nuclear Information System (INIS)

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

1992-01-01

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

Scapular kinematics and muscle activities during pushing tasks.

Science.gov (United States)

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

2013-01-01

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

The brown dwarf kinematics project

Science.gov (United States)

Faherty, Jackie K.

2010-10-01

Brown dwarfs are a recent addition to the plethora of objects studied in Astronomy. With theoretical masses between 13 and 75 MJupiter , they lack sustained stable Hydrogen burning so they never join the stellar main sequence. They have physical properties similar to both planets and low-mass stars so studies of their population inform on both. The distances and kinematics of brown dwarfs provide key statistical constraints on their ages, moving group membership, absolute brightnesses, evolutionary trends, and multiplicity. Yet, until my thesis, fundamental measurements of parallax and proper motion were made for only a relatively small fraction of the known population. To address this deficiency, I initiated the Brown Dwarf Kinematics (BDKP). Over the past four years I have re-imaged the majority of spectroscopically confirmed field brown dwarfs (or ultracool dwarfs---UCDs) and created the largest proper motion catalog for ultracool dwarfs to date. Using new astrometric information I examined population characteristics such as ages calculated from velocity dispersions and correlations between kinematics and colors. Using proper motions, I identified several new wide co-moving companions and investigated binding energy (and hence formation) limitations as well as the frequency of hierarchical companions. Concurrently over the past four years I have been conducting a parallax survey of 84 UCDs including those showing spectral signatures of youth, metal-poor brown dwarfs, and those within 20 pc of the Sun. Using absolute magnitude relations in J,H, and K, I identified overluminous binary candidates and investigated known flux-reversal binaries. Using current evolutionary models, I compared the MK vs J-K color magnitude diagram to model predictions and found that the low-surface gravity dwarfs are significantly red-ward and underluminous of predictions and a handful of late-type T dwarfs may require thicker clouds to account for their scatter.

[Toxicological evaluation of nanosized colloidal silver, stabilized with polyvinylpyrrolidone, in 92-day experiment on rats. II. Internal organs morphology].

Science.gov (United States)

Zaytseva, N V; Zemlyanova, M A; Zvezdin, V N; Dovbysh, A A; Gmoshinsky, I V; Khotimchenko, S A; Akafieva, T I

2016-01-01

The aim of the study was to evaluate the safe doses of commercially available nanosized colloidal silver (NCS), stabilized with polyvinilpirrolidone (PVP, food additive E1201) when administered in gastrointestinal tract of rats in the 92-day experiment in terms of the morphological changes in the internals of animals. The sample studied contained non-aggregated nanoparticles (NPs) of silver belonging to size fractions with a diameter of less than 5 nm, 10-20 nm or 50-80 nm. 80% of NPs were inside the range of hydrodynamic diameters 10.6-61.8 nm. The preparation of NCS was administered to growing male Wistar rats. (initial body weight 80 ± 10 g) for 1 month by intragastric gavage and then consumed with food at doses of 0.1, 1.0 and 10 mg/kg of body weight based on silver. The control animals received water or vehicle of nanomaterial--water solution of PVP. After withdrawal of animals from the experiment by exsanguination under ether anesthesia organs (liver, spleen, kidney, ileum) were isolated and their slides were prepared by standard methods following 'by staining with hematoxylin-eosin. Analysis was performed in light optical microscope equipped with a digital camera at a magnification from 1 x 100 to 1 x 1000. It was shown that the experimental animals treated with the NCS developed series of morphological changes in the tissues of the internal organs (liver, spleen and kidney) with the elevation of the range and severity of structural changes with increasing doses of silver. The most sensitive target of NCS action was apparently liver, which has already shown at a dose of 0.1 mg of silver NP/kg of body weight marked eosinophilic infiltration of portal tracts, which was accompanied at doses of 1.0 and 10.0 mg/kg by the emergence of medium and large-drop fat vacuoles in the cytoplasm of hepatocytes, swelling and lympho-macrophage. infiltration of the portal tracts. Detectable changes can be regarded as symptoms of inflammation of hepatocytes, at least, at a

Morphology-based Enhancement of a French SIMPLE Lexicon

OpenAIRE

Namer , Fiammetta; Bouillon , Pierrette; Jacquey , Evelyne; Ruimy , Nilda

2009-01-01

International audience; In this paper, we propose a semi-automatic methodology for acquiring a French SIMPLE lexicon based on the morphological properties of complex words. This method combines the results of the French morphological analyzer DériF with infor-mation from general lexical resources and corpora, when available. It is evaluated on a set of neolo-gisms extracted from Le Monde newspaper cor-pora.

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

Science.gov (United States)

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

2015-09-01

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

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

A Model of Parallel Kinematics for Machine Calibration

DEFF Research Database (Denmark)

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

2016-01-01

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

Kinematic signature of a rotating bar near a resonance

Science.gov (United States)

Weinberg, Martin D.

1994-01-01

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

Location versus task relevance: The impact of differing internal focus of attention instructions on motor performance.

Science.gov (United States)

Pelleck, Valerie; Passmore, Steven R

2017-05-01

Impaired performance while executing a motor task is attributed to a disruption of normal automatic processes when an internal focus of attention is used. What remains unclear is whether the specificity of internally focused task instructions may impact task performance. The present study assessed the implications of changing the attentional focus of novice and skilled golfers by measuring behavioural, neurophysiological and kinematic changes during a golf putting task. Over six blocks of ten putting trials each, attention was directed either externally (towards the target) or internally in one of two ways: 1) proximal (keeping the elbows extended and the hands gripping the putter); or 2) distal (keeping the weight evenly distributed between both legs) to the critical elements of the task. Results provided evidence that when novice participants use an internal focus of attention more closely associated with task performance that their: 1) execution; 2) accuracy; 3) variability of surface electromyography (sEMG) activity; and 4) kinematics of the putter movement are all adversely affected. Skilled golfers are much more resilient to changes in attentional focus, while all participants interpret a distal internal focus of attention similar to an external focus. All participants produced decreased activity in the muscle (tibialis anterior) associated with the distal (less task relevant) focus of attention even when the "internal" focus was on the lower extremity. Our results provide evidence that the skill level of the participant and the distance of the internal focus of attention from the key elements of a motor skill directly impact the execution, muscle activity, and movement kinematics associated with skilled motor task performance. Copyright © 2017 Elsevier B.V. All rights reserved.

Quantum deformed magnon kinematics

OpenAIRE

Gómez, César; Hernández Redondo, Rafael

2007-01-01

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

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

Science.gov (United States)

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

2016-05-01

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

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

Science.gov (United States)

Hidler, Joseph; Wisman, Wessel; Neckel, Nathan

2008-12-01

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

Functional morphology of the primate head and neck.

Science.gov (United States)

Nalley, Thierra K; Grider-Potter, Neysa

2015-04-01

The vertebral column plays a key role in maintaining posture, locomotion, and transmitting loads between body components. Cervical vertebrae act as a bridge between the torso and head and play a crucial role in the maintenance of head position and the visual field. Despite its importance in positional behaviors, the functional morphology of the cervical region remains poorly understood, particularly in comparison to the thoracic and lumbar sections of the spinal column. This study tests whether morphological variation in the primate cervical vertebrae correlates with differences in postural behavior. Phylogenetic generalized least-squares analyses were performed on a taxonomically broad sample of 26 extant primate taxa to test the link between vertebral morphology and posture. Kinematic data on primate head and neck postures were used instead of behavioral categories in an effort to provide a more direct analysis of our functional hypothesis. Results provide evidence for a function-form link between cervical vertebral shape and postural behaviors. Specifically, taxa with more pronograde heads and necks and less kyphotic orbits exhibit cervical vertebrae with longer spinous processes, indicating increased mechanical advantage for deep nuchal musculature, and craniocaudally longer vertebral bodies and more coronally oriented zygapophyseal articular facets, suggesting an emphasis on curve formation and maintenance within the cervical lordosis, coupled with a greater resistance to translation and ventral displacement. These results not only document support for functional relationships in cervical vertebrae features across a wide range of primate taxa, but highlight the utility of quantitative behavioral data in functional investigations. © 2015 Wiley Periodicals, Inc.

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

Indian Academy of Sciences (India)

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

Effects of bilastine on T-wave morphology and the QTc interval

DEFF Research Database (Denmark)

Graff, Claus; Struijk, Johannes; Kanters, Jørgen K.

2012-01-01

The International Conference of Harmonisation (ICH) E14 guideline for thorough QT studies requires assessing the propensity of new non-antiarrhythmic drugs to affect cardiac repolarization. The present study investigates whether a composite ECG measure of T-wave morphology (Morphology Combination...

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

KAUST Repository

Causse, M.

2013-12-24

We analyse the scaling and distribution of average dynamic source properties (fracture energy, static, dynamic and apparent stress drops) using 31 kinematic inversion models from 21 crustal earthquakes. Shear-stress histories are computed by solving the elastodynamic equations while imposing the slip velocity of a kinematic source model as a boundary condition on the fault plane. This is achieved using a 3-D finite difference method in which the rupture kinematics are modelled with the staggered-grid-split-node fault representation method of Dalguer & Day. Dynamic parameters are then estimated from the calculated stress-slip curves and averaged over the fault plane. Our results indicate that fracture energy, static, dynamic and apparent stress drops tend to increase with magnitude. The epistemic uncertainty due to uncertainties in kinematic inversions remains small (ϕ ∼ 0.1 in log10 units), showing that kinematic source models provide robust information to analyse the distribution of average dynamic source parameters. The proposed scaling relations may be useful to constrain friction law parameters in spontaneous dynamic rupture calculations for earthquake source studies, and physics-based near-source ground-motion prediction for seismic hazard and risk mitigation.

Dynamic characteristics of mirrors' kinematic mount

International Nuclear Information System (INIS)

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

2002-01-01

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

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

International Nuclear Information System (INIS)

Donovan, Ashley; Beltrani, Vincent; Rabitz, Herschel

2013-01-01

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

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

CERN Document Server

Schneider, Wilhelm; Trulsen, Karsten

2006-01-01

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

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

Directory of Open Access Journals (Sweden)

Hassan Sarailoo

2013-10-01

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

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

International Nuclear Information System (INIS)

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

2015-01-01

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

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

International Nuclear Information System (INIS)

Sasaki, Shinobu

1987-01-01

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

Cell dynamic morphology classification using deep convolutional neural networks.

Science.gov (United States)

Li, Heng; Pang, Fengqian; Shi, Yonggang; Liu, Zhiwen

2018-05-15

Cell morphology is often used as a proxy measurement of cell status to understand cell physiology. Hence, interpretation of cell dynamic morphology is a meaningful task in biomedical research. Inspired by the recent success of deep learning, we here explore the application of convolutional neural networks (CNNs) to cell dynamic morphology classification. An innovative strategy for the implementation of CNNs is introduced in this study. Mouse lymphocytes were collected to observe the dynamic morphology, and two datasets were thus set up to investigate the performances of CNNs. Considering the installation of deep learning, the classification problem was simplified from video data to image data, and was then solved by CNNs in a self-taught manner with the generated image data. CNNs were separately performed in three installation scenarios and compared with existing methods. Experimental results demonstrated the potential of CNNs in cell dynamic morphology classification, and validated the effectiveness of the proposed strategy. CNNs were successfully applied to the classification problem, and outperformed the existing methods in the classification accuracy. For the installation of CNNs, transfer learning was proved to be a promising scheme. © 2018 International Society for Advancement of Cytometry. © 2018 International Society for Advancement of Cytometry.

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

Energy Technology Data Exchange (ETDEWEB)

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

2017-01-25

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

Amount of kinematic feedback affects learning of speech motor skills.

Science.gov (United States)

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

2012-01-01

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

Inverse Kinematics for Industrial Robots using Conformal Geometric Algebra

Directory of Open Access Journals (Sweden)

Adam L. Kleppe

2016-01-01

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

Kinematic analysis of parallel manipulators by algebraic screw theory

CERN Document Server

Gallardo-Alvarado, Jaime

2016-01-01

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

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

Science.gov (United States)

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

2017-07-01

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

Kinematic control of walking.

Science.gov (United States)

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

2002-10-01

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

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

Science.gov (United States)

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

2016-11-01

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

Kinematic design of a finger abduction mechanism for an anthropomorphic robotic hand

Directory of Open Access Journals (Sweden)

L.-A. A. Demers

2011-02-01

Full Text Available This paper presents the kinematic design of an abduction mechanism for the fingers of an underactuated anthropomorphic robotic hand. This mechanism will enhance the range of feasible grasps of the underactuated hand without significantly increasing its complexity. The analysis of the link between the index finger and the third finger is first assessed, where the parameters are studied in order to follow the amplitude constraint and to minimize the coordination error. Then, the study of the mechanism joining the third finger and the little finger is summarized. Finally, a prototype of the finger's abduction system is presented.

This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010, 19 August 2010, Montréal, Canada.

Effect of trapezius muscle strength on three-dimensional scapular kinematics

OpenAIRE

Turgut, Elif; Duzgun, Irem; Baltaci, Gul

2016-01-01

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

Input relegation control for gross motion of a kinematically redundant manipulator

Energy Technology Data Exchange (ETDEWEB)

Unseren, M.A.

1992-10-01

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

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

Directory of Open Access Journals (Sweden)

Daniel Garcia Sillas

2015-05-01

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

A Neural Network Approach for Inverse Kinematic of a SCARA Manipulator

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Panchanand Jha

2014-07-01

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

Pa2 kinematic bond in translational parallel manipulators

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A. Hernández

2018-01-01

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

Artificial insect wings of diverse morphology for flapping-wing micro air vehicles

International Nuclear Information System (INIS)

Shang, J K; Finio, B M; Wood, R J; Combes, S A

2009-01-01

The development of flapping-wing micro air vehicles (MAVs) demands a systematic exploration of the available design space to identify ways in which the unsteady mechanisms governing flapping-wing flight can best be utilized for producing optimal thrust or maneuverability. Mimicking the wing kinematics of biological flight requires examining the potential effects of wing morphology on flight performance, as wings may be specially adapted for flapping flight. For example, insect wings passively deform during flight, leading to instantaneous and potentially unpredictable changes in aerodynamic behavior. Previous studies have postulated various explanations for insect wing complexity, but there lacks a systematic approach for experimentally examining the functional significance of components of wing morphology, and for determining whether or not natural design principles can or should be used for MAVs. In this work, a novel fabrication process to create centimeter-scale wings of great complexity is introduced; via this process, a wing can be fabricated with a large range of desired mechanical and geometric characteristics. We demonstrate the versatility of the process through the creation of planar, insect-like wings with biomimetic venation patterns that approximate the mechanical properties of their natural counterparts under static loads. This process will provide a platform for studies investigating the effects of wing morphology on flight dynamics, which may lead to the design of highly maneuverable and efficient MAVs and insight into the functional morphology of natural wings.

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

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Jianxun Fu

2015-05-01

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

A morphologic characterisation of the 1963 Vajont Slide, Italy, using long-range terrestrial photogrammetry

Science.gov (United States)

Wolter, Andrea; Stead, Doug; Clague, John J.

2014-02-01

The 1963 Vajont Slide in northeast Italy is an important engineering and geological event. Although the landslide has been extensively studied, new insights can be derived by applying modern techniques such as remote sensing and numerical modelling. This paper presents the first digital terrestrial photogrammetric analyses of the failure scar, landslide deposits, and the area surrounding the failure, with a focus on the scar. We processed photogrammetric models to produce discontinuity stereonets, residual maps and profiles, and slope and aspect maps, all of which provide information on the failure scar morphology. Our analyses enabled the creation of a preliminary semi-quantitative morphologic classification of the Vajont failure scar based on the large-scale tectonic folds and step-paths that define it. The analyses and morphologic classification have implications for the kinematics, dynamics, and mechanism of the slide. Metre- and decametre-scale features affected the initiation, direction, and displacement rate of sliding. The most complexly folded and stepped areas occur close to the intersection of orthogonal synclinal features related to the Dinaric and Neoalpine deformation events. Our analyses also highlight, for the first time, the evolution of the Vajont failure scar from 1963 to the present.

Study of the effect of external heating and internal temperature build-up during polymerization on the morphology of porous polymethacrylate adsorbent

Energy Technology Data Exchange (ETDEWEB)

Wei, Chan Yi, E-mail: vicchanyiwei@hotmail.com; Ongkudon, Clarence M., E-mail: clarence@ums.edu.my; Kansil, Tamar, E-mail: tamarkansil87@gmail.com [Biotechnology Research Institute, Universiti Malaysia Sabah, Jalan UMS, 88400 Kota Kinabalu, Sabah (Malaysia)

2015-07-22

Modern day synthesis protocols of methacrylate monolithic polymer adsorbent are based on existing polymerization blueprint without a thorough understanding of the dynamics of pore structure and formation. This has resulted in unproductiveness of polymer adsorbent consequently affecting purity and recovery of final product, productivity, retention time and cost effectiveness of the whole process. The problems magnified in monolith scaling-up where internal heat buildup resulting from external heating and high exothermic polymerization reaction was reflected in cracking of the adsorbent. We believe that through careful and precise control of the polymerization kinetics and parameters, it is possible to prepare macroporous methacrylate monolithic adsorbents with controlled pore structures despite being carried out in an unstirred mould. This research involved the study of the effect of scaling-up on pore morphology of monolith, in other words, porous polymethacrylate adsorbents that were prepared via bulk free radical polymerization process by imaging the porous morphology of polymethacrylate with scanning electron microscope.

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

PERFORMANCE AND KINEMATICS OF VARIOUS THROWING TECHNIQUES IN TEAM-HANDBALL

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Herbert Wagner

2011-03-01

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

Morphological changes of the internal structure of maxillae with tooth loss. Three-dimensional and mechanical analysis using micro-CT and finite element method

International Nuclear Information System (INIS)

Usami, Akinobu; Hara, Toshihiro; Ide, Yoshinobu

2003-01-01

The purpose of this study was to analyze the morphological and mechanical properties of the internal structures of maxillae at the molar region using a micro-CT system. Ten dentulous and edentulous maxillae were employed in this study. Images and angle information from all materials were taken by a micro-CT and 100 x 100 x 100 voxels were extracted from the fixed buccal and palatal molar regions in each material for three-dimensional morphological analysis of the internal structure. The bone volume fraction, trabecular thickness, trabecular separation and trabecular number were calculated. To analyze mechanical properties all voxels were converted to micro finite element models with element size of 33 x 33 x 33 μm 3 and maximal stiffness, axial stiffness and angle between the stiffest direction of trabecular and the axial loading direction (angleα) were determined using micro finite element method. In the result, the morphological changes including decrease of bone volume fraction, trabecular thickness and increase of trabecular separation were evident with tooth loss, although trabecular number was not changed. Mechanically, maximal stiffness was decreased with tooth loss at buccal region. However, the axial stiffness at buccal region was larger and the angleα was distributed widely in each edentulous maxilla, comparing to the same region of dentulous maxilla. These findings suggest that trabecular bone become thinner in both buccal and palatal regions, consequently maximal stiffness at buccal region become smaller with tooth loss. On the other hand, axial stiffness at the buccal region in edentulous was larger than one in dentulous. It seems to be caused by the change of the angleα. (author)

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

Science.gov (United States)

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

2017-01-01

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

Kinematic evaluation of patients with total and reverse shoulder arthroplasty during rehabilitation exercises with different loads.

Science.gov (United States)

de Toledo, Joelly Mahnic; Loss, Jefferson Fagundes; Janssen, Thomas W; van der Scheer, Jan W; Alta, Tjarco D; Willems, W Jaap; Veeger, DirkJan H E J

2012-10-01

Following shoulder arthroplasty, any well-planned rehabilitation program should include muscle strengthening. However, it is not always clear how different external loads influence shoulder kinematics in patients with shoulder prostheses. The objective of this study was to describe shoulder kinematics and determine the contribution of the scapulothoracic joint to total shoulder motion of patients with total and reverse shoulder arthroplasties and of healthy individuals during rehabilitation exercises (anteflexion and elevation in the scapular plane) using different loading conditions (without external load, 1 kg and elastic resistance). Shoulder motions were measured using an electromagnetic tracking device. A force transducer was used to record force signals during loaded conditions using elastic resistance. Statistical comparisons were made using a three-way repeated-measures analysis of variance with a Bonferroni post hoc testing. The scapula contributed more to movement of the arm in subjects with prostheses compared to healthy subjects. The same applies for loaded conditions (1 kg and elastic resistance) relative to unloaded tasks. For scapular internal rotation, upward rotation and posterior tilt no significant differences among groups were found during both exercises. Glenohumeral elevation angles during anteflexion were significantly higher in the total shoulder arthroplasty group compared to the reverse shoulder arthroplasty group. Differences in contribution of the scapula to total shoulder motion between patients with different types of arthroplasties were not significant. However, compared to healthy subjects, they were. Furthermore, scapular kinematics of patients with shoulder arthroplasty was influenced by implementation of external loads, but not by the type of load. Copyright © 2012 Elsevier Ltd. All rights reserved.

A digital database of wrist bone anatomy and carpal kinematics.

Science.gov (United States)

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

2007-01-01

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

Kinematic control of redundant robots and the motion optimizability measure.

Science.gov (United States)

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

2001-01-01

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

Ballistic representation for kinematic access

Science.gov (United States)

Alfano, Salvatore

2011-01-01

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

Morphological Control: A Design Principal for Applications in Space Science

Science.gov (United States)

Füchslin, R. M.; Dumont, E.; Flumini, D.; Fuchs, H. U.; Hauser, H.; Jaeger, C.; Scheidegger, S.; Schönenberger-Deuel, J.; Lichtensteiger, L.; Luchsinger, R.; Weyland, M.

Designing robots for applications in space flight requires a different prioritization of design criteria than for systems operating on Earth. In this article, we argue that the field of soft robotics offers novel approaches meeting the specific requirements of space flight. We present one especially promising construction principle, so called Tensairity, in some detail. Tensairity, as the name suggests, takes ideas from Tensegrity, but uses inflatable structures instead of cables and struts. Soft robots pose substantial challenges with respect to control. One way to meet these challenges is given by the concept of morphological computation and control. Morphological computation can be loosely defined as the exploitation of the shape, material properties, and dynamics of a physical system to improve the efficiency of computation and to deal with systems for which it is difficult to construct a virtual representation using a kinematic model. We discuss fundamental aspects of morphological control and their relevance for space flight. Besides low weight, small consumption of space in the inactive state and advantageous properties with respect to intrinsic safety and energy consumption, we discuss how the blurring of the discrimination of hard- and software leads to control strategies that require only very little and very simple electronic circuitry (which is beneficial in an environment with high irradiation). Finally, we present a research strategy that bundles activities in space flight with research and development in medicine, especially for support systems for an aging population, that are faced with similar morphological computing challenges to astronauts. Such a combination meets the demands for research that is not only effective, but also efficient with respect to economic resources.

Digital Hardware Realization of Forward and Inverse Kinematics for a Five-Axis Articulated Robot Arm

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Bui Thi Hai Linh

2015-01-01

Full Text Available When robot arm performs a motion control, it needs to calculate a complicated algorithm of forward and inverse kinematics which consumes much CPU time and certainty slows down the motion speed of robot arm. Therefore, to solve this issue, the development of a hardware realization of forward and inverse kinematics for an articulated robot arm is investigated. In this paper, the formulation of the forward and inverse kinematics for a five-axis articulated robot arm is derived firstly. Then, the computations algorithm and its hardware implementation are described. Further, very high speed integrated circuits hardware description language (VHDL is applied to describe the overall hardware behavior of forward and inverse kinematics. Additionally, finite state machine (FSM is applied for reducing the hardware resource usage. Finally, for verifying the correctness of forward and inverse kinematics for the five-axis articulated robot arm, a cosimulation work is constructed by ModelSim and Simulink. The hardware of the forward and inverse kinematics is run by ModelSim and a test bench which generates stimulus to ModelSim and displays the output response is taken in Simulink. Under this design, the forward and inverse kinematics algorithms can be completed within one microsecond.

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

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Hae Jin Choi

2018-01-01

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

Kinematic structures in galactic disc simulations

NARCIS (Netherlands)

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

2011-01-01

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

Compound nucleus studies withy reverse kinematics

International Nuclear Information System (INIS)

Moretto, L.G.

1985-06-01

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

Flow and fouling in membrane filters: Effects of membrane morphology

Science.gov (United States)

Sanaei, Pejman; Cummings, Linda J.

2015-11-01

Membrane filters are widely-used in microfiltration applications. Many types of filter membranes are produced commercially, for different filtration applications, but broadly speaking the requirements are to achieve fine control of separation, with low power consumption. The answer to this problem might seem obvious: select the membrane with the largest pore size and void fraction consistent with the separation requirements. However, membrane fouling (an inevitable consequence of successful filtration) is a complicated process, which depends on many parameters other than membrane pore size and void fraction; and which itself greatly affects the filtration process and membrane functionality. In this work we formulate mathematical models that can (i) account for the membrane internal morphology (internal structure, pore size & shape, etc.); (ii) fouling of membranes with specific morphology; and (iii) make some predictions as to what type of membrane morphology might offer optimum filtration performance.

GHASP: an Hα kinematical survey of spiral galaxies - XI. Distribution of luminous and dark matter in spiral and irregular nearby galaxies using WISE photometry.

Science.gov (United States)

Korsaga, M.; Carignan, C.; Amram, P.; Epinat, B.; Jarrett, T. H.

2018-04-01

We present the mass distribution of a sample of 121 nearby galaxies with high quality optical velocity fields and available infra-red WISE 3.4 μm data. Contrary to previous studies, this sample covers all morphological types and is not biased toward late-type galaxies. These galaxies are part of the Fabry-Perot kinematical GHASP survey of spirals and irregular nearby galaxies. Combining the kinematical data to the WISE surface brightness data probing the emission from the old stellar population, we derive mass models allowing us to compare the luminous to the dark matter halo mass distribution in the optical regions of those galaxies. Dark matter (DM) models are constructed using the isothermal core profile and the Navarro-Frenk-White cuspy profile. We allow the M/L of the baryonic disc to vary or we keep it fixed, constrained by stellar evolutionary models (WISE W1-W2 color) and we carry out best fit (BFM) and pseudo-isothermal maximum disc (MDM) models. We found that the MDM provides M/L values four times higher than the BFM, suggesting that disc components, on average, tend to be maximal. The main results are: (i) the rotation curves of most galaxies are better fitted with core rather than cuspy profiles; (ii) the relation between the parameters of the DM and of the luminous matter components mostly depends on morphological types. More precisely, the distribution of the DM inside galaxies depends on whether or not the galaxy has a bulge.

Structural Brain Damage and Upper Limb Kinematics in Children with Unilateral Cerebral Palsy

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Lisa Mailleux

2017-12-01

revealed damage to the temporal lobe with lesion timing as interactor (27%, p = 0.002 and the posterior limb of the internal capsule (PLIC (7%, p = 0.04 as the strongest predictors, explaining 34% of the variance in APS.Conclusion: UL kinematic deviations are more influenced by lesion location and extent in children with later (CDGM versus earlier lesions (PWM, except for proximal movement pathology. Damage to the PLIC is a significant predictor for UL movement pathology irrespective of lesion timing.

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

International Nuclear Information System (INIS)

Nam, Yun Joo; Park, Myeong Kwan

2006-01-01

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

End-Effector Position Analysis Using Forward Kinematics For 5 Dof Pravak Robot Arm

OpenAIRE

Jolly Atit Shah; S.S. Rattan; B.C. Nakra

2013-01-01

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the kinematic analysis of a Pravak Robot arm which is used for doing successful robotic manipulation task in its workspace. The Pravak Robot Arm is a 5-DOF robot having all the joints revolute. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. In this study the Denavit- Hartenberg (D-H) model is used to m...

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

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Osokin Anton Vladislavovich

2017-03-01

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

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

NARCIS (Netherlands)

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

2015-01-01

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

Anatomical kinematic constraints: consequences on muscular forces and joint reactions

OpenAIRE

MOISSENET, F; CHEZE, L; DUMAS, R

2011-01-01

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

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

Science.gov (United States)

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

2018-02-01

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

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

Science.gov (United States)

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

2013-11-01

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

KINEMATIC 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

Kinematic analysis of a televised medial ankle sprain

Directory of Open Access Journals (Sweden)

Francesca E. Wade

2018-04-01

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

Modeling Internal Radiation Therapy

NARCIS (Netherlands)

van den Broek, Egon; Schouten, Theo E.; Pellegrini, M.; Fred, A.; Filipe, J.; Gamboa, H.

2011-01-01

A new technique is described to model (internal) radiation therapy. It is founded on morphological processing, in particular distance transforms. Its formal basis is presented as well as its implementation via the Fast Exact Euclidean Distance (FEED) transform. Its use for all variations of internal

Effect of WOW process parameters on morphology and burst release of FITC-dextran loaded PLGA microspheres.

Science.gov (United States)

Mao, Shirui; Xu, Jing; Cai, Cuifang; Germershaus, Oliver; Schaper, Andreas; Kissel, Thomas

2007-04-04

Using fluorescein isothiocyanate labeled dextran (FITC-dextran 40, FD40) as a hydrophilic model compound, microspheres were prepared by a WOW double emulsion technique. Influence of process parameters on microsphere morphology and burst release of FD40 from PLGA microspheres was studied. Internal morphology of microspheres was investigated by stereological method via cryo-cutting technique and scanning electron microscopy (SEM). Drug distribution in microspheres was observed with confocal laser scanning microscopy (CLSM). Polymer nature (RG503 and RG503H) had significant influence on the micro-morphology of microspheres. Increase in continuous water phase volume (W2) led to increased surface porosity but decreased internal porosity. By increasing PVA concentration in the continuous phase from 0.1 to 1%, particle size changed marginally but burst release decreased from 12.2 to 5.9%. Internal porosity of microspheres decreased considerably with increasing polymer concentration. Increase in homogenization speed during the primary emulsion preparation led to decreased internal porosity. Burst release decreased with increasing drug loading but increased with drug molecular weight. Drug distribution in microspheres depended on preparation method. The porosity of microspheres decreased with time in the diffusion stage, but internal morphology had no influence on the release behavior in the bioerosion stage. In summary, surface porosity and internal morphology play a significant role in the release of hydrophilic macromolecules from biodegradable microspheres in the initial release phase characterized by pore diffusion.

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

Science.gov (United States)

Neto, O P; Magini, Marcio

2008-12-01

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

Lithospheric Structure, Crustal Kinematics, and Earthquakes in North China: An Integrated Study

Science.gov (United States)

Liu, M.; Yang, Y.; Sandvol, E.; Chen, Y.; Wang, L.; Zhou, S.; Shen, Z.; Wang, Q.

2007-12-01

The North China block (NCB) is geologically part of the Archaean Sino-Korean craton. But unusual for a craton, it was thermally rejuvenated since late Mesozoic, and experienced widespread extension and volcanism through much of the Cenozoic. Today, the NCB is characterized by strong internal deformation and seismicity, including the 1976 Tangshan earthquake that killed ~250,000 people. We have started a multidisciplinary study to image the lithospheric and upper mantle structure using seismological methods, to delineate crustal kinematics and deformation via studies of neotectonics and space geodesy, and to investigate the driving forces, the stress states and evolution, and seismicity using geodynamic modeling. Both seismic imaging and GPS results indicate that the Ordos plateau, which is the western part of the NCB and a relic of the Sino-Korean craton, has been encroached around its southern margins by mantle flow and thus is experiencing active cratonic destruction. Some of the mantle flow may be driven by the Indo-Asian collision, although the cause of the broad mantle upwelling responsible for the Mesozoic thinning of the NCB lithosphere remains uncertain. At present, crustal deformation in the NCB is largely driven by gravitational spreading of the expanding Tibetan Plateau. Internal deformation within the NCB is further facilitated by the particular tectonic boundary conditions around the NCB, and the large lateral contrasts of lithospheric strength and rheology. Based on the crustal kinematics and lithospheric structure, we have developed a preliminary geodynamic model for stress states and strain energy in the crust of the NCB. The predicted long-term strain energy distribution is comparable with the spatial pattern of seismic energy release in the past 2000 years. We are exploring the cause of the spatiotemporal occurrence of large earthquakes in the NCB, especially the apparent migration of seismicity from the Weihe-Shanxi grabens around the Ordos to

Circadian rhythms in handwriting kinematics and legibility.

Science.gov (United States)

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

2011-08-01

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

Length scale hierarchy and spatiotemporal change of alluvial morphologies over the Selenga River delta, Russia

Science.gov (United States)

Dong, T. Y.; Nittrouer, J.; McElroy, B. J.; Ma, H.; Czapiga, M. J.; Il'icheva, E.; Pavlov, M.; Parker, G.

2017-12-01

The movement of water and sediment in natural channels creates various types of alluvial morphologies that span length scales from dunes to deltas. The behavior of these morphologies is controlled microscopically by hydrodynamic conditions and bed material size, and macroscopically by hydrologic and geological settings. Alluvial morphologies can be modeled as either diffusive or kinematic waves, in accordance with their respective boundary conditions. Recently, it has been shown that the difference between these two dynamic behaviors of alluvial morphologies can be characterized by the backwater number, which is a dimensionless value normalizing the length scale of a morphological feature to its local hydrodynamic condition. Application of the backwater number has proven useful for evaluating the size of morphologies, including deltas (e.g., by assessing the preferential avulsion location of a lobe), and for comparing bedform types across different fluvial systems. Yet two critical questions emerge when applying the backwater number: First, how do different types of alluvial morphologies compare within a single deltaic system, where there is a hydrodynamic transition from uniform to non-uniform flow? Second, how do different types of morphologies evolve temporally within a system as a function of changing water discharge? This study addresses these questions by compiling and analyzing field data from the Selenga River delta, Russia, which include measurements of flow velocity, channel geometry, bed material grain size, and channel slope, as well as length scales of various morphologies, including dunes, island bars, meanders, bifurcations, and delta lobes. Data analyses reveal that the length scale of morphologies decrease and the backwater number increases as flow transitions from uniform to non-uniform conditions progressing downstream. It is shown that the evaluated length scale hierarchy and planform distribution of different morphologies can be used to

Kinematic classification of iliotibial band syndrome in runners.

Science.gov (United States)

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

2011-04-01

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

Kinematic decomposition and classification of octopus arm movements.

Science.gov (United States)

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

2013-01-01

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

4th IFToMM International Symposium on Robotics and Mechatronics

CERN Document Server

Laribi, Med; Gazeau, Jean-Pierre

2016-01-01

This volume contains papers that have been selected after review for oral presentation at ISRM 2015, the Fourth IFToMM International Symposium on Robotics and Mechatronics held in Poitiers, France 23-24 June 2015. These papers  provide a vision of the evolution of the disciplines of robotics and mechatronics, including but not limited to: mechanism design; modeling and simulation; kinematics and dynamics of multibody systems; control methods; navigation and motion planning; sensors and actuators; bio-robotics; micro/nano-robotics; complex robotic systems; walking machines, humanoids-parallel kinematic structures: analysis and synthesis; smart devices; new design; application and prototypes. The book can be used by researchers and engineers in the relevant areas of robotics and mechatronics.

Effects of load on good morning kinematics and EMG activity

Directory of Open Access Journals (Sweden)

Andrew David Vigotsky

2015-01-01

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

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

Science.gov (United States)

Hayati, Samad A.; Roston, Gerald P.

1986-01-01

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

A self-calibrating robot based upon a virtual machine model of parallel kinematics

DEFF Research Database (Denmark)

Pedersen, David Bue; Eiríksson, Eyþór Rúnar; Hansen, Hans Nørgaard

2016-01-01

A delta-type parallel kinematics system for Additive Manufacturing has been created, which through a probing system can recognise its geometrical deviations from nominal and compensate for these in the driving inverse kinematic model of the machine. Novelty is that this model is derived from...... a virtual machine of the kinematics system, built on principles from geometrical metrology. Relevant mathematically non-trivial deviations to the ideal machine are identified and decomposed into elemental deviations. From these deviations, a routine is added to a physical machine tool, which allows...

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

Science.gov (United States)

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

2014-01-01

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

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

Science.gov (United States)

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

2016-02-01

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

Surface growth kinematics via local curve evolution

KAUST Repository

Moulton, Derek E.; Goriely, Alain

2012-01-01

of increasing complexity are provided, and we demonstrate how biologically relevant structures such as logarithmic shells and horns emerge as analytical solutions of the kinematics equations with a small number of parameters that can be linked to the underlying

One-leg hop kinematics 20 years following anterior cruciate ligament rupture: Data revisited using functional data analysis.

Science.gov (United States)

Hébert-Losier, Kim; Pini, Alessia; Vantini, Simone; Strandberg, Johan; Abramowicz, Konrad; Schelin, Lina; Häger, Charlotte K

2015-12-01

Despite interventions, anterior cruciate ligament ruptures can cause long-term deficits. To assist in identifying and treating deficiencies, 3D-motion analysis is used for objectivizing data. Conventional statistics are commonly employed to analyze kinematics, reducing continuous data series to discrete variables. Conversely, functional data analysis considers the entire data series. Here, we employ functional data analysis to examine and compare the entire time-domain of knee-kinematic curves from one-leg hops between and within three groups. All subjects (n=95) were part of a long-term follow-up study involving anterior cruciate ligament ruptures treated ~20 years ago conservatively with physiotherapy only or with reconstructive surgery and physiotherapy, and matched knee-healthy controls. Between-group differences (injured leg, treated groups; non-dominant leg, controls) were identified during the take-off and landing phases, and in the sagittal (flexion/extension) rather than coronal (abduction/adduction) and transverse (internal/external) planes. Overall, surgical and control groups demonstrated comparable knee-kinematic curves. However, compared to controls, the physiotherapy-only group exhibited less flexion during the take-off (0-55% of the normalized phase) and landing (44-73%) phase. Between-leg differences were absent in controls and the surgically treated group, but observed during the flight (4-22%, injured leg>flexion) and the landing (57-85%, injured legFunctional data analysis identified specific functional knee-joint deviations from controls persisting 20 years post anterior cruciate ligament rupture, especially when treated conservatively. This approach is suggested as a means for comprehensively analyzing complex movements, adding to previous analyses. Copyright © 2015 Elsevier Ltd. All rights reserved.

Pythagoras Theorem and Relativistic Kinematics

Science.gov (United States)

Mulaj, Zenun; Dhoqina, Polikron

2010-01-01

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

Modulation of shark prey capture kinematics in response to sensory deprivation.

Science.gov (United States)

Gardiner, Jayne M; Atema, Jelle; Hueter, Robert E; Motta, Philip J

2017-02-01

The ability of predators to modulate prey capture in response to the size, location, and behavior of prey is critical to successful feeding on a variety of prey types. Modulating in response to changes in sensory information may be critical to successful foraging in a variety of environments. Three shark species with different feeding morphologies and behaviors were filmed using high-speed videography while capturing live prey: the ram-feeding blacktip shark, the ram-biting bonnethead, and the suction-feeding nurse shark. Sharks were examined intact and after sensory information was blocked (olfaction, vision, mechanoreception, and electroreception, alone and in combination), to elucidate the contribution of the senses to the kinematics of prey capture. In response to sensory deprivation, the blacktip shark demonstrated the greatest amount of modulation, followed by the nurse shark. In the absence of olfaction, blacktip sharks open the jaws slowly, suggestive of less motivation. Without lateral line cues, blacktip sharks capture prey from greater horizontal angles using increased ram. When visual cues are absent, blacktip sharks elevate the head earlier and to a greater degree, allowing them to overcome imprecise position of the prey relative to the mouth, and capture prey using decreased ram, while suction remains unchanged. When visual cues are absent, nurse sharks open the mouth wider, extend the labial cartilages further, and increase suction while simultaneously decreasing ram. Unlike some bony fish, neither species switches feeding modalities (i.e. from ram to suction or vice versa). Bonnetheads failed to open the mouth when electrosensory cues were blocked, but otherwise little to no modulation was found in this species. These results suggest that prey capture may be less plastic in elasmobranchs than in bony fishes, possibly due to anatomical differences, and that the ability to modulate feeding kinematics in response to available sensory information varies

A nonlinear dynamics of trunk kinematics during manual lifting tasks.

Science.gov (United States)

Khalaf, Tamer; Karwowski, Waldemar; Sapkota, Nabin

2015-01-01

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

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

International Nuclear Information System (INIS)

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

2011-01-01

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

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

Science.gov (United States)

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

2016-10-01

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

Prey capture kinematics and four-bar linkages in the bay pipefish, Syngnathus leptorhynchus.

Science.gov (United States)

Flammang, Brooke E; Ferry-Graham, Lara A; Rinewalt, Christopher; Ardizzone, Daniele; Davis, Chante; Trejo, Tonatiuh

2009-01-01

Because of their modified cranial morphology, syngnathid pipefishes have been described as extreme suction feeders. The presumption is that these fishes use their elongate snout much like a pipette in capturing planktonic prey. In this study, we quantify the contribution of suction to the feeding strike and quantitatively describe the prey capture mechanics of the bay pipefish Syngnathus leptorhynchus, focusing specifically on the role of both cranial elevation and snout movement. We used high-speed video to capture feeding sequences from nine individuals feeding on live brine shrimp. Sequences were digitized in order to calculate kinematic variables that could be used to describe prey capture. Prey capture was very rapid, from 2 to 6 ms from the onset of cranial rotation. We found that suction contributed at most about one-eighth as much as ram to the reduction of the distance between predator and prey. This movement of the predator was due almost exclusively to movement of the snout and neurocranium rather than movement of the whole body. The body was positioned ventral and posterior to the prey and the snout was rotated dorsally by as much as 21 degrees, thereby placing the mouth immediately behind the prey for capture. The snout did not follow the identical trajectory as the neurocranium, however, and reached a maximum angle of only about 10 degrees. The snout consists, in part, of elongate suspensorial elements and the linkages among these elements are retained despite changes in shape. Thus, when the neurocranium is rotated, the four-bar linkage that connects this action with hyoid depression simultaneously acts to expand and straighten the snout relative to the neurocranium. We confirm the presence of a four-bar linkage that facilitates these kinematics by couplings between the pectoral girdle, urohyal, hyoid complex, and the neurocranium-suspensorium complex.

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

Directory of Open Access Journals (Sweden)

Hussein de la Torre

2016-06-01

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

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

Science.gov (United States)

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

2018-04-03

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

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

Directory of Open Access Journals (Sweden)

Glauber Ribeiro Pereira

2010-09-01

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

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

Science.gov (United States)

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

2013-01-01

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

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

Science.gov (United States)

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

2017-12-01

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

In vivo kinematics of healthy male knees during squat and golf swing using image-matching techniques.

Science.gov (United States)

Murakami, Koji; Hamai, Satoshi; Okazaki, Ken; Ikebe, Satoru; Shimoto, Takeshi; Hara, Daisuke; Mizu-uchi, Hideki; Higaki, Hidehiko; Iwamoto, Yukihide

2016-03-01

Participation in specific activities requires complex ranges of knee movements and activity-dependent kinematics. The purpose of this study was to investigate dynamic knee kinematics during squat and golf swing using image-matching techniques. Five healthy males performed squats and golf swings under periodic X-ray images at 10 frames per second. We analyzed the in vivo three-dimensional kinematic parameters of subjects' knees, namely the tibiofemoral flexion angle, anteroposterior (AP) translation, and internal-external rotation, using serial X-ray images and computed tomography-derived, digitally reconstructed radiographs. During squat from 0° to 140° of flexion, the femur moved about 25 mm posteriorly and rotated 19° externally relative to the tibia. Screw-home movement near extension, bicondylar rollback between 20° and 120° of flexion, and medial pivot motion at further flexion were observed. During golf swing, the leading and trailing knees (the left and right knees respectively in the right-handed golfer) showed approximately five millimeters and four millimeters of AP translation with 18° and 26° of axial rotation, respectively. A central pivot motion from set-up to top of the backswing, lateral pivot motion from top to ball impact, and medial pivot motion from impact to the end of follow-through were observed. The medial pivot motion was not always recognized during both activities, but a large range of axial rotation with bilateral condylar AP translations occurs during golf swing. This finding has important implications regarding the amount of acceptable AP translation and axial rotation at low flexion in replaced knees. IV. Copyright © 2015 Elsevier B.V. All rights reserved.

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

Science.gov (United States)

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

2015-04-24

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

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

International Nuclear Information System (INIS)

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

2005-01-01

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

Kinematical Compatibility Conditions for Vorticity Across Shock Waves

Science.gov (United States)

Baty, Roy

2015-11-01

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

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

International Nuclear Information System (INIS)

Krug, J.; Nocken, U.

1976-01-01

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

Kinematics of suction feeding in the seahorse Hippocampus reidi.

Science.gov (United States)

Roos, Gert; Van Wassenbergh, Sam; Herrel, Anthony; Aerts, Peter

2009-11-01

Fish typically use a rostro-caudal wave of head expansion to generate suction, which is assumed to cause a uni-directional, anterior-to-posterior flow of water in the expanding head. However, compared with typical fish, syngnathid fishes have a remarkably different morphology (elongated snout, small hyoid, immobile pectoral girdle) and feeding strategy (pivot feeding: bringing the small mouth rapidly close to the prey by neurocranial dorsorotation). As a result, it is unclear how suction is generated in Syngnathidae. In this study, lateral and ventral expansions of the head were quantified in Hippocampus reidi and linked to the kinematics of the mouth, hyoid and neurocranium. In addition, the flow velocities inside the bucco-pharyngeal cavity and in front of the mouth were calculated. Our data suggest that the volume changes caused by lateral expansion are dominant over ventral expansion. Maximum gape, neurocranium rotation and hyoid depression are all reached before actual volume increase and before visible prey movement. This implies that, unlike previously studied teleosts, hyoid rotation does not contribute to ventral expansion by lowering the floor of the mouth during prey capture in H. reidi. The lateral volume changes show a rostro-caudal expansion, but the maximal flow velocity is not near the mouth aperture (as has been demonstrated for example in catfish) but at the narrow region of the buccal cavity, dorsal to the hyoid.

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

Directory of Open Access Journals (Sweden)

Qingcheng Chen

2015-10-01

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

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

Science.gov (United States)

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

2016-08-01

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

Surface growth kinematics via local curve evolution

KAUST Repository

Moulton, Derek E.

2012-11-18

A mathematical framework is developed to model the kinematics of surface growth for objects that can be generated by evolving a curve in space, such as seashells and horns. Growth is dictated by a growth velocity vector field defined at every point on a generating curve. A local orthonormal basis is attached to each point of the generating curve and the velocity field is given in terms of the local coordinate directions, leading to a fully local and elegant mathematical structure. Several examples of increasing complexity are provided, and we demonstrate how biologically relevant structures such as logarithmic shells and horns emerge as analytical solutions of the kinematics equations with a small number of parameters that can be linked to the underlying growth process. Direct access to cell tracks and local orientation enables for connections to be made to the underlying growth process. © 2012 Springer-Verlag Berlin Heidelberg.

Interactive scan control for kinematic study in open MRI

International Nuclear Information System (INIS)

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

2007-01-01

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

Foot kinematics in patients with two patterns of pathological plantar hyperkeratosis

Directory of Open Access Journals (Sweden)

Bowker Peter

2011-02-01

Full Text Available Abstract Background The Root paradigm of foot function continues to underpin the majority of clinical foot biomechanics practice and foot orthotic therapy. There are great number of assumptions in this popular paradigm, most of which have not been thoroughly tested. One component supposes that patterns of plantar pressure and associated hyperkeratosis lesions should be associated with distinct rearfoot, mid foot, first metatarsal and hallux kinematic patterns. Our aim was to investigate the extent to which this was true. Methods Twenty-seven subjects with planter pathological hyperkeratosis were recruited into one of two groups. Group 1 displayed pathological plantar hyperkeratosis only under metatarsal heads 2, 3 and 4 (n = 14. Group 2 displayed pathological plantar hyperkeratosis only under the 1st and 5th metatarsal heads (n = 13. Foot kinematics were measured using reflective markers on the leg, heel, midfoot, first metatarsal and hallux. Results The kinematic data failed to identify distinct differences between these two groups of subjects, however there were several subtle (generally Conclusions There was some evidence of small differences between planter pathological hyperkeratosis groups. Nevertheless, there was too much similarity between the kinematic data displayed in each group to classify them as distinct foot types as the current clinical paradigm proposes.

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.

Evidence for halo kinematics among cool carbon-rich dwarfs

Science.gov (United States)

Farihi, J.; Arendt, A. R.; Machado, H. S.; Whitehouse, L. J.

2018-04-01

This paper reports preliminary yet compelling kinematical inferences for N ≳ 600 carbon-rich dwarf stars that demonstrate around 30% to 60% are members of the Galactic halo. The study uses a spectroscopically and non-kinematically selected sample of stars from the SDSS, and cross-correlates these data with three proper motion catalogs based on Gaia DR1 astrometry to generate estimates of their 3-D space velocities. The fraction of stars with halo-like kinematics is roughly 30% for distances based on a limited number of parallax measurements, with the remainder dominated by the thick disk, but close to 60% of the sample lie below an old, metal-poor disk isochrone in reduced proper motion. An ancient population is consistent with an extrinsic origin for C/O >1 in cool dwarfs, where a fixed mass of carbon pollution more readily surmounts lower oxygen abundances, and with a lack of detectable ultraviolet-blue flux from younger white dwarf companions. For an initial stellar mass function that favors low-mass stars as in the Galactic disk, the dC stars are likely to be the dominant source of carbon-enhanced, metal-poor stars in the Galaxy.

Nozzle Mounting Method Optimization Based on Robot Kinematic Analysis

Science.gov (United States)

Chen, Chaoyue; Liao, Hanlin; Montavon, Ghislain; Deng, Sihao

2016-08-01

Nowadays, the application of industrial robots in thermal spray is gaining more and more importance. A desired coating quality depends on factors such as a balanced robot performance, a uniform scanning trajectory and stable parameters (e.g. nozzle speed, scanning step, spray angle, standoff distance). These factors also affect the mass and heat transfer as well as the coating formation. Thus, the kinematic optimization of all these aspects plays a key role in order to obtain an optimal coating quality. In this study, the robot performance was optimized from the aspect of nozzle mounting on the robot. An optimized nozzle mounting for a type F4 nozzle was designed, based on the conventional mounting method from the point of view of robot kinematics validated on a virtual robot. Robot kinematic parameters were obtained from the simulation by offline programming software and analyzed by statistical methods. The energy consumptions of different nozzle mounting methods were also compared. The results showed that it was possible to reasonably assign the amount of robot motion to each axis during the process, so achieving a constant nozzle speed. Thus, it is possible optimize robot performance and to economize robot energy.

Restraining approach for the spurious kinematic modes in hybrid equilibrium element

Science.gov (United States)

Parrinello, F.

2013-10-01

The present paper proposes a rigorous approach for the elimination of spurious kinematic modes in hybrid equilibrium elements, for three well known mesh patches. The approach is based on the identification of the dependent equations in the set of inter-element and boundary equilibrium equations of the sides involved in the spurious kinematic mode. Then the kinematic variables related to the dependent equations are reciprocally constrained and, by application of master slave elimination method, the set of inter-element equilibrium equations is reduced to full rank. The elastic solutions produced by means of the proposed approach verify the homogeneous, the inter-element and the boundary equilibrium equations. Hybrid stress formulation is developed in a rigorous mathematical setting. The results of linear elastic analysis obtained by the proposed approach and by classical displacement based method are compared for some structural examples.

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.)

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

A Kinematic, Kevlar(registered) Suspension System for an ADR

Science.gov (United States)

Voellmer, George M.; Jackson, Michael L.; Shirron, Peter J.; Tuttle, James G.

2003-01-01

The High Resolution Airborne Wideband Camera (HAWC) and the Submillimeter And Far Infrared Experiment (SAFIRE) will use identical Adiabatic Demagnetization Refrigerators (ADR) to cool their bolometer detectors to 200mK and 100mK, respectively. In order to minimize thermal loads on the salt pill, a Kevlar@ suspension system is used to hold it in place. An innovative, kinematic suspension system is presented. The suspension system is unique in that it consists or two parts that can be assembled and tensioned offline, and later bolted onto the salt pill. The resulting assembly constrains each degree of freedom only once, yielding a kinematic, tensile structure.

Comparison of three-dimensional lower extremity running kinematics of young adult and elderly runners.

Science.gov (United States)

Fukuchi, Reginaldo K; Duarte, Marcos

2008-11-01

The objective of this study was to compare the three-dimensional lower extremity running kinematics of young adult runners and elderly runners. Seventeen elderly adults (age 67-73 years) and 17 young adults (age 26-36 years) ran at 3.1 m x s(-1) on a treadmill while the movements of the lower extremity during the stance phase were recorded at 120 Hz using three-dimensional video. The three-dimensional kinematics of the lower limb segments and of the ankle and knee joints were determined, and selected variables were calculated to describe the movement. Our results suggest that elderly runners have a different movement pattern of the lower extremity from that of young adults during the stance phase of running. Compared with the young adults, the elderly runners had a substantial decrease in stride length (1.97 vs. 2.23 m; P = 0.01), an increase in stride frequency (1.58 vs. 1.37 Hz; P = 0.002), less knee flexion/extension range of motion (26 vs. 33 degrees ; P = 0.002), less tibial internal/external rotation range of motion (9 vs. 12 degrees ; P heel strike (-5.8 vs. -1.0 degrees ; P = 0.009), and greater asynchronies between the ankle and knee movements during running. These results may help to explain why elderly individuals could be more susceptible to running-related injuries.

Plastic limit analysis with non linear kinematic strain hardening for metalworking processes applications

International Nuclear Information System (INIS)

Chaaba, Ali; Aboussaleh, Mohamed; Bousshine, Lahbib; Boudaia, El Hassan

2011-01-01

Limit analysis approaches are widely used to deal with metalworking processes analysis; however, they are applied only for perfectly plastic materials and recently for isotropic hardening ones excluding any kind of kinematic hardening. In the present work, using Implicit Standard Materials concept, sequential limit analysis approach and the finite element method, our objective consists in extending the limit analysis application for including linear and non linear kinematic strain hardenings. Because this plastic flow rule is non associative, the Implicit Standard Materials concept is adopted as a framework of non standard plasticity modeling. The sequential limit analysis procedure which considers the plastic behavior with non linear kinematic strain hardening as a succession of perfectly plastic behavior with yielding surfaces updated after each sequence of limit analysis and geometry updating is applied. Standard kinematic finite element method together with a regularization approach is used for performing two large compression cases (cold forging) in plane strain and axisymmetric conditions

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.

Kinematic decomposition and classification of octopus arm movements

Directory of Open Access Journals (Sweden)

Ido eZelman

2013-05-01

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

Circadian rhythms in handwriting kinematics and legibility

NARCIS (Netherlands)

Jasper, Isabelle; Gordijn, Marijke; Haeussler, Andreas; Hermsdoerfer, Joachim

The aim of the present study was to analyze the circadian rhythmicity in handwriting kinematics and legibility and to compare the performance between Dutch and German writers. Two subject groups underwent a 40 h sleep deprivation protocol under Constant Routine conditions either in Groningen (10

Assessment of multi class kinematic wave models

NARCIS (Netherlands)

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

2012-01-01

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

Kinematics of a relativistic particle with de Sitter momentum space

International Nuclear Information System (INIS)

Arzano, Michele; Kowalski-Glikman, Jerzy

2011-01-01

We discuss kinematical properties of a free relativistic particle with deformed phase space in which momentum space is given by (a submanifold of) de Sitter space. We provide a detailed derivation of the action, Hamiltonian structure and equations of motion for such a free particle. We study the action of deformed relativistic symmetries on the phase space and derive explicit formulae for the action of the deformed Poincare group. Finally we provide a discussion on parametrization of the particle worldlines stressing analogies and differences with ordinary relativistic kinematics.

Increased Seat Dump Angle in a Manual Wheelchair Is Associated With Changes in Thoracolumbar Lordosis and Scapular Kinematics During Propulsion.

Science.gov (United States)

Cloud, Beth A; Zhao, Kristin D; Ellingson, Arin M; Nassr, Ahmad; Windebank, Anthony J; An, Kai-Nan

2017-10-01

To quantify and compare spinal curvature and shoulder kinematics throughout the manual wheelchair (MWC) propulsion cycle for individuals with spinal cord injury (SCI) who were seated at 2 different seat dump angles. Single-group, repeated-measures study. Academic medical center. Individuals (N=28) with SCI or spinal cord disease who used MWCs completed a telephone screening, and 21 of them were eligible and completed the study. Participants' personal MWCs were modified to have seat dump angles of 0° or 14°, with a vertical backrest. Participants completed at least 3 propulsion cycles in each condition, during which spine and shoulder motion data were collected with fiberoptic and electromagnetic sensors, respectively. Thoracolumbar spinal curvature, glenohumeral kinematics, and scapulothoracic kinematics at the start of push (SP), mid-push (MP), end of push (EP), and mid-recovery. Participants had significantly less lordosis in the 14° condition for all propulsion events. Median differences ranged from 2.0° to 4.6°. Lordosis differences were more pronounced in those with low SCI. Scapulothoracic internal rotation was increased in the 14° condition at SP and MP (mean differences, 2.5° and 2.7°, respectively). Relative downward rotation increased in the 14° condition at SP and MP (mean differences, 2.4° and 2.1°, respectively). Scapulothoracic differences were more pronounced in those with high SCI. No glenohumeral rotations were significantly different between the conditions. Scapulothoracic kinematics and spinal curvature differences during propulsion may be associated with the position of other body segments or postural stability. Because no differences were observed at the glenohumeral joint, the risk of subacromial impingement may not be affected by this seat angle change. Copyright © 2017 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

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

Energy Technology Data Exchange (ETDEWEB)

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

2013-03-15

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

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

International Nuclear Information System (INIS)

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

2013-01-01

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

Electron beam gun with kinematic coupling for high power RF vacuum devices

Science.gov (United States)

Borchard, Philipp

2016-11-22

An electron beam gun for a high power RF vacuum device has components joined by a fixed kinematic coupling to provide both precise alignment and high voltage electrical insulation of the components. The kinematic coupling has high strength ceramic elements directly bonded to one or more non-ductile rigid metal components using a high temperature active metal brazing alloy. The ceramic elements have a convex surface that mates with concave grooves in another one of the components. The kinematic coupling, for example, may join a cathode assembly and/or a beam shaping focus electrode to a gun stem, which is preferably composed of ceramic. The electron beam gun may be part of a high power RF vacuum device such as, for example, a gyrotron, klystron, or magnetron.

On use of radial evanescence remain term in kinematic hardening

International Nuclear Information System (INIS)

Geyer, P.

1995-10-01

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

Medial stabilized and posterior stabilized TKA affect patellofemoral kinematics and retropatellar pressure distribution differently.

Science.gov (United States)

Glogaza, Alexander; Schröder, Christian; Woiczinski, Matthias; Müller, Peter; Jansson, Volkmar; Steinbrück, Arnd

2018-06-01

Patellofemoral kinematics and retropatellar pressure distribution change after total knee arthroplasty (TKA). It was hypothesized that different TKA designs will show altered retropatellar pressure distribution patterns and different patellofemoral kinematics according to their design characteristics. Twelve fresh-frozen knee specimens were tested dynamically in a knee rig. Each specimen was measured native, after TKA with a posterior stabilized design (PS) and after TKA with a medial stabilized design (MS). Retropatellar pressure distribution was measured using a pressure sensitive foil which was subdivided into three areas (lateral and medial facet and patellar ridge). Patellofemoral kinematics were measured by an ultrasonic-based three-dimensional motion system (Zebris CMS20, Isny Germany). Significant changes in patellofemoral kinematics and retropatellar pressure distribution were found in both TKA types when compared to the native situation. Mean retropatellar contact areas were significantly smaller after TKA (native: 241.1 ± 75.6 mm 2 , MS: 197.7 ± 74.5 mm 2 , PS: 181.2 ± 56.7 mm 2 , native vs. MS p patellofemoral kinematics were found in both TKA designs when compared to the native knee during flexion and extension with a more medial patella tracking. Patellofemoral kinematics and retropatellar pressure change after TKA in different manner depending on the type of TKA used. Surgeons should be aware of influencing the risks of patellofermoral complications by the choice of the prosthesis design.

How can the study of action kinematics inform our understanding of human social interaction?

Science.gov (United States)

Krishnan-Barman, Sujatha; Forbes, Paul A G; Hamilton, Antonia F de C

2017-10-01

The kinematics of human actions are influenced by the social context in which they are performed. Motion-capture technology has allowed researchers to build up a detailed and complex picture of how action kinematics vary across different social contexts. Here we review three task domains-point-to-point imitation tasks, motor interference tasks and reach-to-grasp tasks-to critically evaluate how these tasks can inform our understanding of social interactions. First, we consider how actions within these task domains are performed in a non-social context, before highlighting how a plethora of social cues can perturb the baseline kinematics. We show that there is considerable overlap in the findings from these different tasks domains but also highlight the inconsistencies in the literature and the possible reasons for this. Specifically, we draw attention to the pitfalls of dealing with rich, kinematic data. As a way to avoid these pitfalls, we call for greater standardisation and clarity in the reporting of kinematic measures and suggest the field would benefit from a move towards more naturalistic tasks. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

Body weight support during robot-assisted walking: influence on the trunk and pelvis kinematics.

Science.gov (United States)

Swinnen, Eva; Baeyens, Jean-Pierre; Hens, Gerrit; Knaepen, Kristel; Beckwée, David; Michielsen, Marc; Clijsen, Ron; Kerckhofs, Eric

2015-01-01

Efficacy studies concerning robot assisted gait rehabilitation showed limited clinical benefits. A changed kinematic pattern might be responsible for this. Little is known about the kinematics of the trunk and pelvis during robot assisted treadmill walking (RATW). The aim of this study was to assess the trunk and pelvis kinematics of healthy subjects during RATW, with different amounts of body weight support (BWS) compared to regular treadmill walking (TW). Eighteen healthy participants walked on a treadmill, while kinematics were registered by an electromagnetic tracking device. Hereafter, the kinematics of pelvis and trunk were registered during RATW (guidance force 30%) with 0%, 30% and 50% BWS. Compared to TW, RATW showed a decrease in the following trunk movements: axial rotation, anteroposterior flexion, lateral and anteroposterior translation. Besides, a decrease in lateral tilting and all translation of the pelvis was found when comparing RATW with TW. Furthermore, the anteroposterior tilting of the pelvis increased during RATW. In general, there was a decrease in trunk and pelvis movement amplitude during RATW compared with regular TW. Though, it is not known if these changes are responsible for the limited efficacy of robot assisted gait rehabilitation. Further research is indicated.

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

OpenAIRE

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

2016-01-01

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

VRACK: measuring pedal kinematics during stationary bike cycling.

Science.gov (United States)

Farjadian, Amir B; Kong, Qingchao; Gade, Venkata K; Deutsch, Judith E; Mavroidis, Constantinos

2013-06-01

Ankle impairment and lower limb asymmetries in strength and coordination are common symptoms for individuals with selected musculoskeletal and neurological impairments. The virtual reality augmented cycling kit (VRACK) was designed as a compact mechatronics system for lower limb and mobility rehabilitation. The system measures interaction forces and cardiac activity during cycling in a virtual environment. The kinematics measurement was added to the system. Due to the constrained problem definition, the combination of inertial measurement unit (IMU) and Kalman filtering was recruited to compute the optimal pedal angular displacement during dynamic cycling exercise. Using a novel benchmarking method the accuracy of IMU-based kinematics measurement was evaluated. Relatively accurate angular measurements were achieved. The enhanced VRACK system can serve as a rehabilitation device to monitor biomechanical and physiological variables during cycling on a stationary bike.

Non-Sagittal Knee Joint Kinematics and Kinetics during Gait on Level and Sloped Grounds with Unicompartmental and Total Knee Arthroplasty Patients

Science.gov (United States)

Komnik, Igor; David, Sina; Weiss, Stefan; Potthast, Wolfgang

2016-01-01

After knee arthroplasty (KA) surgery, patients experience abnormal kinematics and kinetics during numerous activities of daily living. Biomechanical investigations have focused primarily on level walking, whereas walking on sloped surfaces, which is stated to affect knee kinematics and kinetics considerably, has been neglected to this day. This study aimed to analyze over-ground walking on level and sloped surfaces with a special focus on transverse and frontal plane knee kinematics and kinetics in patients with KA. A three-dimensional (3D) motion analysis was performed by means of optoelectronic stereophogrammetry 1.8 ± 0.4 years following total knee arthroplasty (TKA) and unicompartmental arthroplasty surgery (UKA). AnyBody™ Modeling System was used to conduct inverse dynamics. The TKA group negotiated the decline walking task with reduced peak knee internal rotation angles compared with a healthy control group (CG). First-peak knee adduction moments were diminished by 27% (TKA group) and 22% (UKA group) compared with the CG during decline walking. No significant differences were detected between the TKA and UKA groups, regardless of the locomotion task. Decline walking exposed apparently more abnormal knee frontal and transverse plane adjustments in KA patients than level walking compared with the CG. Hence, walking on sloped surfaces should be included in further motion analysis studies investigating KA patients in order to detect potential deficits that might be not obvious during level walking. PMID:28002437

About the kinematics of spinning particles

International Nuclear Information System (INIS)

Salesi, G.; Recami, E.; Istituto Nazionale di Fisica Nucleare, Milan; Campinas State Univ., SP

1995-06-01

Inserting the correct Lorentz factor into the definition of the 4-velocity vμ for spinning particles entails new kinematical properties for v 2 . The well-know constraint (identically true for scalar particles, but entering also the Dirac theory, and assumed a priori in all spinning particle models) P μ v μ =m is here derived in a self-consistent way

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

International Nuclear Information System (INIS)

Ueta, Keiichi

2011-01-01

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

Kinematic analysis of in situ measurement during chemical mechanical planarization process

Energy Technology Data Exchange (ETDEWEB)

Li, Hongkai; Wang, Tongqing; Zhao, Qian; Meng, Yonggang; Lu, Xinchun, E-mail: xclu@tsinghua.edu.cn [State Key Laboratory of Tribology, Tsinghua University, Beijing 100084 (China)

2015-10-15

Chemical mechanical planarization (CMP) is the most widely used planarization technique in semiconductor manufacturing presently. With the aid of in situ measurement technology, CMP tools can achieve good performance and stable productivity. However, the in situ measurement has remained unexplored from a kinematic standpoint. The available related resources for the kinematic analysis are very limited due to the complexity and technical secret. In this paper, a comprehensive kinematic analysis of in situ measurement is provided, including the analysis model, the measurement trajectory, and the measurement time of each zone of wafer surface during the practical CMP process. In addition, a lot of numerical calculations are performed to study the influences of main parameters on the measurement trajectory and the measurement velocity variation of the probe during the measurement process. All the efforts are expected to improve the in situ measurement system and promote the advancement in CMP control system.

Kinematics and Application of a Hybrid Industrial Robot – Delta-RST

Directory of Open Access Journals (Sweden)

Ning Liu

2014-04-01

Full Text Available Serial robots and parallel robots have their own pros and cons. While hybrid robots consisting of both of them are possible and expected to retain their merits and minimize the disadvantages. The Delta-RST presented here is such a hybrid robot built up by integrating a 3-DoFs traditional Delta parallel structure and a 3-DoFs RST robotic wrist. In this paper, we focus on its kinematics analysis and its applications in industry. Firstly, the robotic system of the Delta-RST will be described briefly. Then the complete and systemic kinematics of this kind of robot will be presented in detail, followed by simulations and applications to demonstrate the correctness of the analysis, as well as the effectiveness of the developed robotic system. The closed-form kinematic analysis results are universal for similar hybrid robots constructing with the Delta parallel mechanism and serial chains.

Kinematic geometry of gearing

CERN Document Server

Dooner, David B

2012-01-01

Building on the first edition published in 1995 this new edition of Kinematic Geometry of Gearing has been extensively revised and updated with new and original material. This includes the methodology for general tooth forms, radius of torsure', cylinder of osculation, and cylindroid of torsure; the author has also completely reworked the '3 laws of gearing', the first law re-written to better parallel the existing 'Law of Gearing" as pioneered by Leonard Euler, expanded from Euler's original law to encompass non-circular gears and hypoid gears, the 2nd law of gearing describing a unique relat

Kinematic and ground reaction force accommodation during weighted walking.

Science.gov (United States)

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

2015-12-01

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

Seeing the World Topsy-Turvy: The Primary Role of Kinematics in Biological Motion Inversion Effects

Directory of Open Access Journals (Sweden)

Sue-Anne Fitzgerald

2014-04-01

Full Text Available Physical inversion of whole or partial human body representations typically has catastrophic consequences on the observer's ability to perform visual processing tasks. Explanations usually focus on the effects of inversion on the visual system's ability to exploit configural or structural relationships, but more recently have also implicated motion or kinematic cue processing. Here, we systematically tested the role of both on perceptions of sex from upright and inverted point-light walkers. Our data suggest that inversion results in systematic degradations of the processing of kinematic cues. Specifically and intriguingly, they reveal sex-based kinematic differences: Kinematics characteristic of females generally are resistant to inversion effects, while those of males drive systematic sex misperceptions. Implications of the findings are discussed.

Kinematic measures for upper limb motor assessment during robot-mediated training in patients with severe sub-acute stroke.

Science.gov (United States)

Duret, Christophe; Courtial, Ophélie; Grosmaire, Anne Gaelle

2016-01-01

Kinematic assessments are increasingly used as motor outcome measures during upper limb robot-assisted training, in addition to clinical scales. However, their relevance has not been evaluated much. Thirty-eight patients with severe sub-acute stroke (age 56 ± 17 [19-87] years; time since stroke, 55 ± 22 days) carried out 16 sessions (average 3/week, 35 ± 15 days) of upper limb robot-assisted training combined with standard therapy. Pre/post motor performance was evaluated using the Fugl-Meyer Assessment scale, Motor Status Scale (MSS) and kinematic measures. Motor outcomes were compared and relationships between clinical and kinematic outcomes were analyzed. All clinical and kinematic outcomes improved after training (p kinematic measures were strongly correlated with clinical scores. Correlations between clinical and kinematic changes were moderate (r = -0.65 for change in FM Proximal score and change in accuracy measure). However, smoothness and accuracy indicators were shown to be responsive measures. This study demonstrated that baseline kinematic measures and their pre/post training changes were significantly correlated with clinical motor outcome measures. However, even if kinematic measures are valid for the evaluation of motor impairment we cannot propose to substitute common clinical measures of motor function which also evaluate functional abilities of the upper limb.

Analytical kinematics analysis and synthesis of planar mechanisms

CERN Document Server

Gans, Deborah

2013-01-01

Using computational techniques and a complex variable formulation, this book teaches the student of kinematics to handle increasingly difficult problems in both the analysis and design of mechanisms all based on the fundamental loop closure equation.

Cervical kinematics in patients with vestibular pathology vs. patients with neck pain: A pilot study.

Science.gov (United States)

Williams, Grace; Sarig-Bahat, Hilla; Williams, Katrina; Tyrrell, Ryan; Treleaven, Julia

2017-01-01

Research has consistently shown cervical kinematic impairments in subjects with persistent neck pain (NP). It could be reasoned that those with vestibular pathology (VP) may also have altered kinematics since vestibular stimulation via head movement can cause dizziness and visual disturbances. However, this has not been examined to date. This pilot study investigated changes in cervical kinematics between asymptomatic control, NP and VP subjects using a Virtual Reality (VR) system. It was hypothesised that there would be altered kinematics in VP subjects, which might be associated with dizziness and visual symptoms. Pilot cross sectional observational study. Twenty control, 14 VP and 20 NP subjects. Not applicable. Measures included questionnaires (neck disability index, pain on movement, dizziness and pain intensity, visual disturbances) and cervical kinematics (range, peak and mean velocity, smoothness, symmetry, and accuracy of cervical motion) using a virtual reality system. Results revealed significantly decreased mean velocity and symmetry of motion in both planes in those with NP but no differences in accuracy or range of motion. No significant differences were seen between VP subjects and asymptomatic controls. However, correlation analysis showed some moderate correlations between dizziness to selected kinematics in both the NP and the VP groups. These results support that cervical kinematics are altered in NP patients, with velocity most affected. There is potential for VP subjects to also have altered kinematics, especially those who experience dizziness. More research is required.

Kinematic method for beam energy determination at electrostatic generators

International Nuclear Information System (INIS)

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

1975-06-01

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

An investigation into the kinematics of 2 cervical manipulation techniques.

Science.gov (United States)

Williams, Jonathan M; Cuesta-Vargas, Antonio I

2013-01-01

The purpose of this study was to quantify the kinematics of the premanipulative position, the angular displacement, and velocity of thrust of 2 commonly used cervical spine manipulative procedures using inertial sensor technology. Thirteen asymptomatic subjects (7 females; mean age, 25.3 years; mean height, 170.9 cm; mean weight, 65.3 kg) received a right-handed and left-handed downslope and upslope manipulation, aimed at C4/5 while cervical kinematics were measured using an inertial sensor mounted on the forehead of the subject. One therapist used the upslope, and another therapist, the downslope, as was their preferred method. t tests were used to compare techniques and handiness. The results demonstrated differences in the kinematics between the 2 techniques. The downslope manipulation was associated with a mean premanipulative position of 24.8° side bending and 2.7° rotation, thrust displacement magnitude comprising of 4.5° side bending and 5.4° rotation with thrust velocity comprising, on average, of 57.5°/s side bending and 74.8°/s rotation. Upslope premanipulation was on average comprised of 30.1° side bending and 8.4° rotation, thrust displacement comprised of 4.5° side bending and 12.7° rotation with thrust velocity comprising of 75.9°/s side bending and 194.7°/s rotation. The results of this study demonstrate that there are different kinematic patterns for these 2 manipulative techniques. Copyright © 2013 National University of Health Sciences. Published by Mosby, Inc. All rights reserved.

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

Science.gov (United States)

Childers, W Lee; Kogler, Géza F

2014-01-01

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

Outcome of medial hamstring lengthening in children with spastic paresis: A biomechanical and morphological observational study.

Science.gov (United States)

Haberfehlner, Helga; Jaspers, Richard T; Rutz, Erich; Harlaar, Jaap; van der Sluijs, Johannes A; Witbreuk, Melinda M; van Hutten, Kim; Romkes, Jacqueline; Freslier, Marie; Brunner, Reinald; Becher, Jules G; Maas, Huub; Buizer, Annemieke I

2018-01-01

To improve gait in children with spastic paresis due to cerebral palsy or hereditary spastic paresis, the semitendinosus muscle is frequently lengthened amongst other medial hamstring muscles by orthopaedic surgery. Side effects on gait due to weakening of the hamstring muscles and overcorrections have been reported. How these side effects relate to semitendinosus morphology is unknown. This study assessed the effects of bilateral medial hamstring lengthening as part of single-event multilevel surgery (SEMLS) on (1) knee joint mechanics (2) semitendinosus muscle morphology and (3) gait kinematics. All variables were assessed for the right side only. Six children with spastic paresis selected for surgery to counteract limited knee range of motion were measured before and about a year after surgery. After surgery, in most subjects popliteal angle decreased and knee moment-angle curves were shifted towards a more extended knee joint, semitendinosus muscle belly length was approximately 30% decreased, while at all assessed knee angles tendon length was increased by about 80%. In the majority of children muscle volume of the semitendinosus muscle decreased substantially suggesting a reduction of physiological cross-sectional area. Gait kinematics showed more knee extension during stance (mean change ± standard deviation: 34±13°), but also increased pelvic anterior tilt (mean change ± standard deviation: 23±5°). In most subjects, surgical lengthening of semitendinosus tendon contributed to more extended knee joint angle during static measurements as well as during gait, whereas extensibility of semitendinosus muscle belly was decreased. Post-surgical treatment to maintain muscle belly length and physiological cross-sectional area may improve treatment outcome of medial hamstring lengthening.

The Systemic Velocity and Internal Kinematics of the Dwarf Galaxy LGS 3: An Optical Foray beyond the Milky Way

International Nuclear Information System (INIS)

Cook, K.H.; Mateo, M.; Olszewski, E.W.; Vogt, S.S.; Stubbs, C.; Diercks, A.

1999-01-01

We have obtained radial velocities of three K giants and one faint carbon star in LGS 3, a dwarf companion of M31, based on 12 individual spectra obtained with the HIRES spectrograph on the Keck I telescope. The mean precision of these measurements is 3.8 km s -1 . The mean systemic velocity of LGS 3 is -282.2±3.5 km s -1 . Monte Carlo simulations that take into account the individual velocity uncertainties and the maximum observed velocity difference reveal that the central velocity dispersion of LGS 3 is in the range 2.6 - 30.5 km s -1 , with 95% confidence; the most likely value for the central dispersion is 7.9 +5.3 -2.9 km s -1 . These results agree with the kinematics of H i gas in LGS 3. This contrasts with the tendency for the gas and stars in other low-luminosity Local Group dwarfs to exhibit distinct spatial and kinematic properties. Taking into account the relative youth of LGS 3, we conclude that the 'asymptotic' M/L ratio the value the galaxy would exhibit if it were composed only of ancient stars is M/L V,LGS3 ≥11 (at a 97.5% confidence level), with a most probable value of 95 +175 -56 . These values are consistent with the M/L V ratios observed in other well-studied early-type dwarfs of the Local Group. We have also estimated the mass of LGS 3 using modified Newtonian dynamics. These data represent the first moderately high precision optical spectra of giants in a dwarf system beyond the Galactic halo. We suggest future studies that are now feasible to study the dynamics of dwarf galaxies throughout the Local Group and beyond. copyright copyright 1999. The Astronomical Society of the Pacific

No stabilizing effect of the elbow joint capsule. A kinematic study

DEFF Research Database (Denmark)

Nielsen, K K; Olsen, Bo Sanderhoff

1999-01-01

We dissected 7 cadaveric elbow specimens, leaving the collateral ligaments and the joint capsule intact. The anterior and the posterior capsule were sequentially transected, followed by kinematic testings. We found no change in joint laxity after total transection of the capsule.......We dissected 7 cadaveric elbow specimens, leaving the collateral ligaments and the joint capsule intact. The anterior and the posterior capsule were sequentially transected, followed by kinematic testings. We found no change in joint laxity after total transection of the capsule....

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

OpenAIRE

Lansley, Alastair; Vamplew, Peter; Smith, Philip; Foale, Cameron

2016-01-01

The Caliko library is an implementation of the FABRIK (Forward And Backward Reaching Inverse Kinematics) algorithm written in Java. The inverse kinematics (IK) algorithm is implemented in both 2D and 3D, and incorporates a variety of joint constraints as well as the ability to connect multiple IK chains together in a hierarchy. The library allows for the simple creation and solving of multiple IK chains as well as visualisation of these solutions. It is licensed under the MIT software license...