The Southern Proper Motion Program. IV. The SPM4 Catalog

Science.gov (United States)

Girard, Terrence M.; van Altena, William F.; Zacharias, Norbert; Vieira, Katherine; Casetti-Dinescu, Dana I.; Castillo, Danilo; Herrera, David; Lee, Young Sun; Beers, Timothy C.; Monet, David G.; López, Carlos E.

2011-07-01

We present the fourth installment of the Yale/San Juan Southern Proper Motion Catalog, SPM4. The SPM4 contains absolute proper motions, celestial coordinates, and B, V photometry for over 103 million stars and galaxies between the south celestial pole and -20° declination. The catalog is roughly complete to V = 17.5 and is based on photographic and CCD observations taken with the Yale Southern Observatory's double astrograph at Cesco Observatory in El Leoncito, Argentina. The proper-motion precision, for well-measured stars, is estimated to be 2-3 mas yr-1, depending on the type of second-epoch material. At the bright end, proper motions are on the International Celestial Reference System by way of Hipparcos Catalog stars, while the faint end is anchored to the inertial system using external galaxies. Systematic uncertainties in the absolute proper motions are on the order of 1 mas yr-1.

What can Gaia proper motions tell us about Milky Way dwarf galaxies?

NARCIS (Netherlands)

Jin, S.; Helmi, A.; Breddels, M.

We present a proper-motion study on models of the dwarf spheroidal galaxy Sculptor, based on the predicted proper-motion accuracy of Gaia measurements. Gaia will measure proper motions of several hundreds of stars for a Sculptor-like system. Even with an uncertainty on the proper motion of order 1.5

Secular Extragalactic Parallax and Geometric Distances with Gaia Proper Motions

Science.gov (United States)

Paine, Jennie; Darling, Jeremiah K.

2018-06-01

The motion of the Solar System with respect to the cosmic microwave background (CMB) rest frame creates a well measured dipole in the CMB, which corresponds to a linear solar velocity of about 78 AU/yr. This motion causes relatively nearby extragalactic objects to appear to move compared to more distant objects, an effect that can be measured in the proper motions of nearby galaxies. An object at 1 Mpc and perpendicular to the CMB apex will exhibit a secular parallax, observed as a proper motion, of 78 µas/yr. The relatively large peculiar motions of galaxies make the detection of secular parallax challenging for individual objects. Instead, a statistical parallax measurement can be made for a sample of objects with proper motions, where the global parallax signal is modeled as an E-mode dipole that diminishes linearly with distance. We present preliminary results of applying this model to a sample of nearby galaxies with Gaia proper motions to detect the statistical secular parallax signal. The statistical measurement can be used to calibrate the canonical cosmological “distance ladder.”

Kinematic Differences between Set- and Jump-Shot Motions in Basketball

Directory of Open Access Journals (Sweden)

Hiroki Okubo

2018-02-01

Full Text Available Shooting arm motions at release in one-hand set and jump basketball shots have been analyzed using a kinematic model. Set and jump shots are classified by the vertical velocity and acceleration of the shooter’s shooting-side shoulder at release. The two-dimensional three-segment model includes the vertical shooting-side shoulder velocity and acceleration. Numerical simulation investigates the effect of shoulder motion. Release backspin angular velocity can be described as a function of the vertical shoulder acceleration and the vertical fingertip acceleration relative to the shoulder. For proper backspin, jump shots require large vertical fingertip acceleration relative to the shoulder. The upward shoulder speed at release contributes to the vertical fingertip velocity relative to the shoulder for a given desired ball release speed, angle and backspin. On the other hand, upward shoulder motion does not contribute to the horizontal direction. As horizontal shot distance increases, upper arm angular speed also increases to produce the ball release conditions. Ball release with upward shoulder speed reduces the magnitudes of the upper arm, forearm and hand angular velocities. All these facts imply that the shooting arm motion in the jump shot is different from that of the set shot.

Globular Clusters: Absolute Proper Motions and Galactic Orbits

Science.gov (United States)

Chemel, A. A.; Glushkova, E. V.; Dambis, A. K.; Rastorguev, A. S.; Yalyalieva, L. N.; Klinichev, A. D.

2018-04-01

We cross-match objects from several different astronomical catalogs to determine the absolute proper motions of stars within the 30-arcmin radius fields of 115 Milky-Way globular clusters with the accuracy of 1-2 mas yr-1. The proper motions are based on positional data recovered from the USNO-B1, 2MASS, URAT1, ALLWISE, UCAC5, and Gaia DR1 surveys with up to ten positions spanning an epoch difference of up to about 65 years, and reduced to Gaia DR1 TGAS frame using UCAC5 as the reference catalog. Cluster members are photometrically identified by selecting horizontal- and red-giant branch stars on color-magnitude diagrams, and the mean absolute proper motions of the clusters with a typical formal error of about 0.4 mas yr-1 are computed by averaging the proper motions of selected members. The inferred absolute proper motions of clusters are combined with available radial-velocity data and heliocentric distance estimates to compute the cluster orbits in terms of the Galactic potential models based on Miyamoto and Nagai disk, Hernquist spheroid, and modified isothermal dark-matter halo (axisymmetric model without a bar) and the same model + rotating Ferre's bar (non-axisymmetric). Five distant clusters have higher-than-escape velocities, most likely due to large errors of computed transversal velocities, whereas the computed orbits of all other clusters remain bound to the Galaxy. Unlike previously published results, we find the bar to affect substantially the orbits of most of the clusters, even those at large Galactocentric distances, bringing appreciable chaotization, especially in the portions of the orbits close to the Galactic center, and stretching out the orbits of some of the thick-disk clusters.

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...

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.

The VMC survey. XXVIII. Improved measurements of the proper motion of the Galactic globular cluster 47 Tucanae

Science.gov (United States)

Niederhofer, Florian; Cioni, Maria-Rosa L.; Rubele, Stefano; Schmidt, Thomas; Bekki, Kenji; de Grijs, Richard; Emerson, Jim; Ivanov, Valentin D.; Oliveira, Joana M.; Petr-Gotzens, Monika G.; Ripepi, Vincenzo; Sun, Ning-Chen; van Loon, Jacco Th.

2018-05-01

We use deep multi-epoch point-spread function (PSF) photometry taken with the Visible and Infrared Survey Telescope for Astronomy (VISTA) to measure and analyze the proper motions of stars within the Galactic globular cluster 47 Tucanae (47 Tuc, NGC 104). The observations are part of the ongoing near-infrared VISTA survey of the Magellanic Cloud system (VMC). The data analyzed in this study correspond to one VMC tile, which covers a total sky area of 1.77 deg2. Absolute proper motions with respect to 9070 background galaxies are calculated from a linear regression model applied to the positions of stars in 11 epochs in the Ks filter. The data extend over a total time baseline of about 17 months. We found an overall median proper motion of the stars within 47 Tuc of (μαcos(δ), μδ) = (+5.89 ± 0.02 (statistical) ± 0.13 (systematic), -2.14 ± 0.02 (statistical) ± 0.08 (systematic)) mas yr-1, based on the measurements of 35 000 individual sources between 5' and 42' from the cluster center. We compared our result to the proper motions from the newest US Naval Observatory CCD Astrograph Catalog (UCAC5), which includes data from the Gaia data release 1. Selecting cluster members ( 2700 stars), we found a median proper motion of (μαcos(δ), μδ) = (+5.30 ± 0.03 (statistical) ± 0.70 (systematic), -2.70 ± 0.03 (statistical) ± 0.70 (systematic)) mas yr-1. Comparing the results with measurements in the literature, we found that the values derived from the VMC data are consistent with the UCAC5 result, and are close to measurements obtained using the Hubble Space Telescope. We combined our proper motion results with radial velocity measurements from the literature and reconstructed the orbit of 47 Tuc, finding that the cluster is on an orbit with a low ellipticity and is confined within the inner 7.5 kpc of the Galaxy. We show that the use of an increased time baseline in combination with PSF-determined stellar centroids in crowded regions significantly improves

THE PROPER MOTION OF PALOMAR 5

Energy Technology Data Exchange (ETDEWEB)

Fritz, T. K.; Kallivayalil, N., E-mail: tkf4w@astro.virginia.edu [Department of Astronomy, University of Virginia, Charlottesville, 3530 McCormick Road, VA 22904-4325 (United States)

2015-10-01

Palomar 5 (Pal 5) is a faint halo globular cluster associated with narrow tidal tails. It is a useful system to understand the process of tidal dissolution, as well as to constrain the potential of the Milky Way. A well-determined orbit for Pal 5 would enable detailed study of these open questions. We present here the first CCD-based proper motion measurement of Pal 5 obtained using SDSS as a first epoch and new Large Binocular Telescope/Large Binocular Camera (LBC) images as a second, giving a baseline of 15 years. We perform relative astrometry, using SDSS as a distortion-free reference, and images of the cluster and also of the Pal 5 stream for the derivation of the distortion correction for LBC. The reference frame is made up of background galaxies. We correct for differential chromatic refraction using relations obtained from SDSS colors as well as from flux-calibrated spectra, finding that the correction relations for stars and for galaxies are different. We obtain μ{sub α} = −2.296 ± 0.186 mas yr{sup −1} and μ{sub δ} = −2.257 ± 0.181 mas yr{sup −1} for the proper motion of Pal 5. We use this motion, and the publicly available code galpy, to model the disruption of Pal 5 in different Milky Way models consisting of a bulge, a disk, and a spherical dark matter halo. Our fits to the observed stream properties (streak and radial velocity gradient) result in a preference for a relatively large Pal 5 distance of around 24 kpc. A slightly larger absolute proper motion than what we measure also results in better matches but the best solutions need a change in distance. We find that a spherical Milky Way model, with V{sub 0} = 220 km s{sup −1} and V{sub 20} {sub kpc}, i.e., approximately at the apocenter of Pal 5, of 218 km s{sup −1}, can match the data well, at least for our choice of disk and bulge parametrization.

Proper motion survey for solar nearby stars

International Nuclear Information System (INIS)

Goldman, Bertrand

2001-01-01

For its microlensing observations EROS 2 built one of the largest CCD mosaic opera ting since 1996. This instrument allowed us to survey a large area of the sky, to look for faint, cool compact objects in the Solar neighborhood that may contribute to the Dark Matter revealed by flat rotation curves of spiral galaxies and the Milky Way. We imaged over 400 square degrees, at least three times over four years, with a single, stable instrument. The aim of this work is the reduction, the analysis and the detection of high proper motion objects that would look like those expected in a dark halo. We selected and analyzed thousands of images taken in two bands, visible and near-infrared, and obtained a catalogue of several thousand stars with proper motion typically higher than 80 milli-arc-seconds per year. None of these candidates displays the expected properties of the halo objects: very high proper motion and faintness. The second part of our work was to put constraints on the contributions of white dwarfs and brown dwarfs ta the halo. To do that, we simulated our data set and estimated our sensitivity to halo objects. We compared our results about moderately high proper motion stars with existing Galactic models, and confirmed the robustness of these models. We deduced a upper limit ta the contribution of M_v = 17.5 white dwarfs to the standard halo of 10% (at the 95% confidence level), or 5% of a 14 Gyr old halo, and to the contribution of brown dwarfs of 7% (95% C.L.). Finally, among our candidates, several interesting objects, that do not belong to the halo but are among the coolest and faintest known, have been discovered. Systematic search for faint, nearby objects thus lead us to study disk L dwarfs, as well as old white dwarfs of the disk. (author) [fr

A SEARCH FOR HIGH PROPER MOTION T DWARFS WITH Pan-STARRS1 + 2MASS + WISE

International Nuclear Information System (INIS)

Liu, Michael C.; Deacon, Niall R.; Magnier, Eugene A.; Aller, Kimberly M.; Bowler, Brendan P.; Burgett, W. S.; Chambers, K. C.; Hodapp, K. W.; Kaiser, N.; Kudritzki, R.-P.; Morgan, J. S.; Tonry, J. L.; Wainscoat, R. J.; Dupuy, Trent J.; Redstone, Joshua; Goldman, Bertrand; Price, P. A.

2011-01-01

We have searched ∼8200 deg 2 for high proper motion (∼0.''5-2.''7 year -1 ) T dwarfs by combining first-epoch data from the Pan-STARRS1 (PS1) 3π Survey, the Two Micron All Sky Survey (2MASS) All-Sky Point Source Catalog, and the WISE Preliminary Data Release. We identified two high proper motion objects with the very red (W1 - W2) colors characteristic of T dwarfs, one being the known T7.5 dwarf GJ 570D. Near-IR spectroscopy of the other object (PSO J043.5395+02.3995 ≡ WISEP J025409.45+022359.1) reveals a spectral type of T8, leading to a photometric distance of 7.2 ± 0.7 pc. The 2.''56 year -1 proper motion of PSO J043.5+02 is the second highest among field T dwarfs, corresponding to a tangential velocity of 87 ± 8 km s -1 . According to the Besancon galaxy model, this velocity indicates that its galactic membership is probably in the thin disk, with the thick disk an unlikely possibility. Such membership is in accord with the near-IR spectrum, which points to a surface gravity (age) and metallicity typical of the field population. We combine 2MASS, Sloan Digital Sky Survey, WISE, and PS1 astrometry to derive a preliminary parallax of 171 ± 45 mas (5.8 +2.0 -1.2 pc), the first such measurement using PS1 data. The proximity and brightness of PSO J043.5+02 will facilitate future characterization of its atmosphere, variability, multiplicity, distance, and kinematics. The modest number of candidates from our search suggests that the immediate (∼10 pc) solar neighborhood does not contain a large reservoir of undiscovered T dwarfs earlier than about T8.

Adding Image Constraints to Inverse Kinematics for Human Motion Capture

Science.gov (United States)

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

2009-12-01

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

Proper Motion and Secular Variations of Keplerian Orbital Elements

Directory of Open Access Journals (Sweden)

Alexey G. Butkevich

2018-05-01

Full Text Available High-precision observations require accurate modeling of secular changes in the orbital elements in order to extrapolate measurements over long time intervals, and to detect deviation from pure Keplerian motion caused, for example, by other bodies or relativistic effects. We consider the evolution of the Keplerian elements resulting from the gradual change of the apparent orbit orientation due to proper motion. We present rigorous formulae for the transformation of the orbit inclination, longitude of the ascending node and argument of the pericenter from one epoch to another, assuming uniform stellar motion and taking radial velocity into account. An approximate treatment, accurate to the second-order terms in time, is also given. The proper motion effects may be significant for long-period transiting planets. These theoretical results are applicable to the modeling of planetary transits and precise Doppler measurements as well as analysis of pulsar and eclipsing binary timing observations.

Atypical biological motion kinematics are represented by complementary lower-level and top-down processes during imitation learning.

Science.gov (United States)

Hayes, Spencer J; Dutoy, Chris A; Elliott, Digby; Gowen, Emma; Bennett, Simon J

2016-01-01

Learning a novel movement requires a new set of kinematics to be represented by the sensorimotor system. This is often accomplished through imitation learning where lower-level sensorimotor processes are suggested to represent the biological motion kinematics associated with an observed movement. Top-down factors have the potential to influence this process based on the social context, attention and salience, and the goal of the movement. In order to further examine the potential interaction between lower-level and top-down processes in imitation learning, the aim of this study was to systematically control the mediating effects during an imitation of biological motion protocol. In this protocol, we used non-human agent models that displayed different novel atypical biological motion kinematics, as well as a control model that displayed constant velocity. Importantly the three models had the same movement amplitude and movement time. Also, the motion kinematics were displayed in the presence, or absence, of end-state-targets. Kinematic analyses showed atypical biological motion kinematics were imitated, and that this performance was different from the constant velocity control condition. Although the imitation of atypical biological motion kinematics was not modulated by the end-state-targets, movement time was more accurate in the absence, compared to the presence, of an end-state-target. The fact that end-state targets modulated movement time accuracy, but not biological motion kinematics, indicates imitation learning involves top-down attentional, and lower-level sensorimotor systems, which operate as complementary processes mediated by the environmental context. Copyright © 2015 Elsevier B.V. All rights reserved.

A hybrid press system: Motion design and inverse kinematics issues

Directory of Open Access Journals (Sweden)

M. Erkan Kütük

2016-06-01

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

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.

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.

Statistical HR diagrams for one hundred and fifteen thousand proper-motion stars

International Nuclear Information System (INIS)

Luyten, W.J.

1978-01-01

Since regular HR diagrams require apparent magnitudes, colors or spectra, and parallaxes, and such complete data are available for relatively few stars, there may be some advantage in making up diagrams which utilize proper motions instead of parallaxes, and are thus statistically similar to an HR diagram. The reduced proper motion, first used by Hertzsprung, is defined as H=m+5+5log μ, but may also be written as H=M+5log T, where T is the tangential velocity, and is expressed in astronomical units per year. A diagram plotting H against color will thus contain the considerable dispersion in tangential velocity which is a serious disadvantage. However, this is outweighed by two practical advantages. First, the one and the same person who does the proper motion survey can, and does also determine the other two quantities needed. Second, when using data obtained from such a proper motion survey one deals, statistically, with all the stars within a given distance and the results, therefore, are much more representative of the real situation in space than many HR diagrams which often contain an unrealistic preponderance of giants. (Auth.)

Positions and proper motions of dwarf carbon stars

Science.gov (United States)

Deutsch, Eric W.

1994-01-01

Recent-epochs positions and proper motions of nine dwarf carbon star candidates are presented along with finding charts for each object. Measurements are obtained from digitized Palomar Observatory Sky Survey (POSS) and Quik V plate archives at the Space Telescope Science Institute, and from recent CCD images.

UCAC3 PROPER MOTION SURVEY. II. DISCOVERY OF NEW PROPER MOTION STARS IN UCAC3 WITH 0.''40 yr–1 > μ ≥ 0.''18 yr–1 BETWEEN DECLINATIONS –47° and 00°

International Nuclear Information System (INIS)

Finch, Charlie T.; Zacharias, Norbert; Boyd, Mark R.; Henry, Todd J.; Hambly, Nigel C.

2012-01-01

We present 474 new proper motion stellar systems in the southern sky having no previously known components, with 0.''40 yr –1 >μ ≥ 0.''18 yr –1 between declinations –47° and 0°. In this second paper utilizing the U.S. Naval Observatory third CCD Astrograph Catalog (UCAC3) we complete our sweep of the southern sky for objects in the proper motion range targeted by this survey with R magnitudes ranging from 9.80 to 19.61. The new systems contribute a ∼16% increase in the number of new stellar systems for the same region of sky reported in previous SuperCOSMOS Research Consortium On Nearby Stars (RECONS) surveys. Among the newly discovered stellar systems are 16 multiples, plus an additional ten components that are new common proper motion companions to previously known objects. A comparison of UCAC3 proper motions to those from Hipparcos, Tycho-2, Southern Proper Motion, and SuperCOSMOS indicates that all proper motions are consistent to ∼10 mas yr –1 , with the exception of SuperCOSMOS. Distance estimates are derived for all stellar systems having SuperCOSMOS Sky Survey B J , R 59F , and I IVN plate magnitudes and Two Micron All Sky Survey (2MASS) infrared photometry. We find five new red dwarf systems estimated to be within 25 pc. These discoveries support results from previous proper motion surveys suggesting that more nearby stellar systems are to be found, particularly in the fainter, slower moving samples. In this second paper utilizing the UCAC3 we complete our sweep of the southern sky for objects in the proper motion range targeted by this survey with R magnitudes ranging from 9.80 to 19.61.

N-body modeling of globular clusters: detecting intermediate-mass black holes by non-equipartition in HST proper motions

Science.gov (United States)

Trenti, Michele

2010-09-01

Intermediate Mass Black Holes {IMBHs} are objects of considerable astrophysical significance. They have been invoked as possible remnants of Population III stars, precursors of supermassive black holes, sources of ultra-luminous X-ray emission, and emitters of gravitational waves. The centers of globular clusters, where they may have formed through runaway collapse of massive stars, may be our best chance of detecting them. HST studies of velocity dispersions have provided tentative evidence, but the measurements are difficult and the results have been disputed. It is thus important to explore and develop additional indicators of the presence of an IMBH in these systems. In a Cycle 16 theory project we focused on the fingerprints of an IMBH derived from HST photometry. We showed that an IMBH leads to a detectable quenching of mass segregation. Analysis of HST-ACS data for NGC 2298 validated the method, and ruled out an IMBH of more than 300 solar masses. We propose here to extend the search for IMBH signatures from photometry to kinematics. The velocity dispersion of stars in collisionally relaxed stellar systems such as globular clusters scales with main sequence mass as sigma m^alpha. A value alpha = -0.5 corresponds to equipartition. Mass-dependent kinematics can now be measured from HST proper motion studies {e.g., alpha = -0.21 for Omega Cen}. Preliminary analysis shows that the value of alpha can be used as indicator of the presence of an IMBH. In fact, the quenching of mass segregation is a result of the degree of equipartition that the system attains. However, detailed numerical simulations are required to quantify this. Therefore we propose {a} to carry out a new, larger set of realistic N-body simulations of star clusters with IMBHs, primordial binaries and stellar evolution to predict in detail the expected kinematic signatures and {b} to compare these predictions to datasets that are {becoming} available. Considerable HST resources have been invested in

Kinematic geometry of a line trajectory in spatial motion

Energy Technology Data Exchange (ETDEWEB)

Al-Ghefari, Reem A. [King Abdulaziz University, Jeddah (Saudi Arabia); Abdel-Baky, Rashad A. [University of Assiut, Assiu (Egypt)

2015-09-15

This paper derives the equations of line-trajectory in spatial motion by means of the E. Study dual-line coordinates. A special emphasis goes to the second-order motion properties for deriving a new proof of the Disteli formulae. As an application concise explicit expressions of the inflection line congruence are directly obtained. Also, a new metric is developed and used to investigate the geometrical properties and kinematics of line trajectory as well as Disteli axis. Finally, a theoretical expressions of point trajectories with special values of velocity and acceleration, which can be considered as a form Euler-Savary equation, for spherical and planar motions are discussed.

MOTION VERIFIED RED STARS (MoVeRS): A CATALOG OF PROPER MOTION SELECTED LOW-MASS STARS FROM WISE, SDSS, AND 2MASS

Energy Technology Data Exchange (ETDEWEB)

Theissen, Christopher A.; West, Andrew A. [Department of Astronomy, Boston University, 725 Commonwealth Avenue, Boston, MA 02215 (United States); Dhital, Saurav, E-mail: ctheisse@bu.edu [Department of Physical Sciences, Embry-Riddle Aeronautical University, 600 South Clyde Morris Blvd., Daytona Beach, FL 32114 (United States)

2016-02-15

We present a photometric catalog of 8,735,004 proper motion selected low-mass stars (KML-spectral types) within the Sloan Digital Sky Survey (SDSS) footprint, from the combined SDSS Data Release 10 (DR10), Two Micron All-Sky Survey (2MASS) point-source catalog (PSC), and Wide-field Infrared Survey Explorer (WISE) AllWISE catalog. Stars were selected using r − i, i − z, r − z, z − J, and z − W1 colors, and SDSS, WISE, and 2MASS astrometry was combined to compute proper motions. The resulting 3,518,150 stars were augmented with proper motions for 5,216,854 earlier type stars from the combined SDSS and United States Naval Observatory B1.0 catalog (USNO-B). We used SDSS+USNO-B proper motions to determine the best criteria for selecting a clean sample of stars. Only stars whose proper motions were greater than their 2σ uncertainty were included. Our Motion Verified Red Stars catalog is available through SDSS CasJobs and VizieR.

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.

Radial velocities for the HIPPARCOS-Gaia Hundred-Thousand-Proper-Motion project

Science.gov (United States)

de Bruijne, J. H. J.; Eilers, A.-C.

2012-10-01

Context. The Hundred-Thousand-Proper-Motion (HTPM) project will determine the proper motions of ~113 500 stars using a ~23-year baseline. The proper motions will be based on space-based measurements exclusively, with the Hipparcos data, with epoch 1991.25, as first epoch and with the first intermediate-release Gaia astrometry, with epoch ~2014.5, as second epoch. The expected HTPM proper-motion standard errors are 30-190 μas yr-1, depending on stellar magnitude. Aims: Depending on the astrometric characteristics of an object, in particular its distance and velocity, its radial velocity can have a significant impact on the determination of its proper motion. The impact of this perspective acceleration is largest for fast-moving, nearby stars. Our goal is to determine, for each star in the Hipparcos catalogue, the radial-velocity standard error that is required to guarantee a negligible contribution of perspective acceleration to the HTPM proper-motion precision. Methods: We employ two evaluation criteria, both based on Monte-Carlo simulations, with which we determine which stars need to be spectroscopically (re-)measured. Both criteria take the Hipparcos measurement errors into account. The first criterion, the Gaussian criterion, is applicable to nearby stars. For distant stars, this criterion works but returns overly pessimistic results. We therefore use a second criterion, the robust criterion, which is equivalent to the Gaussian criterion for nearby stars but avoids biases for distant stars and/or objects without literature radial velocity. The robust criterion is hence our prefered choice for all stars, regardless of distance. Results: For each star in the Hipparcos catalogue, we determine the confidence level with which the available radial velocity and its standard error, taken from the XHIP compilation catalogue, are acceptable. We find that for 97 stars, the radial velocities available in the literature are insufficiently precise for a 68.27% confidence

Path-Constrained Motion Planning for Robotics Based on Kinematic Constraints

NARCIS (Netherlands)

Dijk, van N.J.M.; Wouw, van de N.; Pancras, W.C.M.; Nijmeijer, H.

2007-01-01

Common robotic tracking tasks consist of motions along predefined paths. The design of time-optimal path-constrained trajectories for robotic applications is discussed in this paper. To increase industrial applicability, the proposed method accounts for robot kinematics together with actuator

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

Science.gov (United States)

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

2018-01-01

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

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

Science.gov (United States)

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

2018-01-01

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

Corrections to the Hipparcos proper motions in declination for 807 stars

Directory of Open Access Journals (Sweden)

Damljanović G.

2008-01-01

Full Text Available We used the data on latitude variations obtained from observations with 10 classical photographic zenith tubes (PZT in order to improve the Hipparcos proper motions in declinations µδ for 807 stars. Part of observing programmes, carried out during the last century for the purpose of studying the Earth's rotation, were realized by using PZT instruments. These observations were performed within in the intervals (tens of years much longer than that of the Hipparcos mission (less than 4 years. In addition, the annual number of observations for every PZT programme star is several hundreds on the average. Though the accuracy of the star coordinates in the Hipparcos Catalogue is by two orders of magnitude better than that of the star coordinates from the PZT observations, the large number of observations performed a much longer time interval makes it possible to correct the Hipparcos proper motions and to improve their accuracy with respect to the accuracy given in the Hipparcos Catalogue. Long term examinations of latitude and time variations were used to form the Earth Orientation Catalogue (EOC-2, aimed at a more accurate determination of positions and proper motions for the stars included. Our method of calculating the corrections of the proper motions in declination from the latitude variations is different from the method used in obtaining the EOC-2 Catalogue. Comparing the results we have established a good agreement between our µδ and the EOC-2 ones for the star sample used in the present paper.

Corrections to the Hipparcos Proper Motions in Declination for 807 Stars

Directory of Open Access Journals (Sweden)

Damljanović, G.

2008-12-01

Full Text Available We used the data on latitude variations obtained from observations with 10 classical photographic zenith tubes (PZT in order to improve the Hipparcos proper motions in declinations $mu_{delta} $ for 807 stars. Part of observing programmes, carried out during the last century for the purpose of studying the Earth's rotation, were realized by using PZT instruments. These observations were performed within in the intervals (tens of years much longer than that of the Hipparcos mission (less than 4 years. In addition, the annual number of observations for every PZT-programme star is several hundreds on the average. Though the accuracy of the star coordinates in the Hipparcos Catalogue is by two orders of magnitude better than that of the star coordinates from the PZT observations, the large number of observations performed a much longer time interval makes it possible to correct the Hipparcos proper motions and to improve their accuracy with respect to the accuracy given in the Hipparcos Catalogue. Long term examinations of latitude and time variations were used to form the Earth Orientation Catalogue (EOC-2, aimed at a more accurate determination of positions and proper motions for the stars included. Our method of calculating the corrections of the proper motions in declination from the latitude variations is different from the method used in obtaining the EOC-2 Catalogue. Comparing the results we have established a good agreement between our $mu_ {delta} $ and the EOC-2 ones for the star sample used in the present paper.

MEASURING THE UNDETECTABLE: PROPER MOTIONS AND PARALLAXES OF VERY FAINT SOURCES

International Nuclear Information System (INIS)

Lang, Dustin; Hogg, David W.; Jester, Sebastian; Rix, Hans-Walter

2009-01-01

The near future of astrophysics involves many large solid-angle, multi-epoch, multiband imaging surveys. These surveys will, at their faint limits, have data on a large number of sources that are too faint to be detected at any individual epoch. Here, we show that it is possible to measure in multi-epoch data not only the fluxes and positions, but also the parallaxes and proper motions of sources that are too faint to be detected at any individual epoch. The method involves fitting a model of a moving point source simultaneously to all imaging, taking account of the noise and point-spread function (PSF) in each image. By this method it is possible to measure the proper motion of a point source with an uncertainty close to the minimum possible uncertainty given the information in the data, which is limited by the PSF, the distribution of observation times (epochs), and the total signal-to-noise in the combined data. We demonstrate our technique on multi-epoch Sloan Digital Sky Survey (SDSS) imaging of the SDSS Southern Stripe (SDSSSS). We show that with our new technique we can use proper motions to distinguish very red brown dwarfs from very high-redshift quasars in these SDSS data, for objects that are inaccessible to traditional techniques, and with better fidelity than by multiband imaging alone. We rediscover all 10 known brown dwarfs in our sample and present nine new candidate brown dwarfs, identified on the basis of significant proper motion.

PROPER MOTIONS OF YOUNG STELLAR OUTFLOWS IN THE MID-INFRARED WITH SPITZER (IRAC). I. THE NGC 1333 REGION

International Nuclear Information System (INIS)

Raga, A. C.; Noriega-Crespo, A.; Carey, S. J.; Arce, H. G.

2013-01-01

We use two 4.5 μm Spitzer (IRAC) maps of the NGC 1333 region taken over a ∼7 yr interval to determine proper motions of its associated outflows. This is a first successful attempt at obtaining proper motions of stellars' outflow from Spitzer observations. For the outflow formed by the Herbig-Haro objects HH7, 8, and 10, we find proper motions of ∼9-13 km s –1 , which are consistent with previously determined optical proper motions of these objects. We determine proper motions for a total of eight outflows, ranging from ∼10 to 100 km s –1 . The derived proper motions show that out of these eight outflows, three have tangential velocities ≤20 km s –1 . This result shows that a large fraction of the observed outflows have low intrinsic velocities and that the low proper motions are not merely a projection effect.

Kinematic analysis of dynamic shoulder motion in patients with reverse total shoulder arthroplasty.

Science.gov (United States)

Kwon, Young W; Pinto, Vivek J; Yoon, Jangwhon; Frankle, Mark A; Dunning, Page E; Sheikhzadeh, Ali

2012-09-01

Reverse total shoulder arthroplasty (rTSA) has been used to treat patients with irreparable rotator cuff dysfunction. Despite the proven clinical efficacy, there is minimal information regarding the underlying changes to the shoulder kinematics associated with this construct. Therefore, we sought to examine the kinematics of dynamic shoulder motion in patients with well-functioning rTSA. We tested 12 healthy subjects and 17 patients with rTSA. All rTSA patients were able to elevate their arms to at least 90° and received the implant as the primary arthroplasty at least 6 months before testing. On average, the rTSA patients elevated their arms to 112° ± 12° (mean ± SD) and reported an American Shoulder and Elbow Surgeons outcome score of 90.6 ± 6.3. A 3-dimensional electromagnetic motion capture device was used to detect the dynamic motion of the trunk, scapula, and humerus during bilateral active shoulder elevation along the sagittal, scapular, and coronal planes. In both healthy and rTSA shoulders, the majority of the humeral-thoracic motion was provided by the glenohumeral motion. Therefore, the ratio of glenohumeral to scapulothoracic (ST) motion was always greater than 1.62 during elevation along the scapular plane. In comparison to healthy subjects, however, the contribution of ST motion to overall shoulder motion was significantly increased in the rTSA shoulders. This increased contribution was noted in all planes of shoulder elevation and was maintained when weights were attached to the arm. Kinematics of the rTSA shoulders are significantly altered, and more ST motion is used to achieve shoulder elevation. Copyright © 2012 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Mosby, Inc. All rights reserved.

Possible Relativistic Definitions of Parallax, Proper Motion and Radial Velocity

National Research Council Canada - National Science Library

Klioner, S

2000-01-01

.... In this paper, the authors briefly describe a relativistic model of space-based optical positional observations valid at a high level of accuracy, and suggest definitions of parallax, proper motion...

Kinematic Differences between Set- and Jump-Shot Motions in Basketball

OpenAIRE

Hiroki Okubo; Mont Hubbard

2018-01-01

Shooting arm motions at release in one-hand set and jump basketball shots have been analyzed using a kinematic model. Set and jump shots are classified by the vertical velocity and acceleration of the shooter’s shooting-side shoulder at release. The two-dimensional three-segment model includes the vertical shooting-side shoulder velocity and acceleration. Numerical simulation investigates the effect of shoulder motion. Release backspin angular velocity can be described as a function of the ve...

Development of Kinematic Graphs of Median Nerve during Active Finger Motion: Implications of Smartphone Use.

Directory of Open Access Journals (Sweden)

Hoi-Chi Woo

Full Text Available Certain hand activities cause deformation and displacement of the median nerve at the carpal tunnel due to the gliding motion of tendons surrounding it. As smartphone usage escalates, this raises the public's concern whether hand activities while using smartphones can lead to median nerve problems.The aims of this study were to 1 develop kinematic graphs and 2 investigate the associated deformation and rotational information of median nerve in the carpal tunnel during hand activities.Dominant wrists of 30 young adults were examined with ultrasonography by placing a transducer transversely on their wrist crease. Ultrasound video clips were recorded when the subject performing 1 thumb opposition with the wrist in neutral position, 2 thumb opposition with the wrist in ulnar deviation and 3 pinch grip with the wrist in neutral position. Six still images that were separated by 0.2-second intervals were then captured from the ultrasound video for the determination of 1 cross-sectional area (CSA, 2 flattening ratio (FR, 3 rotational displacement (RD and 4 translational displacement (TD of median nerve in the carpal tunnel, and these collected information of deformation, rotational and displacement of median nerve were compared between 1 two successive time points during a single hand activity and 2 different hand motions at the same time point. Finally, kinematic graphs were constructed to demonstrate the mobility of median nerve during different hand activities.Performing different hand activities during this study led to a gradual reduction in CSA of the median nerve, with thumb opposition together with the wrist in ulnar deviation causing the greatest extent of deformation of the median nerve. Thumb opposition with the wrist in ulnar deviation also led to the largest extent of TD when compared to the other two hand activities of this study. Kinematic graphs showed that the motion pathways of median nerve during different hand activities were complex

Kinematic Earthquake Ground‐Motion Simulations on Listric Normal Faults

KAUST Repository

Passone, Luca

2017-11-28

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

Kinematic Earthquake Ground‐Motion Simulations on Listric Normal Faults

KAUST Repository

Passone, Luca; Mai, Paul Martin

2017-01-01

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

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

Science.gov (United States)

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

2013-12-01

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

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.

UCAC3 Proper Motion Survey. I. Discovery of New Proper Motion Stars in UCAC3 With 0.40/yr mu 0.18/yr Between Declinations -90 deg and -47 deg

Science.gov (United States)

2010-09-01

overlooked during previous SCR and other searches. The Two-Micron All Sky Survey ( 2MASS ) was used to probe for and reduce systematic errors in UCAC CCD...of 50–200 mas, when compared to 2MASS data. For a detailed description of the derived UCAC3 proper motions see Zacharias et al. (2010). An effort was...meeting the declination and proper motion survey limits, all stars (1) must be in the 2MASS catalog with an e2mpho ( 2MASS photometry error) less than

Photometry and Proper Motions of M, L, and T Dwarfs from the Pan-STARRS1 3π Survey

Science.gov (United States)

Best, William M. J.; Magnier, Eugene A.; Liu, Michael C.; Aller, Kimberly M.; Zhang, Zhoujian; Burgett, W. S.; Chambers, K. C.; Draper, P.; Flewelling, H.; Kaiser, N.; Kudritzki, R.-P.; Metcalfe, N.; Tonry, J. L.; Wainscoat, R. J.; Waters, C.

2018-01-01

We present a catalog of 9888 M, L and T dwarfs detected in the Pan-STARRS1 3π Survey (PS1), covering three-quarters of the sky. Our catalog contains nearly all known objects of spectral types L0–T2 in the PS1 field, with objects as early as M0 and as late as T9, and includes PS1, 2MASS, AllWISE, and Gaia DR1 photometry. We analyze the different types of photometry reported by PS1 and use two types in our catalog in order to maximize both depth and accuracy. Using parallaxes from the literature, we construct empirical SEDs for field ultracool dwarfs spanning 0.5–12 μm. We determine typical colors of M0–T9 dwarfs and highlight the distinctive colors of subdwarfs and young objects. We combine astrometry from PS1, 2MASS, and Gaia DR1 to calculate new proper motions for our catalog. We achieve a median precision of 2.9 mas yr‑1, a factor of ≈3‑10 improvement over previous large catalogs. Our catalog contains proper motions for 2405 M6–T9 dwarfs and includes the largest set of homogeneous proper motions for L and T dwarfs published to date, 406 objects for which there were no previous measurements, and 1176 objects for which we improve upon previous literature values. We analyze the kinematics of ultracool dwarfs in our catalog and find evidence that bluer but otherwise generic late-M and L field dwarfs (i.e., not subdwarfs) tend to have tangential velocities higher than those of typical field objects. With the public release of the PS1 data, this survey will continue to be an essential tool for characterizing the ultracool dwarf population.

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

Science.gov (United States)

Kipp, Kristof; Palmieri-Smith, Riann M

2013-06-01

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

Neural representations of kinematic laws of motion: evidence for action-perception coupling.

Science.gov (United States)

Dayan, Eran; Casile, Antonino; Levit-Binnun, Nava; Giese, Martin A; Hendler, Talma; Flash, Tamar

2007-12-18

Behavioral and modeling studies have established that curved and drawing human hand movements obey the 2/3 power law, which dictates a strong coupling between movement curvature and velocity. Human motion perception seems to reflect this constraint. The functional MRI study reported here demonstrates that the brain's response to this law of motion is much stronger and more widespread than to other types of motion. Compliance with this law is reflected in the activation of a large network of brain areas subserving motor production, visual motion processing, and action observation functions. Hence, these results strongly support the notion of similar neural coding for motion perception and production. These findings suggest that cortical motion representations are optimally tuned to the kinematic and geometrical invariants characterizing biological actions.

Impact of quasar proper motions on the alignment between the International Celestial Reference Frame and the Gaia reference frame

Science.gov (United States)

Liu, J.-C.; Malkin, Z.; Zhu, Z.

2018-03-01

The International Celestial Reference Frame (ICRF) is currently realized by the very long baseline interferometry (VLBI) observations of extragalactic sources with the zero proper motion assumption, while Gaia will observe proper motions of these distant and faint objects to an accuracy of tens of microarcseconds per year. This paper investigates the difference between VLBI and Gaia quasar proper motions and it aims to understand the impact of quasar proper motions on the alignment of the ICRF and Gaia reference frame. We use the latest time series data of source coordinates from the International VLBI Service analysis centres operated at Goddard Space Flight Center (GSF2017) and Paris observatory (OPA2017), as well as the Gaia auxiliary quasar solution containing 2191 high-probability optical counterparts of the ICRF2 sources. The linear proper motions in right ascension and declination of VLBI sources are derived by least-squares fits while the proper motions for Gaia sources are simulated taking into account the acceleration of the Solar system barycentre and realistic uncertainties depending on the source brightness. The individual and global features of source proper motions in GSF2017 and OPA2017 VLBI data are found to be inconsistent, which may result from differences in VLBI observations, data reduction and analysis. A comparison of the VLBI and Gaia proper motions shows that the accuracies of the components of rotation and glide between the two systems are 2-4 μas yr- 1 based on about 600 common sources. For the future alignment of the ICRF and Gaia reference frames at different wavelengths, the proper motions of quasars must necessarily be considered.

When Things Don’t Look Right: What Appear to be Proper Motion Discrepancies in the WDS

Science.gov (United States)

Harshaw, Richard

2017-10-01

Proper motion data for double stars are included for most of the records in the Washington Double Star Catalog (WDS). In many cases, the proper motion data agree well with the observed changes in the system over time. But in other cases, the proper motion data do not align well with the observations. It is therefore incumbent on the double star researcher to treat any research based on proper motions with caution to be sure that wrong conclusions are not drawn. Possible reasons for such discrepancies are explored.

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.

VizieR Online Data Catalog: Proper motions in M 11 (Su+ 1998)

Science.gov (United States)

Su, C.-G.; Zhao, J.-L.; Tian, K.-P.

1997-07-01

Relative proper motions of 872 stars in the open cluster M 11 region are reduced using 10 plate pairs taken over time baselines of 16~70 years with the double astrograph telescope of Shanghai Observatory. The scale is 30"/mm. The plates were measured with the PDS machines in the Purple Mountain Observatory in Nanjing and the Institute of Technology and Communication in Luoyang, China. The average proper motion accuracy is about 1.1mas/yr with 85% of the data better than 1mas/yr. Membership probabilities of 785 stars within 25' centred on M 11 are determined based on their proper motions. The method used is suggested by Su et al. (1995AcApS..15..217S) with some improvements of Zhao & He (1990A&A...237...54Z), in which the space distribution and magnitude dependencies for cluster stars are taken into account. The results are significantly good. The total integrated membership probabilities for all these stars is 547 and the number of stars with probabilities higher than 0.7 is 541. It can be found after the membership determination that there exists mass segregation in M 11. Some comparisons and discussion are also given. (1 data file).

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

Directory of Open Access Journals (Sweden)

Takashi Ijiri

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

Kinematics design and human motion transfer for a humanoid service robot arm

CSIR Research Space (South Africa)

Dube, C

2009-11-01

Full Text Available . Philadelphia: Saunders Col- lege Publishing, 1982. [2] Hamill, J. and Knutzen, K. M., Biomechanical Basis of Human Motion, Baltimore: Williams and Wilkins, 1995. [3] Lenarcˇicˇ, J. and Klopcˇar, N.,“Positional kinematics of hu- manoid arms,” Robotica, vol...

Kinematics of the CSE in VY CMa

Science.gov (United States)

Choi, Yoon Kyung

2009-07-01

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

The VMC survey. XXX. Stellar proper motions in the central parts of the Small Magellanic Cloud

Science.gov (United States)

Niederhofer, F.; Cioni, M.-R. L.; Rubele, S.; Schmidt, T.; Bekki, K.; Grijs, R. de; Emerson, J.; Ivanov, V. D.; Marconi, M.; Oliveira, J. M.; Petr-Gotzens, M. G.; Ripepi, V.; van Loon, J. Th.; Zaggia, S.

2018-05-01

We present the first spatially resolved map of stellar proper motions within the central ( 3.1 × 2.4 kpc) regions of the Small Magellanic Cloud (SMC). The data used for this study encompasses four tiles from the ongoing near-infrared VISTA survey of the Magellanic Clouds system and covers a total contiguous area on the sky of 6.81 deg2. Proper motions have been calculated independently in two dimensions from the spatial offsets in the Ks filter over time baselines between 22 and 27 months. The reflex motions of approximately 33 000 background galaxies are used to calibrate the stellar motions to an absolute scale. The resulting catalog is composed of more than 690 000 stars which have been selected based on their position in the (J - Ks, Ks) color-magnitude diagram. For the median absolute proper motion of the SMC, we find (μαcos(δ), μδ) = (1.087 ± 0.192 (sys.) ± 0.003 (stat.), -1.187 ± 0.008 (sys.) ± 0.003 (stat.)) mas yr-1, consistent with previous studies. Mapping the proper motions as a function of position within the SMC reveals a nonuniform velocity pattern indicative of a tidal feature behind the main body of the SMC and a flow of stars in the south-east moving predominantly along the line-of-sight. Based on observations made with VISTA at the Paranal Observatory under program ID 179.B-2003.

OB Stars and Cepheids From the Gaia TGAS Catalogue: Test of their Distances and Proper Motions

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Bobylev Vadim V.

2017-12-01

Full Text Available We consider young distant stars from the Gaia TGAS catalog. These are 250 classical Cepheids and 244 OB stars located at distances up to 4 kpc from the Sun. These stars are used to determine the Galactic rotation parameters using both trigonometric parallaxes and proper motions of the TGAS stars. In this case the considered stars have relative parallax errors less than 200%. Following the well-known statistical approach, we assume that the kinematic parameters found from the line-of-sight velocities Vr are less dependent on errors of distances than the found from the velocity components Vl. From values of the first derivative of the Galactic rotation angular velocity ′0, found from the analysis of velocities Vr and Vl separately, the scale factor of distances is determined.We found that from the sample of Cepheids the scale of distances of the TGAS should be reduced by 3%, and from the sample of OB stars, on the contrary, the scale should be increased by 9%.

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

International Nuclear Information System (INIS)

Platov, Yu.V.

1983-01-01

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

Chemically Dissected Rotation Curves of the Galactic Bulge from Main-sequence Proper Motions

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Clarkson, William I.; Calamida, Annalisa; Sahu, Kailash C.; Brown, Thomas M.; Gennaro, Mario; Avila, Roberto J.; Valenti, Jeff; Debattista, Victor P.; Rich, R. Michael; Minniti, Dante; Zoccali, Manuela; Aufdemberge, Emily R.

2018-05-01

We report results from an exploratory study implementing a new probe of Galactic evolution using archival Hubble Space Telescope imaging observations. Precise proper motions are combined with photometric relative metallicity and temperature indices, to produce the proper-motion rotation curves of the Galactic bulge separately for metal-poor and metal-rich main-sequence samples. This provides a “pencil-beam” complement to large-scale wide-field surveys, which to date have focused on the more traditional bright giant branch tracers. We find strong evidence that the Galactic bulge rotation curves drawn from “metal-rich” and “metal-poor” samples are indeed discrepant. The “metal-rich” sample shows greater rotation amplitude and a steeper gradient against line-of-sight distance, as well as possibly a stronger central concentration along the line of sight. This may represent a new detection of differing orbital anisotropy between metal-rich and metal-poor bulge objects. We also investigate selection effects that would be implied for the longitudinal proper-motion cut often used to isolate a “pure-bulge” sample. Extensive investigation of synthetic stellar populations suggests that instrumental and observational artifacts are unlikely to account for the observed rotation curve differences. Thus, proper-motion-based rotation curves can be used to probe chemodynamical correlations for main-sequence tracer stars, which are orders of magnitude more numerous in the Galactic bulge than the bright giant branch tracers. We discuss briefly the prospect of using this new tool to constrain detailed models of Galactic formation and evolution. Based on observations made with the NASA/ESA Hubble Space Telescope and obtained from the data archive at the Space Telescope Science Institute. STScI is operated by the Association of Universities for Research in Astronomy, Inc., under NASA contract NAS 5-26555.

THE PROPER MOTIONS OF THE DOUBLE RADIO SOURCE n IN THE ORION BN/KL REGION

International Nuclear Information System (INIS)

Rodríguez, Luis F.; Loinard, Laurent; Zapata, Luis; Lizano, Susana; Dzib, Sergio A.; Menten, Karl M.; Gómez, Laura

2017-01-01

We have extended the time baseline for observations of the proper motions of radio sources in the Orion BN/KL region from 14.7 to 22.5 years. We present improved determinations for the sources BN and I. In addition, we address the proper motions of the double radio source n, that have been questioned in the literature. We confirm that all three sources are moving away at transverse velocities of tens of kilometers per second from a region in-between them, where they were located about 500 years ago. Source n exhibits a new component that we interpret as due to a one-sided ejection of free–free emitting plasma that took place after 2006.36. We used the highly accurate relative proper motions between sources BN and I to determine that their closest separation took place in the year 1475 ± 6, when they were within ∼100 au or less from each other in the plane of the sky.

THE PROPER MOTIONS OF THE DOUBLE RADIO SOURCE n IN THE ORION BN/KL REGION

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Rodríguez, Luis F.; Loinard, Laurent; Zapata, Luis; Lizano, Susana [Instituto de Radioastronomía y Astrofísica, UNAM, Apdo. Postal 3-72 (Xangari), 58089 Morelia, Michoacán, México (Mexico); Dzib, Sergio A.; Menten, Karl M. [Max Planck Institut für Radioastronomie, Auf dem Hügel 69, D-53121 Bonn (Germany); Gómez, Laura, E-mail: l.rodriguez@crya.unam.mx [Joint ALMA Observatory, Alonso de Córdoba 3107, Vitacura, Santiago (Chile)

2017-01-10

We have extended the time baseline for observations of the proper motions of radio sources in the Orion BN/KL region from 14.7 to 22.5 years. We present improved determinations for the sources BN and I. In addition, we address the proper motions of the double radio source n, that have been questioned in the literature. We confirm that all three sources are moving away at transverse velocities of tens of kilometers per second from a region in-between them, where they were located about 500 years ago. Source n exhibits a new component that we interpret as due to a one-sided ejection of free–free emitting plasma that took place after 2006.36. We used the highly accurate relative proper motions between sources BN and I to determine that their closest separation took place in the year 1475 ± 6, when they were within ∼100 au or less from each other in the plane of the sky.

Parallaxes and Proper Motions From the MCCormick Observatory: List 47

Science.gov (United States)

Ianna, Philip A.; Patterson, Richard J.; Swain, Melanie A.

1996-01-01

Trigonometric parallaxes and proper motions are presented for 32 late-type stars observed photographically with the Leander McCormick 67 cm refractor. Eighteen of the stars have no previously published parallaxes. Twenty one of the stars are K and M dwarfs identified by Vyssotsky and his collaborators. The list includes several x-ray luminous M dwarfs, a rapidly rotating spotted flare star, and two astrometric binaries.

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

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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.

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

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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.

What motion is: William Neile and the laws of motion.

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Kemeny, Max

2017-07-01

In 1668-1669 William Neile and John Wallis engaged in a protracted correspondence regarding the nature of motion. Neile was unhappy with the laws of motion that had been established by the Royal Society in three papers published in 1668, deeming them not explanations of motion at all, but mere descriptions. Neile insisted that science could not be informative without a discussion of causes, meaning that Wallis's purely kinematic account of collision could not be complete. Wallis, however, did not consider Neile's objections to his work to be serious. Rather than engage in a discussion of the proper place of natural philosophy in science, Wallis decided to show how Neile's preferred treatment of motion lead to absurd conclusions. This dispute is offered as a case study of dispute resolution within the early Royal Society.

uvby photometry in McCormick proper motion fields

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Degewij, J.

1982-01-01

The Danish 50 cm telescope at the European Southern Observatory was used to obtain high-precision uvby photometry for 50 F2 to G2 stars, with V values in the 9.4-12.3 mag range, which were selected in the southern galactic polar regions of the McCormick proper motion fields and measured on six different nights. The brighter stars are found to systematically exhibit smaller m(1) indices, of about 0.02 mag, upon comparison with the earlier data of Blaauw et al (1976). Single measurements are given for 98 stars in eight McCormick fields at intermediate southern galactic latitudes.

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

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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.

Determination of Proper Motions of Circumpolar Stars by Using Images from Ukrvo Plate Archives

Science.gov (United States)

Protsyuk, Yu.; Andruk, V.; Mazhaev, A.; Kovylianska, O.; Protsyuk, S.; Golovnya, V.

UkrVO plate archives contain informationobtained at different time periods and in different observatories for the same regions of the sky [3, 5, 6, 7, 8]. It allows us to carry out joint processing of plates and to receive new results for interesting objects. To obtain proper motions of stars in circumpolar areas, we selected 34 photographic plates from the RI NAO archive and 161 plates from the archive of the MAO NAS. A mean epoch difference between the plates from these archives is 55 years. Scanning of the plates and data processing were independently carried out by both observatories. A catalog of equatorial positions for 195 thousand stars up to 15m was compiled in the RI NAO (black dots in Fig. 1). A catalog of equatorial positions for 1050 thousand stars up to 16.5m was compiled in MAO (gray dots in Fig. 1). A comparison of positions for common stars contained in these catalogs was conducted. A catalog of proper motions for 30 thousand common stars up to 15m was compiled using these two input catalogs. The obtained result suggests the advisability of processing of all observations to receive proper motions of stars up to 14-15m in the declination zone of 65° to 90°.

Proper Motions of Dwarf Spheroidal Galaxies from Hubble Space Telescope Imaging. IV. Measurement for Sculptor

Science.gov (United States)

Piatek, Slawomir; Pryor, Carlton; Bristow, Paul; Olszewski, Edward W.; Harris, Hugh C.; Mateo, Mario; Minniti, Dante; Tinney, Christopher G.

2006-03-01

This article presents a measurement of the proper motion of the Sculptor dwarf spheroidal galaxy determined from images taken with the Hubble Space Telescope using the Space Telescope Imaging Spectrograph in the imaging mode. Each of two distinct fields contains a quasi-stellar object that serves as the ``reference point.'' The measured proper motion of Sculptor, expressed in the equatorial coordinate system, is (μα, μδ)=(9+/-13, 2+/-13) mas century-1. Removing the contributions from the motion of the Sun and the motion of the local standard of rest produces the proper motion in the Galactic rest frame: (μGrfα, μGrfδ)=(-23+/-13, 45+/-13) mas century-1. The implied space velocity with respect to the Galactic center has a radial component of Vr=79+/-6 km s-1 and a tangential component of Vt=198+/-50 km s-1. Integrating the motion of Sculptor in a realistic potential for the Milky Way produces orbital elements. The perigalacticon and apogalacticon are 68 (31, 83) and 122 (97, 313) kpc, respectively, where the values in the parentheses represent the 95% confidence interval derived from Monte Carlo experiments. The eccentricity of the orbit is 0.29 (0.26, 0.60), and the orbital period is 2.2 (1.5, 4.9) Gyr. Sculptor is on a polar orbit around the Milky Way: the angle of inclination is 86° (83°, 90°). Based on observations with the NASA/ESA Hubble Space Telescope, obtained at the Space Telescope Science Institute, which is operated by the Association of Universities for Research in Astronomy, Inc., under NASA contract NAS5-26555.

VizieR Online Data Catalog: The VLBA Extragalactic Proper Motion Catalog (Truebenbach+, 2017)

Science.gov (United States)

Truebenbach, A. E.; Darling, J.

2017-11-01

We created our catalog of extragalactic radio proper motions using the 2017a Goddard VLBI global solution. The 2017a solution is computed from more than 30 years of dual-band VLBI observations --1979 August 3 to 2017 March 27. We also observed 28 objects with either no redshift or a "questionable" Optical Characteristic of Astrometric Radio Sources (OCARS; Malkin 2016ARep...60..996M) redshift at the Apache Point Observatory (APO) 3.5m telescope and/or at Gemini North. We conducted observations on the 3.5m telescope at Apache Point Observatory with the Dual Imaging Spectrograph (DIS) from 2015 April 18 to 2016 June 30. We chose two objects for additional observations with the Gemini Multi-Object Spectrograph-North (GMOS-N) at Gemini North Observatory. 2021+317 was observed on 2016 June 26 and 28, while 0420+417 was observed on 2016 November 8 and 26. We also observed 42 radio sources with the Very Long Baseline Array (VLBA) in the X-band (3.6cm/8.3GHz). Our targets had all been previously observed by VLBI. Our VLBA observations were conducted in two campaigns from 2015 September to 2016 January and 2016 October to November. The final extragalactic proper motion catalog (created primarily from archival Goddard VLBI data, with redshifts obtained from OCARS) contains 713 proper motions with average uncertainties of 24μas/yr. (5 data files).

Distances, Kinematics, And Structure Of The Orion Complex

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Kounkel, Marina; Hartmann, Lee

2018-01-01

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

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

Kinematic parameters of signed verbs.

Science.gov (United States)

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

2013-10-01

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

MERLIN observations of water maser proper motions in VY Canis Majoris

Science.gov (United States)

Richards, A. M. S.; Yates, J. A.; Cohen, R. J.

1998-09-01

MERLIN observations of the 22-GHz water masers in the circumstellar envelope of the supergiant VY CMa show an ellipsoidal distribution with a maximum extent of 700 mas east-west and 400 mas north-south. Comparison with observations made nine years earlier shows that the majority of maser features have survived and show proper motions throughout the region. The mean change in position is 28 mas and the proper motions are generally directed away from the assumed stellar position, and tend to be larger for features at greater projected distances. If the H_2O maser region is modelled as a partially filled thick spherical shell, and VY CMa is at a distance of 1.5 kpc, then the proper motion velocities in the direction of expansion are between 8kms^-1 at a distance of 75 mas from the assumed stellar position and 32kms^-1 at 360 mas. These velocities are consistent with the H_2O maser spectral line velocities which correspond to a maximum expansion velocity of 36kms^-1 at 400 mas from the assumed stellar position. These observations are consistent with radiation pressure on dust providing the force to accelerate the stellar wind as it passes through the H_2O maser shell. The H_2O maser region is elongated in the same direction as the dusty nebula around VY CMa. The water masers illuminate the small-scale dynamics and clumpiness which show the role of dust in driving the outflow. The overall ellipsoidal shape may be due to properties of the dust, such as its behaviour in the stellar magnetic field, or to interaction between the wind and circumstellar material. Maser monitoring also shows the difference between changes on the time-scale of stellar variability (a few years) and possible stages in the evolution of VY CMa to its likely fate as a supernova.

A deep proper motion catalog within the Sloan digital sky survey footprint

International Nuclear Information System (INIS)

Munn, Jeffrey A.; Harris, Hugh C.; Tilleman, Trudy M.; Hippel, Ted von; Kilic, Mukremin; Liebert, James W.; Williams, Kurtis A.; DeGenarro, Steven; Jeffery, Elizabeth

2014-01-01

A new proper motion catalog is presented, combining the Sloan Digital Sky Survey (SDSS) with second epoch observations in the r band within a portion of the SDSS imaging footprint. The new observations were obtained with the 90prime camera on the Steward Observatory Bok 90 inch telescope, and the Array Camera on the U.S. Naval Observatory, Flagstaff Station, 1.3 m telescope. The catalog covers 1098 square degrees to r = 22.0, an additional 1521 square degrees to r = 20.9, plus a further 488 square degrees of lesser quality data. Statistical errors in the proper motions range from 5 mas year −1 at the bright end to 15 mas year −1 at the faint end, for a typical epoch difference of six years. Systematic errors are estimated to be roughly 1 mas year −1 for the Array Camera data, and as much as 2–4 mas year −1 for the 90prime data (though typically less). The catalog also includes a second epoch of r band photometry.

A deep proper motion catalog within the Sloan digital sky survey footprint

Energy Technology Data Exchange (ETDEWEB)

Munn, Jeffrey A.; Harris, Hugh C.; Tilleman, Trudy M. [US Naval Observatory, Flagstaff Station, 10391 West Naval Observatory Road, Flagstaff, AZ 86005-8521 (United States); Hippel, Ted von [Embry-Riddle Aeronautical University, Physical Sciences, 600 South Clyde Morris Boulevard Daytona Beach, FL 32114-3900 (United States); Kilic, Mukremin [University of Oklahoma, Homer L. Dodge Department of Physics and Astronomy, 440 West Brooks Street, Norman, OK 73019 (United States); Liebert, James W. [University of Arizona, Steward Observatory, Tucson, AZ 85721 (United States); Williams, Kurtis A. [Department of Physics and Astronomy, Texas A and M University-Commerce, P.O. Box 3011, Commerce, TX 75429 (United States); DeGenarro, Steven [Department of Astronomy, University of Texas at Austin, 1 University Station C1400, Austin, TX 78712-0259 (United States); Jeffery, Elizabeth, E-mail: jam@nofs.navy.mil, E-mail: hch@nofs.navy.mil, E-mail: trudy@nofs.navy.mil, E-mail: ted.vonhippel@erau.edu, E-mail: kilic@ou.edu, E-mail: jamesliebert@gmail.com, E-mail: kurtis.williams@tamuc.edu, E-mail: studiofortytwo@yahoo.com, E-mail: ejeffery@byu.edu [BYU Department of Physics and Astronomy, N283 ESC, Provo, UT 84602 (United States)

2014-12-01

A new proper motion catalog is presented, combining the Sloan Digital Sky Survey (SDSS) with second epoch observations in the r band within a portion of the SDSS imaging footprint. The new observations were obtained with the 90prime camera on the Steward Observatory Bok 90 inch telescope, and the Array Camera on the U.S. Naval Observatory, Flagstaff Station, 1.3 m telescope. The catalog covers 1098 square degrees to r = 22.0, an additional 1521 square degrees to r = 20.9, plus a further 488 square degrees of lesser quality data. Statistical errors in the proper motions range from 5 mas year{sup −1} at the bright end to 15 mas year{sup −1} at the faint end, for a typical epoch difference of six years. Systematic errors are estimated to be roughly 1 mas year{sup −1} for the Array Camera data, and as much as 2–4 mas year{sup −1} for the 90prime data (though typically less). The catalog also includes a second epoch of r band photometry.

Proper Motions of Dwarf Spheroidal Galaxies from Hubble Space Telescope Imaging. V. Final Measurement for Fornax

Science.gov (United States)

Piatek, Slawomir; Pryor, Carlton; Bristow, Paul; Olszewski, Edward W.; Harris, Hugh C.; Mateo, Mario; Minniti, Dante; Tinney, Christopher G.

2007-03-01

The measured proper motion of Fornax, expressed in the equatorial coordinate system, is (μα,μδ)=(47.6+/-4.6,-36.0+/-4.1) mas century-1. This proper motion is a weighted mean of four independent measurements for three distinct fields. Each measurement uses a quasi-stellar object as a reference point. Removing the contribution of the motion of the Sun and of the local standard of rest to the measured proper motion produces a Galactic rest-frame proper motion of (μGrfα,μGrfδ)=(24.4+/-4.6,-14.3+/-4.1) mas century-1. The implied space velocity with respect to the Galactic center has a radial component of Vr=-31.8+/-1.7 km s-1 and a tangential component of Vt=196+/-29 km s-1. Integrating the motion of Fornax in a realistic potential for the Milky Way produces orbital elements. The perigalacticon and apogalacticon are 118 (66, 137) and 152 (144, 242) kpc, respectively, where the values in the parentheses represent the 95% confidence intervals derived from Monte Carlo experiments. The eccentricity of the orbit is 0.13 (0.11, 0.38), and the orbital period is 3.2 (2.5, 4.6) Gyr. The orbit is retrograde and inclined by 101° (94°, 107°) to the Galactic plane. Fornax could be a member of a proposed ``stream'' of galaxies and globular clusters; however, the membership of another proposed galaxy in the stream, Sculptor, has been previously ruled out. Fornax is in the Kroupa-Theis-Boily plane, which contains 11 of the Galactic satellite galaxies, but its orbit will take it out of that plane. Based on observations with the NASA/ESA Hubble Space Telescope, obtained at the Space Telescope Science Institute, which is operated by the Association of Universities for Research in Astronomy, Inc., under NASA contract NAS5-26555.

Constraining the radio jet proper motion of the high-redshift quasar J2134-0419 at z = 4.3

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Perger, Krisztina; Frey, Sándor; Gabányi, Krisztina É.; An, Tao; Britzen, Silke; Cao, Hong-Min; Cseh, Dávid; Dennett-Thorpe, Jane; Gurvits, Leonid I.; Hong, Xiao-Yu; Hook, Isobel M.; Paragi, Zsolt; Schilizzi, Richard T.; Yang, Jun; Zhang, Yingkang

2018-06-01

To date, PMN J2134-0419 (at a redshift z = 4.33) is the second most distant quasar known with a milliarcsecond-scale morphology permitting direct estimates of the jet proper motion. Based on two-epoch observations, we constrained its radio jet proper motion using the very long baseline interferometry (VLBI) technique. The observations were conducted with the European VLBI Network (EVN) at 5 GHz on 1999 November 26 and 2015 October 6. We imaged the central 10-pc scale radio jet emission and modelled its brightness distribution. By identifying a jet component at both epochs separated by 15.86 yr, a proper motion of μ = 0.035 ± 0.023 mas yr-1 is found. It corresponds to an apparent superluminal speed of βa = 4.1 ± 2.7 c. Relativistic beaming at both epochs suggests that the jet viewing angle with respect to the line of sight is smaller than 20°, with a minimum bulk Lorentz factor Γ = 4.3. The small value of the proper motion is in good agreement with the expectations from the cosmological interpretation of the redshift and the current cosmological model. Additionally we analysed archival Very Large Array observations of J2143-0419 and found indication of a bent jet extending to ˜30 kpc.

VizieR Online Data Catalog: Velocity and proper motion of OB associations (Melnik+, 2009)

Science.gov (United States)

Melnik, A. M.; Dambis, A. K.

2009-11-01

For every OB-association from the list by Blaha and Humphreys (1989AJ.....98.1598B) we give the mean galactic coordinates l and b, the mean heliocentric distance r, median line-of-sight velocity Vr, the dispersion of line-of-sight velocities dvr, and number of stars with known line-of-sight velocity nvr. The line-of-sight velocities were taken from the catalog by Barbier-Brossat and Figon (1999, Cat. ). We used only the velocities measured with errors of less than 10km/s which corresponds to the quality estimations A, B, and C. We also present median proper motions of OB-associations along l- and b- coordinates, mul and mub. The data obtained for the old reduction (1997, Cat. ) are denoted by the subscript 1, whereas those based on the reduction by van Leewen (2008, Cat. ) are marked by the subscript 2. For each OB association we represent the dispersions of proper motions, dml and dmb, as well as a number of stars nmu with known proper motion. The last column shows the total number of stars with known photometric measurements, Nt, used for determination of the distances for OB-associations. The distances r correspond to the short distance scale for classical Cepheids. They are equal to the distances from the catalog by Blaha and Humphreys (1989AJ.....98.1598B), rBH, multiplied by a factor of 0.8, r=0.8*rBH. (1 data file).

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.

A SUBSTELLAR COMMON PROPER-MOTION COMPANION TO THE PLEIAD H II 1348

International Nuclear Information System (INIS)

Geißler, Kerstin; Metchev, Stanimir A.; Pham, Alfonse; Larkin, James E.; McElwain, Michael; Hillenbrand, Lynne A.

2012-01-01

We announce the identification of a proper-motion companion to the star H II 1348, a K5 V member of the Pleiades open cluster. The existence of a faint point source 1.''1 away from H II 1348 was previously known from adaptive optics imaging by Bouvier et al. However, because of a high likelihood of background star contamination and in the absence of follow-up astrometry, Bouvier et al. tentatively concluded that the candidate companion was not physically associated with H II 1348. We establish the proper-motion association of the pair from adaptive optics imaging with the Palomar 5 m telescope. Adaptive optics spectroscopy with the integral field spectrograph OSIRIS on the Keck 10 m telescope reveals that the companion has a spectral type of M8 ± 1. According to substellar evolution models, the M8 spectral type resides within the substellar mass regime at the age of the Pleiades. The primary itself is a known double-lined spectroscopic binary, which makes the resolved companion, H II 1348B, the least massive and widest component of this hierarchical triple system and the first substellar companion to a stellar primary in the Pleiades.

Training of goal directed arm movements with motion interactive video games in children with cerebral palsy - a kinematic evaluation.

Science.gov (United States)

Sandlund, Marlene; Domellöf, Erik; Grip, Helena; Rönnqvist, Louise; Häger, Charlotte K

2014-10-01

The main aim of this study was to evaluate the quality of goal-directed arm movements in 15 children with cerebral palsy (CP) following four weeks of home-based training with motion interactive video games. A further aim was to investigate the applicability and characteristics of kinematic parameters in a virtual context in comparison to a physical context. Kinematics and kinetics were captured while the children performed arm movements directed towards both virtual and physical targets. The children's movement precision improved, their centre of pressure paths decreased, as did the variability in maximal shoulder angles when reaching for virtual objects. Transfer to a situation with physical targets was mainly indicated by increased movement smoothness. Training with motion interactive games seems to improve arm motor control in children with CP. The results highlight the importance of considering both the context and the task itself when investigating kinematic parameters.

A method for determining the radius of an open cluster from stellar proper motions

Science.gov (United States)

Sánchez, Néstor; Alfaro, Emilio J.; López-Martínez, Fátima

2018-04-01

We propose a method for calculating the radius of an open cluster in an objective way from an astrometric catalogue containing, at least, positions and proper motions. It uses the minimum spanning tree in the proper motion space to discriminate cluster stars from field stars and it quantifies the strength of the cluster-field separation by means of a statistical parameter defined for the first time in this paper. This is done for a range of different sampling radii from where the cluster radius is obtained as the size at which the best cluster-field separation is achieved. The novelty of this strategy is that the cluster radius is obtained independently of how its stars are spatially distributed. We test the reliability and robustness of the method with both simulated and real data from a well-studied open cluster (NGC 188), and apply it to UCAC4 data for five other open clusters with different catalogued radius values. NGC 188, NGC 1647, NGC 6603, and Ruprecht 155 yielded unambiguous radius values of 15.2 ± 1.8, 29.4 ± 3.4, 4.2 ± 1.7, and 7.0 ± 0.3 arcmin, respectively. ASCC 19 and Collinder 471 showed more than one possible solution, but it is not possible to know whether this is due to the involved uncertainties or due to the presence of complex patterns in their proper motion distributions, something that could be inherent to the physical object or due to the way in which the catalogue was sampled.

CT-based three-dimensional kinematic comparison of dart-throwing motion between wrists with malunited distal radius and contralateral normal wrists

International Nuclear Information System (INIS)

Lee, S.; Kim, Y.S.; Park, C.S.; Kim, K.G.; Lee, Y.H.; Gong, H.S.; Lee, H.J.; Baek, G.H.

2014-01-01

Aim: To compare motion of the capitate, scaphoid, and lunate in wrists with a malunited distal radius and contralateral normal wrists during dart-throwing motion (DTM) by three-dimensional kinematic studies using computed tomography (CT) images. Materials and methods: CT was performed simultaneously on both wrists in six patients with a unilateral distal radius malunion at three stepwise positions simulating DTM. Using volume registration technique, the kinematic variables of helical axis motion of the capitate, scaphoid, and lunate were calculated and compared between both wrists. The helical motion of the capitate was also evaluated in a scaphoid- and lunate-based coordinate system. Results: Among the average rotation and translation of the scaphoid, lunate, and capitate during DTM, only the average rotation of the capitate was significantly different between the uninjured (88.9°) and the injured (70°) wrist (p = 0.0075). Rotation of the capitate relative to the scaphoid (26.3° versus 37.8°, p = 0.029) or lunate (39.2° versus 59.3°, p = 0.028) was smaller in the malunited wrist. The centres of helical axis motion of the three carpal bones were located more dorsally and radially in the injured wrist. Conclusions: The present study showed that decreased DTM in wrists with a distal radius malunion resulted from decreased midcarpal motion. The present study of the capitate, scaphoid, and lunate in wrists with distal radius malunion might be the first to present a 3D kinematic analysis of the effect of distal radius malunion on the carpal bones

A comparison of Lagrangian/Eulerian approaches for tracking the kinematics of high deformation solid motion.

Energy Technology Data Exchange (ETDEWEB)

Ames, Thomas L.; Farnsworth, Grant V.; Ketcheson, David Isaac; Robinson, Allen Conrad

2009-09-01

The modeling of solids is most naturally placed within a Lagrangian framework because it requires constitutive models which depend on knowledge of the original material orientations and subsequent deformations. Detailed kinematic information is needed to ensure material frame indifference which is captured through the deformation gradient F. Such information can be tracked easily in a Lagrangian code. Unfortunately, not all problems can be easily modeled using Lagrangian concepts due to severe distortions in the underlying motion. Either a Lagrangian/Eulerian or a pure Eulerian modeling framework must be introduced. We discuss and contrast several Lagrangian/Eulerian approaches for keeping track of the details of material kinematics.

Catalogue of Positions and Proper Motions of Stars in the Vicinity of Open Clusters

Directory of Open Access Journals (Sweden)

Protsyuk, Yu.I.

2017-01-01

Full Text Available In the Research Institute Mykolaiv Astronomical Observatory (MAO the catalogue of position and proper motions of stars in the 544 square areas of nearly (1×1°around the Galactic open clusters was created using photographic and CCD observations. 293 plates of (5×5°obtained with the MAO Zonal Astrograph (D=116 mm, F=2040 mm in 1962-1993 and more than 20 thousands CCD frames (0.7×0.7° obtained with KT-50 telescope (D=500 mm, F=3000 mm in 2011-2015 were used. Almost 270 thousands FITS files from the IVOA image archives with observational epoch from 1953 to 2010 were downloaded and processed. The created catalogue contains more than 2.3 million stars (7.5-18.5m in the ICRS system with the accuracy of positions on both coordinates ranged from 0.02" to 0.05". Inner accuracy of proper motions is ~0.004"/year.

Catalogue of positions and proper motions of stars in the vicinity of open clusters

Science.gov (United States)

Protsyuk, Yu. I.; Kovalchuk, O. M.; Mazhaev, O. E.

2017-02-01

A catalog of positions and proper motions of stars in 544 square areas of nearly (1 × 1)° around the Galactic open clusters has been created using photographic and CCD observations, at Research Institute "Mykolaiv Astronomical Observatory" (RI "MAO"). To this end, 293 plates of (5 × 5)° obtained with the MAO Zonal Astrograph (D=116 mm, F=2040 mm) in 1962-1993 and more than 20 thousand CCD frames (0.7 × 0.7)° obtained with KT-50 telescope (D=500 mm, F=3000 mm) in 2011-2015 have been used. Almost 270 thousand FITS files from the IVOA image archives with observational epoch from 1953 to 2010 have been downloaded and processed. The created catalogue contains more than 2.3 million stars having a magnitude of (7.5-18.5)m in the ICRS system, with accuracy of positions for both coordinates ranging from 0.02" to 0.05". Internal accuracy of proper motions is estimated as ~0.004"/year.

Parallel kinematics type, kinematics, and optimal design

CERN Document Server

Liu, Xin-Jun

2014-01-01

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

EROS 2 proper motion survey a field brown dwarf and an L dwarf companion to LHS 102

CERN Document Server

Goldman, B; Forveille, T; Afonso, C; Alard, C; Albert, J N; Andersen, J; Ansari, R; Aubourg, E; Bareyre, P; Bauer, F; Beaulieu, J P; Borsenberger, J; Bouquet, A; Char, S; Charlot, X; Couchot, F; Coutures, C; Derue, F; Ferlet, R; Fouqué, P; Glicenstein, J F; Gould, A; Graff, D S; Gros, M H; Haïssinski, J; Hamilton, J C; Hardin, D P; De Kat, J; Kim, A; Lasserre, T; Lesquoy, E; Loup, C; Magneville, C; Mansoux, B; Marquette, J B; Martín, E L; Maurice, E; Milshtein, A I; Moniez, M; Palanque-Delabrouille, Nathalie; Perdereau, O; Prévôt, L; Regnault, N; Rich, J; Spiro, Michel; Vidal-Madjar, A; Virgoux, L; Zylberajch, S

1999-01-01

We report the discovery of two L dwarfs (the new spectral class defined for dwarfs cooler than the M type) in a two-epoch CCD proper motion survey of 413 square degrees, complemented by infrared photometry from DENIS. One of them has a strong lithium line and is therefore a brown dwarf. The other is a common proper motion companion to the mid-M dwarf LHS 102 (GJ 1001), which has a well determined trigonometric parallax. LHS 102B is thus the coolest L dwarf of known distance and luminosity. Its infrared absolute photometry are very well reproduced by the Allard et al DUSTY models.

Predicted space motions for hypervelocity and runaway stars: proper motions and radial velocities for the Gaia Era

Energy Technology Data Exchange (ETDEWEB)

Kenyon, Scott J.; Brown, Warren R.; Geller, Margaret J. [Smithsonian Astrophysical Observatory, 60 Garden Street, Cambridge, MA 02138 (United States); Bromley, Benjamin C., E-mail: skenyon@cfa.harvard.edu, E-mail: wbrown@cfa.harvard.edu, E-mail: mgeller@cfa.harvard.edu, E-mail: bromley@physics.utah.edu [Department of Physics, University of Utah, 115 S 1400 E, Rm 201, Salt Lake City, UT 84112 (United States)

2014-10-01

We predict the distinctive three-dimensional space motions of hypervelocity stars (HVSs) and runaway stars moving in a realistic Galactic potential. For nearby stars with distances less than 10 kpc, unbound stars are rare; proper motions alone rarely isolate bound HVSs and runaways from indigenous halo stars. At large distances of 20-100 kpc, unbound HVSs are much more common than runaways; radial velocities easily distinguish both from indigenous halo stars. Comparisons of the predictions with existing observations are encouraging. Although the models fail to match observations of solar-type HVS candidates from SEGUE, they agree well with data for B-type HVS and runaways from other surveys. Complete samples of g ≲ 20 stars with Gaia should provide clear tests of formation models for HVSs and runaways and will enable accurate probes of the shape of the Galactic potential.

VizieR Online Data Catalog: Velocities and proper motions of Galactic Cepheids (Mel'nik+, 2015)

Science.gov (United States)

Mel'Nik, A. M.; Rautiainen, P.; Berdnikov, L. N.; Dambis, A. K.; Rastorguev, A. S.

2015-01-01

For every classical Cepheid we give its designation in the General Catalog of Variable Stars (GCVS) (Samus at al., 2007, Cat. B/gcvs) or in the All Sky Automated Survey (ASAS) (Pojmanski 2002, II/264), its type (see GCVS description), fundamental period PF, intensity-mean V-band magnitude , J2000 equatorial coordinates, Galactic coordinates l and b, and heliocentric distance r. Table 1 also gives the Cepheid line-of-sight velocities Vr (the so-called γ-velocities), their uncertainties e_Vr and the references (1-6) to the sources from which they are taken. The proper motions of Cepheids were adopted from the new reduction of Hipparcos data (ESA 1997, Cat. I/239) by van Leeuwen (2007, Cat. I/311). Table 1 presents proper motions pml and pmb, their uncertainties e_pml and e_pmb and the corresponding Hipparcos catalog number HIP. (1 data file).

Proper Motions of Dwarf Spheroidal Galaxies from Hubble Space Telescope Imaging. III. Measurement for Ursa Minor

Science.gov (United States)

Piatek, Slawomir; Pryor, Carlton; Bristow, Paul; Olszewski, Edward W.; Harris, Hugh C.; Mateo, Mario; Minniti, Dante; Tinney, Christopher G.

2005-07-01

This article presents a measurement of the proper motion of the Ursa Minor dwarf spheroidal galaxy determined from images taken with the Hubble Space Telescope in two distinct fields. Each field contains a quasi-stellar object that serves as the ``reference point.'' The measured proper motion for Ursa Minor, expressed in the equatorial coordinate system, is (μα,μδ)=(-50+/-17,22+/-16) mas century-1. Removing the contributions of the solar motion and the motion of the local standard of rest yields the proper motion in the Galactic rest frame: (μGrfα,μGrfδ)=(-8+/-17,38+/-16) mas century-1. The implied space velocity with respect to the Galactic center has a radial component of Vr=-75+/-44 km s-1 and a tangential component of Vt=144+/-50 km s-1. Integrating the motion of Ursa Minor in a realistic potential for the Milky Way produces orbital elements. The perigalacticon and apogalacticon are 40 (10, 76) and 89 (78, 160) kpc, respectively, where the values in the parentheses represent the 95% confidence intervals derived from Monte Carlo experiments. The eccentricity of the orbit is 0.39 (0.09, 0.79), and the orbital period is 1.5 (1.1, 2.7) Gyr. The orbit is retrograde and inclined by 124° (94°, 136°) to the Galactic plane. Ursa Minor is not a likely member of a proposed stream of galaxies on similar orbits around the Milky Way, nor is the plane of its orbit coincident with a recently proposed planar alignment of galaxies around the Milky Way. Comparing the orbits of Ursa Minor and Carina shows no reason for the different star formation histories of these two galaxies. Ursa Minor must contain dark matter to have a high probability of having survived disruption by the Galactic tidal force until the present. Based on observations with the NASA/ESA Hubble Space Telescope, obtained at the Space Telescope Science Institute, which is operated by the Association of Universities for Research in Astronomy, Inc., under NASA contract NAS5-26555.

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,

Kinematic analysis of basic rhythmic movements of hip-hop dance: motion characteristics common to expert dancers.

Science.gov (United States)

Sato, Nahoko; Nunome, Hiroyuki; Ikegami, Yasuo

2015-02-01

In hip-hop dance contests, a procedure for evaluating performances has not been clearly defined, and objective criteria for evaluation are necessary. It is assumed that most hip-hop dance techniques have common motion characteristics by which judges determine the dancer's skill level. This study aimed to extract motion characteristics that may be linked to higher evaluations by judges. Ten expert and 12 nonexpert dancers performed basic rhythmic movements at a rate of 100 beats per minute. Their movements were captured using a motion capture system, and eight judges evaluated the performances. Four kinematic parameters, including the amplitude of the body motions and the phase delay, which indicates the phase difference between two joint angles, were calculated. The two groups showed no significant differences in terms of the amplitudes of the body motions. In contrast, the phase delay between the head motion and the other body parts' motions of expert dancers who received higher scores from the judges, which was approximately a quarter cycle, produced a loop-shaped motion of the head. It is suggested that this slight phase delay was related to the judges' evaluations and that these findings may help in constructing an objective evaluation system.

AN HST PROPER-MOTION STUDY OF THE LARGE-SCALE JET OF 3C273

Energy Technology Data Exchange (ETDEWEB)

Meyer, Eileen T.; Georganopoulos, Markos [University of Maryland Baltimore County, Baltimore, MD 21250 (United States); Sparks, William B. [Space Telescope Science Institute, Baltimore, MD 21218 (United States); Anderson, Jay; Marel, Roeland van der; Biretta, John; Chiaberge, Marco; Norman, Colin [Space Telescope Science Institute, Baltimore, MD 21210 (United States); Tony Sohn, Sangmo [Johns Hopkins University, Baltimore, MD 21210 (United States); Perlman, Eric, E-mail: meyer@stsci.edu [Florida Institute of Technology, Melbourne, FL 32901 (United States)

2016-02-20

The radio galaxy 3C 273 hosts one of the nearest and best-studied powerful quasar jets. Having been imaged repeatedly by the Hubble Space Telescope (HST) over the past twenty years, it was chosen for an HST program to measure proper motions in the kiloparsec-scale resolved jets of nearby radio-loud active galaxies. The jet in 3C 273 is highly relativistic on sub-parsec scales, with apparent proper motions up to 15c observed by very long baseline interferometry. In contrast, we find that the kiloparsec-scale knots are compatible with being stationary, with a mean speed of −0.2 ± 0.5c over the whole jet. Assuming the knots are packets of moving plasma, an upper limit of 1c implies a bulk Lorentz factor Γ < 2.9. This suggests that the jet has either decelerated significantly by the time it reaches the kiloparsec scale, or that the knots in the jet are standing shock features. The second scenario is incompatible with the inverse Compton off the Cosmic Microwave Background (IC/CMB) model for the X-ray emission of these knots, which requires the knots to be in motion, but IC/CMB is also disfavored in the first scenario due to energetic considerations, in agreement with the recent finding of Meyer and Georganopoulos which ruled out the IC/CMB model for the X-ray emission of 3C 273 via gamma-ray upper limits.

COMMON PROPER-MOTION WIDE WHITE DWARF BINARIES SELECTED FROM THE SLOAN DIGITAL SKY SURVEY

International Nuclear Information System (INIS)

Andrews, Jeff J.; Agüeros, Marcel A.; Belczynski, Krzysztof; Dhital, Saurav; Kleinman, S. J.; West, Andrew A.

2012-01-01

Wide binaries made up of two white dwarfs (WDs) receive far less attention than their tight counterparts. However, our tests using the binary population synthesis code StarTrack indicate that, for any set of reasonable initial conditions, there exists a significant observable population of double white dwarfs (WDWDs) with orbital separations of 10 2 -10 5 AU. We adapt the technique of Dhital et al. to search for candidate common proper-motion WD companions separated by 12,000 spectroscopically confirmed hydrogen-atmosphere WDs recently identified in the Sloan Digital Sky Survey. Using two techniques to separate random alignments from high-confidence pairs, we find nine new high-probability wide WDWDs and confirm three previously identified candidate wide WDWDs. This brings the number of known wide WDWDs to 45; our new pairs are a significant addition to the sample, especially at small proper motions ( –1 ) and large angular separations (>10''). Spectroscopic follow-up and an extension of this method to a larger, photometrically selected set of SDSS WDs may eventually produce a large enough dataset for WDWDs to realize their full potential as testbeds for theories of stellar evolution.

Early Improper Motion Detection in Golf Swings Using Wearable Motion Sensors: The First Approach

Science.gov (United States)

Stančin, Sara; Tomažič, Sašo

2013-01-01

This paper presents an analysis of a golf swing to detect improper motion in the early phase of the swing. Led by the desire to achieve a consistent shot outcome, a particular golfer would (in multiple trials) prefer to perform completely identical golf swings. In reality, some deviations from the desired motion are always present due to the comprehensive nature of the swing motion. Swing motion deviations that are not detrimental to performance are acceptable. This analysis is conducted using a golfer's leading arm kinematic data, which are obtained from a golfer wearing a motion sensor that is comprised of gyroscopes and accelerometers. Applying the principal component analysis (PCA) to the reference observations of properly performed swings, the PCA components of acceptable swing motion deviations are established. Using these components, the motion deviations in the observations of other swings are examined. Any unacceptable deviations that are detected indicate an improper swing motion. Arbitrarily long observations of an individual player's swing sequences can be included in the analysis. The results obtained for the considered example show an improper swing motion in early phase of the swing, i.e., the first part of the backswing. An early detection method for improper swing motions that is conducted on an individual basis provides assistance for performance improvement. PMID:23752563

Assessment of motion and kinematic characteristics of frozen-thawed Sirohi goat semen using computer-assisted semen analysis

Directory of Open Access Journals (Sweden)

Mukul Anand

2016-02-01

Full Text Available Aim: The aim was to determine the motion and kinematics characteristic of frozen-thawed spermatozoa in Sirohi goat using computer-assisted semen analysis. Materials and Methods: A study was carried out in Sirohi buck. Semen collection was made biweekly from each buck with the help of artificial vagina. A total of 12 ejaculates were collected from two bucks (six ejaculates from each buck. Freshly collected semen was pooled and later evaluated. The pooled semen sample was extended with standard glycerolated egg yolk tris extender and later subjected to a process of cryopreservation. The motion and kinematic characteristics of spermatozoa were studied during freez-thawing process. Results: Significantly (p<0.01 higher value of live percent, hypo-osmotic swelling test, and acrosomal integrity were recorded in neat semen followed by diluted and frozen thaw semen. The proportion of spermatozoa showing slow progression were the highest in the neat and diluted semen followed by rapid and non-progressively motile, while a reverse pattern was observed in the frozen thaw semen where the proportion of non-progressively motile spermatozoa were significantly (p<0.01 higher followed by slow and rapid progression. Conclusion: This study showed that the best results for motion, vitality, plasma membrane integrity, and acrosome status were obtained in the neat semen followed by diluted and frozen thaw semen. Further, the process of cryopreservation results in a shift of motility from slow to non-progressive in the post-thaw semen with a significant decrease in the path velocities when compared to neat and diluted semen. Hence, it can be concluded that freezing-thawing process reduces the motility and kinematic characters spermatozoa and may be an important factor affecting the fertilizing ability of spermatozoa resulting in poor conception rate after insemination in goats.

THE PPMXL CATALOG OF POSITIONS AND PROPER MOTIONS ON THE ICRS. COMBINING USNO-B1.0 AND THE TWO MICRON ALL SKY SURVEY (2MASS)

International Nuclear Information System (INIS)

Roeser, S.; Demleitner, M.; Schilbach, E.

2010-01-01

USNO-B1.0 and the Two Micron All Sky Survey (2MASS) are the most widely used all-sky surveys. However, 2MASS has no proper motions at all, and USNO-B1.0 published only relative, not absolute (i.e., on the International Celestial Reference Frame (ICRS), proper motions. We performed a new determination of mean positions and proper motions on the ICRS system by combining USNO-B1.0 and 2MASS astrometry. This catalog is called PPMXL (VO access to the catalog is possible via http://vo.uni-hd.de/ppmxl), and it aims to be completed from the brightest stars down to about V ∼ 20 all sky. PPMXL contains about 900 million objects, some 410 million with 2MASS photometry, and is the largest collection of ICRS proper motions at present. As representative for the ICRS, we chose PPMX. The recently released UCAC3 could not be used because we found plate-dependent distortions in its proper motion system north of -20 0 declination. UCAC3 served as an intermediate system for δ ≤ -20 0 . The resulting typical individual mean errors of the proper motions range from 4 mas yr -1 to more than 10 mas yr -1 depending on observational history. The mean errors of positions at epoch 2000.0 are 80-120 mas, if 2MASS astrometry could be used, 150-300 mas else. We also give correction tables to convert USNO-B1.0 observations of, e.g., minor planets to the ICRS system.

The Ultimate Catalog of Omega Centauri: 15-BAND Photometry and Proper Motions

Science.gov (United States)

Anderson, Jay

2011-10-01

We propose to construct the most comprehensive catalog of photometry and proper motions ever assembled for a globular cluster {GC}. The core of Omega Centauri has been imaged nearly 500 times through WFC3's UVIS and IR channels for the purposes of detector calibration. There exist 30 exposures through each of 15 filters, stretching uniformly from F225W in the UV to F160W in the infrared. Furthermore, the 8-year baseline between this data and a 2002 ACS survey will more than double the accuracy and triple the number of well-measured stars compared to our previous groundbreaking effort. This totally unprecedented complete spectral coverage for over 300,000 stars, from the red-giant branch {RGB} down to the white dwarfs {WDs}, provides the best chance yet to understand the multiple-population phenomenon in any GC. A preliminary analysis of the color-magnitude diagrams in different bands already allows us to identify more than 10 distinct sequences.We will make the full catalog of 15-band photometry and proper motions available to the community within 6 months of starting this project. We will then be the first to exploit this tremendous resource. The science we will address includes: {1} identifying all the sequences and tying them together, from the main sequence up to the RGB;{2} continuing the search for a central massive object; {3} examination of the WD sequence for any manifestations of multiple-populations; and{4} searching for cataclysmic variables and He WDs.

Proper motions in the VVV Survey: Results for more than 15 million stars across NGC 6544

Science.gov (United States)

Contreras Ramos, R.; Zoccali, M.; Rojas, F.; Rojas-Arriagada, A.; Gárate, M.; Huijse, P.; Gran, F.; Soto, M.; Valcarce, A. A. R.; Estévez, P. A.; Minniti, D.

2017-12-01

Context. In the last six years, the VISTA Variable in the Vía Láctea (VVV) survey mapped 562 sq. deg. across the bulge and southern disk of the Galaxy. However, a detailed study of these regions, which includes 36 globular clusters (GCs) and thousands of open clusters is by no means an easy challenge. High differential reddening and severe crowding along the line of sight makes highly hamper to reliably distinguish stars belonging to different populations and/or systems. Aims: The aim of this study is to separate stars that likely belong to the Galactic GC NGC 6544 from its surrounding field by means of proper motion (PM) techniques. Methods: This work was based upon a new astrometric reduction method optimized for images of the VVV survey. Results: PSF-fitting photometry over the six years baseline of the survey allowed us to obtain a mean precision of 0.51 mas yr-1, in each PM coordinate, for stars with Ks< 15 mag. In the area studied here, cluster stars separate very well from field stars, down to the main sequence turnoff and below, allowing us to derive for the first time the absolute PM of NGC 6544. Isochrone fitting on the clean and differential reddening corrected cluster color magnitude diagram yields an age of 11-13 Gyr, and metallicity [Fe/H] =-1.5 dex, in agreement with previous studies restricted to the cluster core. We were able to derive the cluster orbit assuming an axisymmetric model of the Galaxy and conclude that NGC 6544 is likely a halo GC. We have not detected tidal tail signatures associated to the cluster, but a remarkable elongation in the galactic center direction has been found. The precision achieved in the PM determination also allows us to separate bulge stars from foreground disk stars, enabling the kinematical selection of bona fide bulge stars across the whole survey area. Conclusions: Kinematical techniques are a fundamental step toward disentangling different stellar populations that overlap in a studied field. Our results show

ESO 439-162/163 - a common proper motion binary formed by a magnetic DQ and a DC type white dwarf

International Nuclear Information System (INIS)

Ruiz, M.T.; Maza, J.

1988-01-01

In the course of a search for faint large proper motion stars, a common proper motion pair was identified having a mu = 0.38 + or - 0.03 arcsec/yr in the direction theta = 233 deg. The stars are separated by 23 arcsec and have apparent visual magnitudes 18.77 and 19.84, respectively. Spectrophotometry of the stars established that the fainter component is a cold DC white dwarf, while the brighter one is a magnetic white dwarf with strong Swan bands of C2 shifted and broadened by an about 10 to the 8th G magnetic field. 6 references

SLoWPoKES-II: 100,000 WIDE BINARIES IDENTIFIED IN SDSS WITHOUT PROPER MOTIONS

Energy Technology Data Exchange (ETDEWEB)

Dhital, Saurav [Department of Physical Sciences, Embry-Riddle Aeronautical University, 600 South Clyde Morris Blvd., Daytona Beach, FL 32114 (United States); West, Andrew A.; Schluns, Kyle J.; Massey, Angela P. [Department of Astronomy, Boston University, 725 Commonwealth Avenue, Boston, MA 02215 (United States); Stassun, Keivan G., E-mail: dhitals@erau.edu [Department of Physics and Astronomy, Vanderbilt University, 6301 Stevenson Center, Nashville, TN, 37235 (United States)

2015-08-15

We present the Sloan Low-mass Wide Pairs of Kinematically Equivalent Stars (SLoWPoKES)-II catalog of low-mass visual binaries identified from the Sloan Digital Sky Survey (SDSS) by matching photometric distances. The candidate pairs are vetted by comparing the stellar information. The candidate pairs are vetted by comparing the stellar density at their respective Galactic positions to Monte Carlo realizations of a simulated Milky Way. In this way, we are able to identify large numbers of bona fide wide binaries without the need for proper motions. Here, 105,537 visual binaries with angular separations of ∼1–20″ were identified, each with a probability of chance alignment of ≤5%. This is the largest catalog of bona fide wide binaries to date, and it contains a diversity of systems—in mass, mass ratios, binary separations, metallicity, and evolutionary states—that should facilitate follow-up studies to characterize the properties of M dwarfs and white dwarfs. There is a subtle but definitive suggestion of multiple populations in the physical separation distribution, supporting earlier findings. We suggest that wide binaries are composed of multiple populations, most likely representing different formation modes. There are 141 M7 or later wide binary candidates, representing a seven-fold increase over the number currently known. These binaries are too wide to have been formed via the ejection mechanism. Finally, we found that 6% of spectroscopically confirmed M dwarfs are not included in the SDSS STAR catalog; they are misclassified as extended sources due to the presence of a nearby or partially resolved companion. The SLoWPoKES-II catalog is publicly available to the entire community on the World Wide Web via the Filtergraph data visualization portal.

Study of human body: Kinematics and kinetics of a martial arts (Silat) performers using 3D-motion capture

Science.gov (United States)

Soh, Ahmad Afiq Sabqi Awang; Jafri, Mohd Zubir Mat; Azraai, Nur Zaidi

2015-04-01

The Interest in this studies of human kinematics goes back very far in human history drove by curiosity or need for the understanding the complexity of human body motion. To find new and accurate information about the human movement as the advance computing technology became available for human movement that can perform. Martial arts (silat) were chose and multiple type of movement was studied. This project has done by using cutting-edge technology which is 3D motion capture to characterize and to measure the motion done by the performers of martial arts (silat). The camera will detect the markers (infrared reflection by the marker) around the performer body (total of 24 markers) and will show as dot in the computer software. The markers detected were analyzing using kinematic kinetic approach and time as reference. A graph of velocity, acceleration and position at time,t (seconds) of each marker was plot. Then from the information obtain, more parameters were determined such as work done, momentum, center of mass of a body using mathematical approach. This data can be used for development of the effectiveness movement in martial arts which is contributed to the people in arts. More future works can be implemented from this project such as analysis of a martial arts competition.

COMMON PROPER-MOTION WIDE WHITE DWARF BINARIES SELECTED FROM THE SLOAN DIGITAL SKY SURVEY

Energy Technology Data Exchange (ETDEWEB)

Andrews, Jeff J.; Agueeros, Marcel A. [Department of Astronomy, Columbia University, 550 West 120th Street, New York, NY 10027 (United States); Belczynski, Krzysztof [Astronomical Observatory, University of Warsaw, Al. Ujazdowskie 4, 00-478 Warsaw (Poland); Dhital, Saurav [Department of Physics and Astronomy, Vanderbilt University, 6301 Stevenson Center, Nashville, TN 37235 (United States); Kleinman, S. J. [Gemini Observatory, Northern Operations Center, Hilo, HI 96720 (United States); West, Andrew A. [Department of Astronomy, Boston University, 725 Commonwealth Ave, Boston, MA 02215 (United States)

2012-10-01

Wide binaries made up of two white dwarfs (WDs) receive far less attention than their tight counterparts. However, our tests using the binary population synthesis code StarTrack indicate that, for any set of reasonable initial conditions, there exists a significant observable population of double white dwarfs (WDWDs) with orbital separations of 10{sup 2}-10{sup 5} AU. We adapt the technique of Dhital et al. to search for candidate common proper-motion WD companions separated by <10' around the >12,000 spectroscopically confirmed hydrogen-atmosphere WDs recently identified in the Sloan Digital Sky Survey. Using two techniques to separate random alignments from high-confidence pairs, we find nine new high-probability wide WDWDs and confirm three previously identified candidate wide WDWDs. This brings the number of known wide WDWDs to 45; our new pairs are a significant addition to the sample, especially at small proper motions (<200 mas yr{sup -1}) and large angular separations (>10''). Spectroscopic follow-up and an extension of this method to a larger, photometrically selected set of SDSS WDs may eventually produce a large enough dataset for WDWDs to realize their full potential as testbeds for theories of stellar evolution.

Automated Kinematics Equations Generation and Constrained Motion Planning Resolution for Modular and Reconfigurable Robots

Energy Technology Data Exchange (ETDEWEB)

Pin, Francois G.; Love, Lonnie L.; Jung, David L.

2004-03-29

Contrary to the repetitive tasks performed by industrial robots, the tasks in most DOE missions such as environmental restoration or Decontamination and Decommissioning (D&D) can be characterized as ''batches-of-one'', in which robots must be capable of adapting to changes in constraints, tools, environment, criteria and configuration. No commercially available robot control code is suitable for use with such widely varying conditions. In this talk we present our development of a ''generic code'' to allow real time (at loop rate) robot behavior adaptation to changes in task objectives, tools, number and type of constraints, modes of controls or kinematics configuration. We present the analytical framework underlying our approach and detail the design of its two major modules for the automatic generation of the kinematics equations when the robot configuration or tools change and for the motion planning under time-varying constraints. Sample problems illustrating the capabilities of the developed system are presented.

VizieR Online Data Catalog: WD+dMs from the SUPERBLINK proper motion survey (Skinner+, 2017)

Science.gov (United States)

Skinner, J. N.; Morgan, D. P.; West, A. A.; Lepine, S.; Thorstensen, J. R.

2018-06-01

To select for nearby WD+dMs, we used the SUPERBLINK proper motion survey (Lepine et al. 2002, J/AJ/124/1190; Lepine & Shara 2005, Cat. I/298), an ongoing all-sky survey that identifies and characterizes stars with proper motions μ>40 mas/yr. For this study, we used the 2011 July version of SUPERBLINK, which listed 2270481 stars, and was estimated to be >90% complete to V=19.0. We selected WD+dMs based on a combination of V magnitudes derived from the DSS plates (see Lepine & Shara 2005, Cat. I/298), near-UV magnitudes from GALEX, and Ks magnitudes from 2MASS. Using the UV-optical-IR color selection outlined in Skinner et al. (2014AJ....148..115S), we selected targets for spectroscopic follow-up (see bottom panel of Figure 1). We acquired optical spectroscopy of 178 newly identified WD+dM candidates, with the Boller and Chivens CCD spectrograph (CCDS), using both the Hiltner 2.4 m and McGraw-Hill 1.3 m telescopes located at the MDM Observatory. (3 data files).

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

Energy Technology Data Exchange (ETDEWEB)

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

2014-09-20

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

Assessment of motion and kinematic characteristics of frozen-thawed Sirohi goat semen using computer-assisted semen analysis.

Science.gov (United States)

Anand, Mukul; Yadav, Sarvajeet

2016-02-01

The aim was to determine the motion and kinematics characteristic of frozen-thawed spermatozoa in Sirohi goat using computer-assisted semen analysis. A study was carried out in Sirohi buck. Semen collection was made biweekly from each buck with the help of artificial vagina. A total of 12 ejaculates were collected from two bucks (six ejaculates from each buck). Freshly collected semen was pooled and later evaluated. The pooled semen sample was extended with standard glycerolated egg yolk tris extender and later subjected to a process of cryopreservation. The motion and kinematic characteristics of spermatozoa were studied during freez-thawing process. Significantly (plive percent, hypo-osmotic swelling test, and acrosomal integrity were recorded in neat semen followed by diluted and frozen thaw semen. The proportion of spermatozoa showing slow progression were the highest in the neat and diluted semen followed by rapid and non-progressively motile, while a reverse pattern was observed in the frozen thaw semen where the proportion of non-progressively motile spermatozoa were significantly (pvitality, plasma membrane integrity, and acrosome status were obtained in the neat semen followed by diluted and frozen thaw semen. Further, the process of cryopreservation results in a shift of motility from slow to non-progressive in the post-thaw semen with a significant decrease in the path velocities when compared to neat and diluted semen. Hence, it can be concluded that freezing-thawing process reduces the motility and kinematic characters spermatozoa and may be an important factor affecting the fertilizing ability of spermatozoa resulting in poor conception rate after insemination in goats.

Rotation sequence to report humerothoracic kinematics during 3D motion involving large horizontal component: application to the tennis forehand drive.

Science.gov (United States)

Creveaux, Thomas; Sevrez, Violaine; Dumas, Raphaël; Chèze, Laurence; Rogowski, Isabelle

2018-03-01

The aim of this study was to examine the respective aptitudes of three rotation sequences (Y t X f 'Y h '', Z t X f 'Y h '', and X t Z f 'Y h '') to effectively describe the orientation of the humerus relative to the thorax during a movement involving a large horizontal abduction/adduction component: the tennis forehand drive. An optoelectronic system was used to record the movements of eight elite male players, each performing ten forehand drives. The occurrences of gimbal lock, phase angle discontinuity and incoherency in the time course of the three angles defining humerothoracic rotation were examined for each rotation sequence. Our results demonstrated that no single sequence effectively describes humerothoracic motion without discontinuities throughout the forehand motion. The humerothoracic joint angles can nevertheless be described without singularities when considering the backswing/forward-swing and the follow-through phases separately. Our findings stress that the sequence choice may have implications for the report and interpretation of 3D joint kinematics during large shoulder range of motion. Consequently, the use of Euler/Cardan angles to represent 3D orientation of the humerothoracic joint in sport tasks requires the evaluation of the rotation sequence regarding singularity occurrence before analysing the kinematic data, especially when the task involves a large shoulder range of motion in the horizontal plane.

SPATIAL MOTION OF THE MAGELLANIC CLOUDS: TIDAL MODELS RULED OUT?

International Nuclear Information System (INIS)

Ruzicka, Adam; Palous, Jan; Theis, Christian

2009-01-01

Recently, Kallivayalil et al. derived new values of the proper motion for the Large and Small Magellanic Clouds (LMC and SMC, respectively). The spatial velocities of both Clouds are unexpectedly higher than their previous values resulting from agreement between the available theoretical models of the Magellanic System and the observations of neutral hydrogen (H I) associated with the LMC and the SMC. Such proper motion estimates are likely to be at odds with the scenarios for creation of the large-scale structures in the Magellanic System suggested so far. We investigated this hypothesis for the pure tidal models, as they were the first ones devised to explain the evolution of the Magellanic System, and the tidal stripping is intrinsically involved in every model assuming the gravitational interaction. The parameter space for the Milky Way (MW)-LMC-SMC interaction was analyzed by a robust search algorithm (genetic algorithm) combined with a fast, restricted N-body model of the interaction. Our method extended the known variety of evolutionary scenarios satisfying the observed kinematics and morphology of the Magellanic large-scale structures. Nevertheless, assuming the tidal interaction, no satisfactory reproduction of the H I data available for the Magellanic Clouds was achieved with the new proper motions. We conclude that for the proper motion data by Kallivayalil et al., within their 1σ errors, the dynamical evolution of the Magellanic System with the currently accepted total mass of the MW cannot be explained in the framework of pure tidal models. The optimal value for the western component of the LMC proper motion was found to be μ W lmc ∼> -1.3 mas yr -1 in case of tidal models. It corresponds to the reduction of the Kallivayalil et al. value for μ W lmc by ∼ 40% in its magnitude.

The first allwise proper motion discovery: Wisea J070720.50+170532.7

Energy Technology Data Exchange (ETDEWEB)

Wright, Edward L.; Mace, Gregory; McLean, Ian S. [UCLA Astronomy, P.O. Box 951547, Los Angeles, CA 90095-1547 (United States); Kirkpatrick, J. Davy; Gelino, Christopher R.; Fajardo-Acosta, Sergio [Infrared Processing and Analysis Center, California Institute of Technology, Pasadena, CA 91125 (United States); Eisenhardt, Peter R.; Stern, Daniel [Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, CA 91109 (United States); Skrutskie, M. F.; Oza, Apurva; Nelson, M. J. [Department of Astronomy, University of Virginia, Charlottesville, VA 22904 (United States); Cushing, Michael C. [Department of Physics and Astronomy, University of Toledo, 2801 West Bancroft Street, Toledo, OH 43606-3328 (United States); Reid, I. Neill [STScI, Baltimore, MD 21218 (United States); Fumagalli, Michele [Carnegie Observatories, 813 Santa Barbara Street, Pasadena, CA 91101 (United States); Burgasser, Adam J., E-mail: wright@astro.ucla.edu [University of California San Diego, 9500 Gilman Drive, La Jolla, CA 92093 (United States)

2014-03-01

While quality checking a new motion-aware co-addition of all 12.5 months of Wide-field Infrared Survey Explorer (WISE) data, we found that the source WISE J070720.48+170533.0 moved 0.''9 in six months. Backtracking this motion allowed us to identify this source as 2MASS J07071961+1705464, with several entries in the USNO B catalog. An astrometric fit to these archival data gives a proper motion of μ = 1793 ± 2 mas yr{sup –1} and a parallax of piv = 35 ± 42 mas. Photometry from WISE, 2MASS, and the POSS can be fit reasonably well by a blackbody with T = 3658 K and an angular radius of 4.36 × 10{sup –11} radians. No clear evidence of H{sub 2} collision-induced absorption is seen in the near-infrared. An optical spectrum shows broad deep CaH bands at 638 and 690 nm, broad deep Na D at 598.2 nm, and weak or absent TiO, indicating that this source is an ultra-subdwarf M star with a radial velocity v {sub rad} ≈ –21 ± 18 km s{sup –1} relative to the Sun. Given its apparent magnitude, the distance is about 39 ± 9 pc and the tangential velocity is probably ≈330 km s{sup –1}, but a more precise parallax is needed to be certain.

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 ...

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.

A new sample of cool subdwarfs from SDSS: properties and kinematics

Energy Technology Data Exchange (ETDEWEB)

Savcheva, Antonia S. [Harvard-Smithsonian Center for Astrophysics, 60 Garden Street, Cambridge, MA 02138 (United States); West, Andrew A. [Astronomy Department, Boston University, 725 Commonwealth Avenue, Boston, MA 02215 (United States); Bochanski, John J., E-mail: asavcheva@cfa.harvard.edu [Department of Physics and Astronomy, Haverford College, 370 Lancaster Avenue, Haverford, PA 19041 (United States)

2014-10-20

We present a new sample of M subdwarfs compiled from the seventh data release of the Sloan Digital Sky Survey. With 3517 new subdwarfs, this new sample significantly increases the number of spectroscopically confirmed low-mass subdwarfs. This catalog also includes 905 extreme and 534 ultra sudwarfs. We present the entire catalog, including observed and derived quantities, and template spectra created from co-added subdwarf spectra. We show color-color and reduced proper motion diagrams of the three metallicity classes, which are shown to separate from the disk dwarf population. The extreme and ultra subdwarfs are seen at larger values of reduced proper motion, as expected for more dynamically heated populations. We determine 3D kinematics for all of the stars with proper motions. The color-magnitude diagrams show a clear separation of the three metallicity classes with the ultra and extreme subdwarfs being significantly closer to the main sequence than the ordinary subdwarfs. All subdwarfs lie below (fainter) and to the left (bluer) of the main sequence. Based on the average (U, V, W) velocities and their dispersions, the extreme and ultra subdwarfs likely belong to the Galactic halo, while the ordinary subdwarfs are likely part of the old Galactic (or thick) disk. An extensive activity analysis of subdwarfs is performed using Hα emission, and 208 active subdwarfs are found. We show that while the activity fraction of subdwarfs rises with spectral class and levels off at the latest spectral classes, consistent with the behavior of M dwarfs, the extreme and ultra subdwarfs are basically flat.

Correlation between hip function and knee kinematics evaluated by three-dimensional motion analysis during lateral and medial side-hopping.

Science.gov (United States)

Itoh, Hiromitsu; Takiguchi, Kohei; Shibata, Yohei; Okubo, Satoshi; Yoshiya, Shinichi; Kuroda, Ryosuke

2016-09-01

[Purpose] Kinematic and kinetic characteristics of the limb during side-hopping and hip/knee interaction during this motion have not been clarified. The purposes of this study were to examine the biomechanical parameters of the knee during side hop and analyze its relationship with clinical measurements of hip function. [Subjects and Methods] Eleven male college rugby players were included. A three-dimensional motion analysis system was used to assess motion characteristics of the knee during side hop. In addition, hip range of motion and muscle strength were evaluated. Subsequently, the relationship between knee motion and the clinical parameters of the hip was analyzed. [Results] In the lateral touchdown phase, the knee was positioned in an abducted and externally rotated position, and increasing abduction moment was applied to the knee. An analysis of the interaction between knee motion and hip function showed that range of motion for hip internal rotation was significantly correlated with external rotation angle and external rotation/abduction moments of the knee during the lateral touchdown phase. [Conclusion] Range of motion for hip internal rotation should be taken into consideration for identifying the biomechanical characteristics in the side hop test results.

HST Proper Motions of Distant Globular Clusters: Constraining the Formation & Mass of the Milky Way

Science.gov (United States)

Sohn, S. Tony; van der Marel, Roeland P.; Deason, Alis; Bellini, Andrea; Besla, Gurtina; Watkins, Laura

2018-04-01

Proper motions (PMs) are required to calculate accurate orbits of globular clusters (GCs) in the Milky Way (MW) halo. We present our HST program to create a PM database for 20 GCs at distances of R GC = 10-100 kpc. Targets are discussed along with PM measurement methods. We also describe how our PM results can be used for Gaia as an external check, and discuss the synergy between HST and Gaia as astrometric instruments in the coming years.

THE SOLAR NEIGHBORHOOD. XXV. DISCOVERY OF NEW PROPER MOTION STARS WITH 0.''40 yr-1 > μ ≥ 0.''18 yr-1 BETWEEN DECLINATIONS -470 AND 000

International Nuclear Information System (INIS)

Boyd, Mark R.; Winters, Jennifer G.; Henry, Todd J.; Jao, Wei-Chun; Finch, Charlie T.; Subasavage, John P.; Hambly, Nigel C.

2011-01-01

We present 2817 new southern proper motion systems with 0.''40 yr -1 > μ ≥ 0.''18 yr -1 and declination between -47 0 and 00 0 . This is a continuation of the SuperCOSMOS-RECONS (SCR) proper motion searches of the southern sky. We use the same photometric relations as previous searches to provide distance estimates based on the assumption that the objects are single main-sequence stars. We find 79 new red dwarf systems predicted to be within 25 pc, including a few new components of previously known systems. Two systems-SCR 1731-2452 at 9.5 pc and SCR 1746-3214 at 9.9 pc-are anticipated to be within 10 pc. We also find 23 new white dwarf (WD) candidates with distance estimates of 15-66 pc, as well as 360 new red subdwarf candidates. With this search, we complete the SCR sweep of the southern sky for stars with μ ≥ 0.''18 yr -1 and R 59F ≤ 16.5, resulting in a total of 5042 objects in 4724 previously unreported proper motion systems. Here we provide selected comprehensive lists from our SCR proper motion search to date, including 152 red dwarf systems estimated to be within 25 pc (9 within 10 pc), 46 WDs (10 within 25 pc), and 598 subdwarf candidates. The results of this search suggest that there are more nearby systems to be found at fainter magnitudes and lower proper motion limits than those probed so far.

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

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).

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.

VizieR Online Data Catalog: Gaia-PS1-SDSS (GPS1) proper motion catalog (Tian+, 2017)

Science.gov (United States)

Tian, H.-J.; Gupta, P.; Sesar, B.; Rix, H.-W.; Martin, N. F.; Liu, C.; Goldman, B.; Platais, I.; Kudritzki, R.-P.; Waters, C. Z.

2018-02-01

In order to construct proper motions, we analyze and model catalog positions from four different imaging surveys, as discussed below. Gaia DR1 is based on observations collected between 2014 July 25 and 2015 September 16. PS1 observations were collected between 2010 and 2014. The SDSS DR9 data used here were obtained in the years between 2000 and 2008. The images from 2MASS were taken between 1997 and 2001. (1 data file).

Human Kinematics of Cochlear Implant Surgery: An Investigation of Insertion Micro-Motions and Speed Limitations.

Science.gov (United States)

Kesler, Kyle; Dillon, Neal P; Fichera, Loris; Labadie, Robert F

2017-09-01

Objectives Document human motions associated with cochlear implant electrode insertion at different speeds and determine the lower limit of continuous insertion speed by a human. Study Design Observational. Setting Academic medical center. Subjects and Methods Cochlear implant forceps were coupled to a frame containing reflective fiducials, which enabled optical tracking of the forceps' tip position in real time. Otolaryngologists (n = 14) performed mock electrode insertions at different speeds based on recommendations from the literature: "fast" (96 mm/min), "stable" (as slow as possible without stopping), and "slow" (15 mm/min). For each insertion, the following metrics were calculated from the tracked position data: percentage of time at prescribed speed, percentage of time the surgeon stopped moving forward, and number of direction reversals (ie, going from forward to backward motion). Results Fast insertion trials resulted in better adherence to the prescribed speed (45.4% of the overall time), no motion interruptions, and no reversals, as compared with slow insertions (18.6% of time at prescribed speed, 15.7% stopped time, and an average of 18.6 reversals per trial). These differences were statistically significant for all metrics ( P implant electrode at 15 mm/min is not feasible for human operators. The lower limit of continuous forward insertion is 52 mm/min on average. Guidelines on manual insertion kinematics should consider this practical limit of human motion.

Knowing Our Neighbors: Four New Nearby High Proper Motion Systems

Science.gov (United States)

Bartlett, Jennifer L.; Lurie, John C.; Ianna, Philip A.; Riedel, Adric R.; Finch, Charlie T.; Winters, Jennifer G.; Jao, Wei-Chun; Subasavage, John P.; Henry, Todd J.

2017-01-01

Obtaining a well-understood, volume-limited (and ultimately volume-complete) sample of stellar systems within 25 pc is essential for determining the stellar luminosity function, the mass-luminosity relationship, the stellar velocity distribution, and the stellar multiplicity fraction. Such a sample also provides insight into the local star formation history. Towards that end, the Research Consortium On Nearby Stars (RECONS) team measures trigonometric parallaxes to establish which systems truly lie within the 25-pc radius of the Solar Neighborhood. Recent astrometric measurements with the CTIO/SMARTS 0.9-m telescope establish three high proper motion systems as members (2MASS J02511490-0352459, 2MASS J15345704-1418486, and 2MASS J09211410-2104446) and confirm a fourth (2MASS J23062928-0502285). All four proper motions exceed 0.9”/yr. 2MA0251 travels 2.1497±0.0009”/yr in 149.20±0.05° at a distance of 11.0±0.4 pc. 2M2306 moves 1.0344±0.0007”/yr in 118.50±0.08° at a distance of 12.7±0.2 pc. 2MA1534 goes 0.9726±0.0004”/yr in 251.50 ±0.05° at a distance of 10.93±0.10 pc. 2MA0921 shifts 0.9489±0.0003”/yr in 164.70±0.04° at a distance of 12.3±0.2 pc. The corresponding tangential velocities are 112.4, 62.4, 50.4, and 55.5 km/s whereas the median for parallaxes previously published by RECONS is 53 km/s. With radial velocities in the literature of -75.5 to 80.53 km/s, none of these is a candidate member of any young moving groups.To characterize these late M-early L systems more fully, RECONS obtained VRI photometry; their I -band magnitudes range from 14.10 to 16.55. Over their astrometric baselines of 7.75 to 8.99 years, these demonstrated long-term I-band variability of 0.0135 mag. or less, indicating they may be older systems.With each new confirmation, we come closer to completing the census of the Solar Neighborhood.NSF grants AST 05-07711 and AST 09-08402, NASA-SIM, Georgia State University, the University of Virginia, Hampden-Sydney College

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.

PROPER MOTIONS OF THE OUTER KNOTS OF THE HH 80/81/80N RADIO-JET

Energy Technology Data Exchange (ETDEWEB)

Masqué, Josep M.; Rodriguez, Luis F.; Carrasco-González, Carlos [Instituto de Radioastronomía y Astrofísica, Universidad Nacional Autónoma de México, Morelia 58089, México (Mexico); Araudo, Anabella [University of Oxford, Astrophysics, Keble Road, Oxford OX1 3RH (United Kingdom); Estalella, Robert [Departament d’Astronomia i Meteorologia and Institut de Ciències del Cosmos (IEEC-UB), Universitat de Barcelona, Martí i Franquès 1, E-08028 Barcelona, Catalunya (Spain); Anglada, Guillem; Osorio, Mayra [Instituto de Astrofísica de Andalucía (CSIC), Apartado 3004, E-18080 Granada (Spain); Girart, Josep M. [Institut de Ciències de l’Espai (CSIC-IEEC), Campus UAB, Carrer de Can Magrans, S/N, E-08193 Cerdanyola del Vallès, Catalunya (Spain)

2015-11-20

The radio-knots of the Herbig–Haro (HH) 80/81/80N jet extend from the HH 80 object to the recently discovered Source 34 and has a total projected jet size of 10.3 pc, constituting the largest collimated radio-jet system known so far. It is powered by the bright infrared source IRAS 18162−2048 associated with a massive young stellar object. We report 6 cm JVLA observations that, compared with previous 6 cm VLA observations carried out in 1989, allow us to derive proper motions of the HH 80, HH 81, and HH 80N radio knots located about 2.5 pc away in projection from the powering source. For the first time, we measure proper motions of the optically obscured HH 80N object providing evidence that this knot, along with HH 81 and HH 80 are associated with the same radio-jet. We also confirm the presence of Source 34, located further north of HH 80N, previously proposed to belong to the jet.We derived that the tangential velocity of HH 80N is 260 km s{sup −1} and has a direction in agreement with the expected direction of a ballistic precessing jet. The HH 80 and HH 81 objects have tangential velocities of 350 and 220 km s{sup −1}, respectively, but their directions are somewhat deviated from the expected jet path. The velocities of the HH objects studied in this work are significantly lower than those derived for the radio knots of the jet close to the powering source (600–1400 km s{sup −1}) suggesting that the jet is slowing down due to a strong interaction with the ambient medium. As a result, since HH 80 and HH 81 are located near the edge of the cloud, the inhomogeneous and low density medium may contribute to skew the direction of their determined proper motions. The HH 80 and HH 80N emission at 6 cm is, at least in part, probably synchrotron radiation produced by relativistic electrons in a magnetic field of 1 mG. If these electrons are accelerated in a reverse adiabatic shock, we estimate a jet total density of ≲1000 cm{sup −3}. All of these

The imprint of proper motion of nonlinear structures on the cosmic microwave background

Science.gov (United States)

Tuluie, Robin; Laguna, Pablo

1995-01-01

We investigate the imprint of nonlinear matter condensations on the cosmic microwave background (CMB) in an Omega = 1, cold dark matter (CDM) model universe. Temperature anisotropies are obtained by numerically evolving matter inhomogeneities and CMB photons from the beginning of decoupling until the present epoch. The underlying density field produced by the inhomogeneities is followed from the linear, through the weakly clustered, into the fully nonlinear regime. We concentrate on CMB temperature distortions arising from variations in the gravitational potentials of nonlinear structures. We find two sources of temperature fluctuations produced by time-varying potentials: (1) anisotropies due to intrinsic changes in the gravitational potentials of the inhomogeneities and (2) anisotropies generated by the peculiar, bulk motion of the structures across the microwave sky. Both effects generate CMB anisotropies in the range of 10(exp -7) approximately less than or equal to (Delta T/T) approximately less than or equal to 10(exp -6) on scales of approximately 1 deg. For isolated structures, anisotropies due to proper motion exhibit a dipole-like signature in the CMB sky that in principle could yield information on the transverse velocity of the structures.

A School Experiment in Kinematics: Shooting from a Ballistic Cart

Science.gov (United States)

Kranjc, T.; Razpet, N.

2011-10-01

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 interesting and attractive to students—the ballistic cart, i.e., the shooting of a ball from a cart moving along a slope. For that, one has to be familiar with one-dimensional uniform motion and one-dimensional motion with constant acceleration, as well as curvilinear motion that is a combination of such motions.1,2 The experimental results confirm theoretical predictions.

The Solar Neighborhood. XXV. Discovery of New Proper Motion Stars with 0.40 sec/yr > mu > or = 0.18 sec/yr Between Declinations -47 deg and 00 deg

Science.gov (United States)

Boyd, Mark R.; Winters, Jennifer G.; Henry, Todd J.; Jao, Wei-Chun; Finch, Charlie T.; Subasavage, John P.; Hambly, Nigel C.

2011-01-01

We present 2817 new southern proper motion systems with 0.40 sec/yr > mu > or = 0.18 sec/yr and declination between 47 deg and 00 deg. This is a continuation of the SuperCOSMOS-RECONS (SCR) proper motion searches of the southern sky. We use the same photometric relations as previous searches to provide distance estimates based on the assumption that the objects are single main-sequence stars. We find 79 new red dwarf systems predicted to be within 25 pc, including a few new components of previously known systems. Two systems--SCR 1731-2452 at 9.5 pc and SCR 1746-3214 at 9.9 pc--are anticipated to be within 10 pc. We also find 23 new white dwarf (WD) candidates with distance estimates of 15-66 pc, as well as 360 new red subdwarf candidates. With this search, we complete the SCR sweep of the southern sky for stars with mu > or = 0.18 sec/yr and R(sub 59F) < or = 16.5, resulting in a total of 5042 objects in 4724 previously unreported proper motion systems. Here we provide selected comprehensive lists from our SCR proper motion search to date, including 152 red dwarf systems estimated to be within 25 pc (9 within 10 pc), 46 WDs (10 within 25 pc), and 598 subdwarf candidates. The results of this search suggest that there are more nearby systems to be found at fainter magnitudes and lower proper motion limits than those probed so far.

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

Directory of Open Access Journals (Sweden)

Trąbka Arkadiusz

2014-12-01

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

Kinematics of our Galaxy from the PMA and TGAS catalogues

Science.gov (United States)

Velichko, Anna B.; Akhmetov, Volodymyr S.; Fedorov, Peter N.

2018-04-01

We derive and compare kinematic parameters of the Galaxy using the PMA and Gaia TGAS data. Two methods are used in calculations: evaluation of the Ogorodnikov-Milne model (OMM) parameters by the least square method (LSM) and a decomposition on a set of vector spherical harmonics (VSH). We trace dependencies on the distance of the derived parameters including the Oort constants A and B and the rotational velocity of the Galaxy V rot at the Solar distance for the common sample of stars of mixed spectral composition of the PMA and TGAS catalogues. The distances were obtained from the TGAS parallaxes or from reduced proper motions for fainter stars. The A, B and V rot parameters derived from proper motions of both catalogues used show identical behaviour but the values are systematically shifted by about 0.5 mas/yr. The Oort B parameter derived from the PMA sample of red giants shows gradual decrease with increasing the distance while the Oort A has a minimum at about 2 kpc and then gradually increases. As for models chosen for calculations, first, we confirm conclusions of other authors about the existence of extra-model harmonics in the stellar velocity field. Secondly, not all parameters of the OMM are statistically significant, and the set of parameters depends on the stellar sample used.

Very Low-mass Stars and Brown Dwarfs in Upper Scorpius Using Gaia DR1: Mass Function, Disks, and Kinematics

Science.gov (United States)

Cook, Neil J.; Scholz, Aleks; Jayawardhana, Ray

2017-12-01

Our understanding of the brown dwarf population in star-forming regions is dependent on knowing distances and proper motions and therefore will be improved through the Gaia space mission. In this paper, we select new samples of very low-mass objects (VLMOs) in Upper Scorpius using UKIDSS colors and optimized proper motions calculated using Gaia DR1. The scatter in proper motions from VLMOs in Upper Scorpius is now (for the first time) dominated by the kinematic spread of the region itself, not by the positional uncertainties. With age and mass estimates updated using Gaia parallaxes for early-type stars in the same region, we determine masses for all VLMOs. Our final most complete sample includes 453 VLMOs of which ˜125 are expected to be brown dwarfs. The cleanest sample is comprised of 131 VLMOs, with ˜105 brown dwarfs. We also compile a joint sample from the literature that includes 415 VLMOs, out of which 152 are likely brown dwarfs. The disk fraction among low-mass brown dwarfs (M< 0.05 {M}⊙ ) is substantially higher than in more massive objects, indicating that disks around low-mass brown dwarfs survive longer than in low-mass stars overall. The mass function for 0.01< M< 0.1 {M}⊙ is consistent with the Kroupa Initial Mass Function. We investigate the possibility that some “proper motion outliers” have undergone a dynamical ejection early in their evolution. Our analysis shows that the color-magnitude cuts used when selecting samples introduce strong bias into the population statistics due to varying levels of contamination and completeness.

Sex Differences in Tibiocalcaneal Kinematics

Directory of Open Access Journals (Sweden)

Sinclair Jonathan

2014-08-01

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

3D ground‐motion simulations of Mw 7 earthquakes on the Salt Lake City segment of the Wasatch fault zone: Variability of long‐period (T≥1  s) ground motions and sensitivity to kinematic rupture parameters

Science.gov (United States)

Moschetti, Morgan P.; Hartzell, Stephen; Ramirez-Guzman, Leonardo; Frankel, Arthur; Angster, Stephen J.; Stephenson, William J.

2017-01-01

We examine the variability of long‐period (T≥1  s) earthquake ground motions from 3D simulations of Mw 7 earthquakes on the Salt Lake City segment of the Wasatch fault zone, Utah, from a set of 96 rupture models with varying slip distributions, rupture speeds, slip velocities, and hypocenter locations. Earthquake ruptures were prescribed on a 3D fault representation that satisfies geologic constraints and maintained distinct strands for the Warm Springs and for the East Bench and Cottonwood faults. Response spectral accelerations (SA; 1.5–10 s; 5% damping) were measured, and average distance scaling was well fit by a simple functional form that depends on the near‐source intensity level SA0(T) and a corner distance Rc:SA(R,T)=SA0(T)(1+(R/Rc))−1. Period‐dependent hanging‐wall effects manifested and increased the ground motions by factors of about 2–3, though the effects appeared partially attributable to differences in shallow site response for sites on the hanging wall and footwall of the fault. Comparisons with modern ground‐motion prediction equations (GMPEs) found that the simulated ground motions were generally consistent, except within deep sedimentary basins, where simulated ground motions were greatly underpredicted. Ground‐motion variability exhibited strong lateral variations and, at some sites, exceeded the ground‐motion variability indicated by GMPEs. The effects on the ground motions of changing the values of the five kinematic rupture parameters can largely be explained by three predominant factors: distance to high‐slip subevents, dynamic stress drop, and changes in the contributions from directivity. These results emphasize the need for further characterization of the underlying distributions and covariances of the kinematic rupture parameters used in 3D ground‐motion simulations employed in probabilistic seismic‐hazard analyses.

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

Science.gov (United States)

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

2016-04-01

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

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

Science.gov (United States)

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

2016-01-01

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

HUBBLE SPACE TELESCOPE PROPER MOTION (HSTPROMO) CATALOGS OF GALACTIC GLOBULAR CLUSTERS. I. SAMPLE SELECTION, DATA REDUCTION, AND NGC 7078 RESULTS

Energy Technology Data Exchange (ETDEWEB)

Bellini, A.; Anderson, J.; Van der Marel, R. P.; Watkins, L. L. [Space Telescope Science Institute, 3700 San Martin Drive, Baltimore, MD 21218 (United States); King, I. R. [Department of Astronomy, University of Washington, Box 351580, Seattle, WA 98195 (United States); Bianchini, P. [Max Planck Institute for Astronomy, Königstuhl 17, D-69117 Heidelberg (Germany); Chanamé, J. [Instituto de Astrofísica, Pontificia Universidad Católica de Chile, Av. Vicuña Mackenna 4860, Macul 782-0436, Santiago (Chile); Chandar, R. [Department of Physics and Astronomy, The University of Toledo, 2801 West Bancroft Street, Toledo, OH 43606 (United States); Cool, A. M. [Department of Physics and Astronomy, San Francisco State University, 1600 Holloway Avenue, San Francisco, CA 94132 (United States); Ferraro, F. R.; Massari, D. [Dipartimento di Fisica e Astronomia, Università di Bologna, via Ranzani 1, I-40127 Bologna (Italy); Ford, H., E-mail: bellini@stsci.edu [Department of Physics and Astronomy, The Johns Hopkins University, 3400 North Charles Street, Baltimore, MD 21218 (United States)

2014-12-20

We present the first study of high-precision internal proper motions (PMs) in a large sample of globular clusters, based on Hubble Space Telescope (HST) data obtained over the past decade with the ACS/WFC, ACS/HRC, and WFC3/UVIS instruments. We determine PMs for over 1.3 million stars in the central regions of 22 clusters, with a median number of ∼60,000 stars per cluster. These PMs have the potential to significantly advance our understanding of the internal kinematics of globular clusters by extending past line-of-sight (LOS) velocity measurements to two- or three-dimensional velocities, lower stellar masses, and larger sample sizes. We describe the reduction pipeline that we developed to derive homogeneous PMs from the very heterogeneous archival data. We demonstrate the quality of the measurements through extensive Monte Carlo simulations. We also discuss the PM errors introduced by various systematic effects and the techniques that we have developed to correct or remove them to the extent possible. We provide in electronic form the catalog for NGC 7078 (M 15), which consists of 77,837 stars in the central 2.'4. We validate the catalog by comparison with existing PM measurements and LOS velocities and use it to study the dependence of the velocity dispersion on radius, stellar magnitude (or mass) along the main sequence, and direction in the plane of the sky (radial or tangential). Subsequent papers in this series will explore a range of applications in globular-cluster science and will also present the PM catalogs for the other sample clusters.

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)

Kinematic features of rear-foot motion using anterior and posterior ankle-foot orthoses in stroke patients with hemiplegic gait.

Science.gov (United States)

Chen, Chih-Chi; Hong, Wei-Hsien; Wang, Chin-Man; Chen, Chih-Kuang; Wu, Katie Pei-Hsuan; Kang, Chao-Fu; Tang, Simon F

2010-12-01

To evaluate the kinematic features of rear-foot motion during gait in hemiplegic stroke patients, using anterior ankle-foot orthoses (AFOs), posterior AFOs, and no orthotic assistance. Crossover design with randomization for the interventions. A rehabilitation center for adults with neurologic disorders. Patients with hemiplegia due to stroke (n=14) and able-bodied subjects (n=11). Subjects with hemiplegia were measured walking under 3 conditions with randomized sequences: (1) with an anterior AFO, (2) with a posterior AFO, and (3) without an AFO. Control subjects were measured walking without an AFO to provide a normative reference. Rear-foot kinematic change in the sagittal, coronal, and transverse planes. In the sagittal plane, compared with walking with an anterior AFO or without an AFO, the posterior AFO significantly decreased plantar flexion to neutral at initial heel contact (P=.001) and the swing phase (PRehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

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.

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.

Kinematics and M(sub v) calibration of K and M dwarf stars using Hipparcos data

Science.gov (United States)

Upgren, A. R.; Ratnatunga, K. U.; Casertano, S.; Weis, E.

1997-01-01

The luminosities and kinematics of lower main sequence stars in a spectroscopically selected sample covering spectral types K 3 to M 5 are determined using Hipparcos parallaxes and proper motions. The stars separate into two kinematically distinct components, called young disk and old disk components. The young component has velocity dispersion (30, 17, 12) km/s in the U, V and W directions, respectively, and features an asymmetric drift of 8 km/s, a vertex deviation of 10 +/- 3 deg and an absolute magnitude of 10.48 mag at color (R - I)(sub Kron) = 1.0 mag. The respective features of the old component are: (56, 34, 31) km/s, 28 km/s and 0.6 mag at the same color. The slope and intrinsic width of the magnitude calibration of each component are determined. The analysis is used to investigate the possible presence of residual systematic discrepancies of the model with Hipparcos data. There are indications of a possible underestimation of the parallax errors.

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 ...

A PROPER MOTION STUDY OF THE HARO 6-10 OUTFLOW: EVIDENCE FOR A SUBARCSECOND BINARY

International Nuclear Information System (INIS)

Wilking, Bruce A.; Gerling, Bradley M.; Gibb, Erika; Marvel, Kevin B.; Claussen, Mark J.; Wootten, Alwyn

2012-01-01

We present single-dish and very long baseline interferometry observations of an outburst of water maser emission from the young binary system Haro 6-10. Haro 6-10 lies in the Taurus molecular cloud and contains a visible T Tauri star with an infrared companion 1.''3 north. Using the Very Long Baseline Array, we obtained five observations spanning three months and derived absolute positions for 20 distinct maser spots. Three of the masers can be traced over three or more epochs, enabling us to extract absolute proper motions and tangential velocities. We deduce that the masers represent one side of a bipolar outflow that lies nearly in the plane of the sky with an opening angle of ∼45°. They are located within 50 mas of the southern component of the binary, the visible T Tauri star Haro 6-10S. The mean position angle on the sky of the maser proper motions (∼220°) suggests they are related to the previously observed giant Herbig-Haro (HH) flow which includes HH 410, HH 411, HH 412, and HH 184A-E. A previously observed HH jet and extended radio continuum emission (mean position angle of ∼190°) must also originate in the vicinity of Haro 6-10S and represent a second, distinct outflow in this region. We propose that a yet unobserved companion within 150 mas of Haro 6-10S is responsible for the giant HH/maser outflow while the visible star is associated with the HH jet. Despite the presence of H 2 emission in the spectrum of the northern component of the binary, Haro 6-10N, none of outflows/jets can be tied directly to this young stellar object.

A PROPER MOTION STUDY OF THE HARO 6-10 OUTFLOW: EVIDENCE FOR A SUBARCSECOND BINARY

Energy Technology Data Exchange (ETDEWEB)

Wilking, Bruce A.; Gerling, Bradley M.; Gibb, Erika [Department of Physics and Astronomy, University of Missouri-St. Louis, 1 University Boulevard, St. Louis, MO 63121 (United States); Marvel, Kevin B. [American Astronomical Society, 2000 Florida Avenue, NW, Suite 400, Washington, DC 20009 (United States); Claussen, Mark J. [National Radio Astronomy Observatory (NRAO), Array Operations Center, P.O. Box 0, 1003 Lopezville Road, Socorro, NM 87801 (United States); Wootten, Alwyn, E-mail: bwilking@umsl.edu, E-mail: bmg5333@truman.edu, E-mail: gibbe@umsl.edu, E-mail: marvel@aas.org, E-mail: mclausse@nrao.edu, E-mail: awootten@nrao.edu [NRAO, 520 Edgemont Road, Charlottesville, VA 22903-2475 (United States)

2012-07-10

We present single-dish and very long baseline interferometry observations of an outburst of water maser emission from the young binary system Haro 6-10. Haro 6-10 lies in the Taurus molecular cloud and contains a visible T Tauri star with an infrared companion 1.''3 north. Using the Very Long Baseline Array, we obtained five observations spanning three months and derived absolute positions for 20 distinct maser spots. Three of the masers can be traced over three or more epochs, enabling us to extract absolute proper motions and tangential velocities. We deduce that the masers represent one side of a bipolar outflow that lies nearly in the plane of the sky with an opening angle of {approx}45 Degree-Sign . They are located within 50 mas of the southern component of the binary, the visible T Tauri star Haro 6-10S. The mean position angle on the sky of the maser proper motions ({approx}220 Degree-Sign ) suggests they are related to the previously observed giant Herbig-Haro (HH) flow which includes HH 410, HH 411, HH 412, and HH 184A-E. A previously observed HH jet and extended radio continuum emission (mean position angle of {approx}190 Degree-Sign ) must also originate in the vicinity of Haro 6-10S and represent a second, distinct outflow in this region. We propose that a yet unobserved companion within 150 mas of Haro 6-10S is responsible for the giant HH/maser outflow while the visible star is associated with the HH jet. Despite the presence of H{sub 2} emission in the spectrum of the northern component of the binary, Haro 6-10N, none of outflows/jets can be tied directly to this young stellar object.

MOTION STUDY OF A WHEELCHAIR PROTOTYPE FOR DISABLED PEOPLE

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Ionut GEONEA

2015-05-01

Full Text Available In this paper is presented the design and experimental prototype of a wheelchair for disabled people. Design solution proposed to be implemented uses two reduction gears motors and a mechanical transmission with chains. The motion controller developed uses PWM technology (pulse wave modulation. The wheelchair has the ability of forward – backward motion and steering. The design solution is developed in Solid Works, and it’s implemented to a wheelchair prototype model. Wheelchair design and motion makes him suitable especially for indoor use. It is made a study of the wheelchair kinematics, first using a kinematic simulation in Adams. Are presented the wheelchair motion trajectory and kinematics parameters. The experimental prototype is tested with a motion analysis system based on ultra high speed video recording. The obtained results from simulation and experimentally tests, demonstrate the efficiency of wheelchair proposed solution.

A digital database of wrist bone anatomy and carpal kinematics.

Science.gov (United States)

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

2007-01-01

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

The biomechanics of upper extremity kinematic and kinetic modeling: applications to rehabilitation engineering.

Science.gov (United States)

Slavens, Brooke A; Harris, Gerald F

2008-01-01

Human motion analysis has evolved from the lower extremity to the upper extremity. Rehabilitation engineering is reliant upon three-dimensional biome-chanical models for a thorough understanding of upper body motions and forces in order to improve treatment methods, rehabilitation strategies and to prevent injury. Due to the complex nature of upper body movements, a standard biomechanical model does not exist. This paper reviews several kinematic and kinetic rehabilitation engineering models from the literature. These models may capture a single joint; multijoints such as the shoulder, elbow and wrist; or a combination of joints and an ambulatory aid, which serves as the extension of the upper arm. With advances in software and hardware, new models continuously arise due to the clinical questions at hand. When designing a biomechanical upper extremity model, several key components must be determined. These include deciding on the anatomic segments of the model, the number of markers and placement on bony landmarks, the definition of joint coordinate systems, and the description of the joint motions. It is critical to apply the proper model to further our understanding of pathologic populations.

DYNAMIC MAGNIFICATION OF BIOMECHANICAL SYSTEM MOTION

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A. E. Pokatilov

2017-01-01

Full Text Available Methods for estimation of dynamic magnification pertaining to motion in biomechanics have been developed and approbаted in the paper. It has been ascertained that widely-used characteristics for evaluation of motion influence on mechanisms and machinery such as a dynamic coefficient and acceleration capacity factor become irrelevant while investigating human locomotion under elastic support conditions. The reason is an impossibility to compare human motion in case when there is a contact with elastic and rigid supports because while changing rigidity of the support exercise performing technique is also changing. In this case the technique still depends on a current state of a specific sportsman. Such situation is observed in sports gymnastics. Structure of kinematic and dynamic models for human motion has been investigated in the paper. It has been established that properties of an elastic support are reflected in models within two aspects: in an explicit form, when models have parameters of dynamic deformation for a gymnastic apparatus, and in an implicit form, when we have numerically changed parameters of human motion. The first part can be evaluated quantitatively while making comparison with calculations made in accordance with complete models. For this reason notions of selected and complete models have been introduced in the paper. It has been proposed to specify models for support and models of biomechanical system that represent models pertaining only to human locomotor system. It has been revealed that the selected models of support in kinematics and dynamics have structural difference. Kinematics specifies only parameters of elastic support deformation and dynamics specifies support parameters in an explicit form and additionally in models of human motion in an explicit form as well. Quantitative estimation of a dynamic motion magnification in kinematics and dynamics models has been given while using computing experiment for grand

Vibration Suppression for Improving the Estimation of Kinematic Parameters on Industrial Robots

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David Alejandro Elvira-Ortiz

2016-01-01

Full Text Available Vibration is a phenomenon that is present on every industrial system such as CNC machines and industrial robots. Moreover, sensors used to estimate angular position of a joint in an industrial robot are severely affected by vibrations and lead to wrong estimations. This paper proposes a methodology for improving the estimation of kinematic parameters on industrial robots through a proper suppression of the vibration components present on signals acquired from two primary sensors: accelerometer and gyroscope. A Kalman filter is responsible for the filtering of spurious vibration. Additionally, a sensor fusion technique is used to merge information from both sensors and improve the results obtained using each sensor separately. The methodology is implemented in a proprietary hardware signal processor and tested in an ABB IRB 140 industrial robot, first by analyzing the motion profile of only one joint and then by estimating the path tracking of two welding tasks: one rectangular and another one circular. Results from this work prove that the sensor fusion technique accompanied by proper suppression of vibrations delivers better estimation than other proposed techniques.

Inverse Kinematics of a Serial Robot

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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.

Self-aligning exoskeleton hip joint: Kinematic design with five revolute, three prismatic and one ball joint.

Science.gov (United States)

Beil, Jonas; Marquardt, Charlotte; Asfour, Tamim

2017-07-01

Kinematic compatibility is of paramount importance in wearable robotic and exoskeleton design. Misalignments between exoskeletons and anatomical joints of the human body result in interaction forces which make wearing the exoskeleton uncomfortable and even dangerous for the human. In this paper we present a kinematically compatible design of an exoskeleton hip to reduce kinematic incompatibilities, so called macro- and micro-misalignments, between the human's and exoskeleton's joint axes, which are caused by inter-subject variability and articulation. The resulting design consists of five revolute, three prismatic and one ball joint. Design parameters such as range of motion and joint velocities are calculated based on the analysis of human motion data acquired by motion capture systems. We show that the resulting design is capable of self-aligning to the human hip joint in all three anatomical planes during operation and can be adapted along the dorsoventral and mediolateral axis prior to operation. Calculation of the forward kinematics and FEM-simulation considering kinematic and musculoskeletal constraints proved sufficient mobility and stiffness of the system regarding the range of motion, angular velocity and torque admissibility needed to provide 50 % assistance for an 80 kg person.

JFKengine: A Jacobian and Forward Kinematics Generator

Energy Technology Data Exchange (ETDEWEB)

Fischer, K.N.

2003-02-13

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

Measurement of the X-Ray Proper Motion in the South-East Rim of RXJ1713.7-3946

Science.gov (United States)

Acero, Fabio; Katsuda, Saturo; Ballet, Jean; Petre, Robert

2017-01-01

We report on the first proper motion measurement in the supernova remnant RX J1713.73946 using the XMM-Newton X-ray telescope on a 13 yr time interval. This expansion measurement is carried out in the south-east region of the remnant, where two sharp filament structures are observed. For the outermost filament, the proper motion is 0.75(+0.05-0.06) +/- 0.069 syst arcsec/ yr which is equivalent to a shock speed of approx. 3500 km/s at a distance of 1 kpc. In contrast with the bright north-west region, where the shock is interacting with the border of the cavity, the shock in the south-east region is probably expanding in the original ambient medium carved by the progenitor and can be used to derive the current density at the shock and the age of the remnant. In the case where the shock is evolving in a wind profile (p varies as r(sup -s), s = 2) or in a uniform medium (s = 0), we estimate an age of approx. 2300 yr and approx.1800 yr respectively for an ejecta power-law index of n = 9. The specific case of an ejecta power-law index of n = 7, and s = 0, yields an age of approx. 1500 yr, which would reconcile RX J1713.73946 with the historical records of SN 393. In all scenarios, we derive similar upstream densities of the order of 0.01/cu cm, compatible with the lack of thermal X-rays from the shocked ambient medium.

Characterization of the Praesepe Star Cluster by Photometry and Proper Motions With 2MASS, PPMXL, and Pan-STARRS

Science.gov (United States)

2014-03-20

reserved. Printed in the U.S.A. CHARACTERIZATION OF THE PRAESEPE STAR CLUSTER BY PHOTOMETRY AND PROPER MOTIONS WITH 2MASS , PPMXL, AND Pan-STARRS P. F. Wang1... 2MASS ) and the Sloan Digital Sky Survey (SDSS) data, covering a sky area of 100 deg2, Adams et al. (2002) extended the lower main sequence to 0.1M, and...incompleteness is caused by the detection limits of USNO-B1 and 2MASS . Recently, Khalaj & Baumgardt (2013) used SDSS and PPMXL data to characterize

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…

Phalangeal joints kinematics during ostrich (Struthio camelus locomotion

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Rui Zhang

2017-01-01

Full Text Available The ostrich is a highly cursorial bipedal land animal with a permanently elevated metatarsophalangeal joint supported by only two toes. Although locomotor kinematics in walking and running ostriches have been examined, these studies have been largely limited to above the metatarsophalangeal joint. In this study, kinematic data of all major toe joints were collected from gaits with double support (slow walking to running during stance period in a semi-natural setup with two selected cooperative ostriches. Statistical analyses were conducted to investigate the effect of locomotor gait on toe joint kinematics. The MTP3 and MTP4 joints exhibit the largest range of motion whereas the first phalangeal joint of the 4th toe shows the largest motion variability. The interphalangeal joints of the 3rd and 4th toes present very similar motion patterns over stance phases of slow walking and running. However, the motion patterns of the MTP3 and MTP4 joints and the vertical displacement of the metatarsophalangeal joint are significantly different during running and slow walking. Because of the biomechanical requirements, osctriches are likely to select the inverted pendulum gait at low speeds and the bouncing gait at high speeds to improve movement performance and energy economy. Interestingly, the motions of the MTP3 and MTP4 joints are highly synchronized from slow to fast locomotion. This strongly suggests that the 3rd and 4th toes really work as an “integrated system” with the 3rd toe as the main load bearing element whilst the 4th toe as the complementary load sharing element with a primary role to ensure the lateral stability of the permanently elevated metatarsophalangeal joint.

Measurement of the X-ray proper motion in the south-east rim of RX J1713.7-3946

Science.gov (United States)

Acero, Fabio; Katsuda, Satoru; Ballet, Jean; Petre, Robert

2017-01-01

We report on the first proper motion measurement in the supernova remnant RX J1713.7-3946 using the XMM-Newton X-ray telescope on a 13 yr time interval. This expansion measurement is carried out in the south-east region of the remnant, where two sharp filament structures are observed. For the outermost filament, the proper motion is arcsec yr-1 which is equivalent to a shock speed of 3500 km s-1 at a distance of 1 kpc. In contrast with the bright north-west region, where the shock is interacting with the border of the cavity, the shock in the south-east region is probably expanding in the original ambient medium carved by the progenitor and can be used to derive the current density at the shock and the age of the remnant. In the case where the shock is evolving in a wind profile (ρ ∝ r- s, s = 2) or in a uniform medium (s = 0), we estimate an age of 2300 yr and 1800 yr respectively for an ejecta power-law index of n = 9. The specific case of an ejecta power-law index of n = 7, and s = 0, yields an age of 1500 yr, which would reconcile RX J1713.7-3946 with the historical records of SN 393. In all scenarios, we derive similar upstream densities of the order of 0.01 cm-3, compatible with the lack of thermal X-rays from the shocked ambient medium.

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.

OBSERVER RATING VERSUS THREE-DIMENSIONAL MOTION ANALYSIS OF LOWER EXTREMITY KINEMATICS DURING FUNCTIONAL SCREENING TESTS: A SYSTEMATIC REVIEW.

Science.gov (United States)

Maclachlan, Liam; White, Steven G; Reid, Duncan

2015-08-01

Functional assessments are conducted in both clinical and athletic settings in an attempt to identify those individuals who exhibit movement patterns that may increase their risk of non-contact injury. In place of highly sophisticated three-dimensional motion analysis, functional testing can be completed through observation. To evaluate the validity of movement observation assessments by summarizing the results of articles comparing human observation in real-time or video play-back and three-dimensional motion analysis of lower extremity kinematics during functional screening tests. Systematic review. A computerized systematic search was conducted through Medline, SPORTSdiscus, Scopus, Cinhal, and Cochrane health databases between February and April of 2014. Validity studies comparing human observation (real-time or video play-back) to three-dimensional motion analysis of functional tasks were selected. Only studies comprising uninjured, healthy subjects conducting lower extremity functional assessments were appropriate for review. Eligible observers were certified health practitioners or qualified members of sports and athletic training teams that conduct athlete screening. The Quality Assessment of Diagnostic Accuracy Studies 2 (QUADAS-2) was used to appraise the literature. Results are presented in terms of functional tasks. Six studies met the inclusion criteria. Across these studies, two-legged squats, single-leg squats, drop-jumps, and running and cutting manoeuvres were the functional tasks analysed. When compared to three-dimensional motion analysis, observer ratings of lower extremity kinematics, such as knee position in relation to the foot, demonstrated mixed results. Single-leg squats achieved target sensitivity values (≥ 80%) but not specificity values (≥ 50%>%). Drop-jump task agreement ranged from poor ( 80%). Two-legged squats achieved 88% sensitivity and 85% specificity. Mean underestimations as large as 198 (peak knee flexion) were found in

About kinematics and hydrodynamics of spinning particles: some simple considerations

International Nuclear Information System (INIS)

Recami, Erasmo; Rodrigues Junior, Waldyr A.; Salesi, Giovanni

1995-12-01

In the first part (Sections 1 and 2) of this paper - starting from the Pauli current, in the ordinary tensorial language - we obtain the decomposition of the non-relativistic field velocity into two orthogonal parts: the classical part, that is the velocity w p/m of the center-of-mass (CM), and the so-called quantum part, that is, the velocity V of the motion in the CM frame (namely, the integral spin motion or Zitterbewegung). By inserting such a complete, composite expression of the velocity into the kinetic energy term of the non-relativistic classical (Newtonian) Lagrangian, we straightforwardly get the appearance of the so-called quantum potential associated, as it is know, with the Madelueng fluid. This result carries further evidence that the quantum behaviour of micro-systems can be a direct consequence of the fundamental existence of spin. In the second part (Sections 3 and 4), we fix our attention on the total velocity vector v vector w + vector V, being now necessary to pass to relativistic (classical) physics; and we show that the proper time entering the definition of the four-velocity v μ for spinning particles has to be the proper time τ of the CM frame. Inserting the correct Lorentz factor into the definition of v μ leads to completely new kinematical properties for v 2 . The important constraint pμ v μ identically true for scalar particles, but just assumed a priori in all previous spinning particle theories, is herein derived in a self-consistent way. (author). 24 refs

About kinematics and hydrodynamics of spinning particles: some simple considerations

Energy Technology Data Exchange (ETDEWEB)

Recami, Erasmo; Rodrigues Junior, Waldyr A. [Universidade Estadual de Campinas, SP (Brazil). Dept. de Matematica Aplicada; Salesi, Giovanni [Universita Statale di Catania (Italy). Dipt. di Fisica

1995-12-01

In the first part (Sections 1 and 2) of this paper - starting from the Pauli current, in the ordinary tensorial language - we obtain the decomposition of the non-relativistic field velocity into two orthogonal parts: the classical part, that is the velocity w p/m of the center-of-mass (CM), and the so-called quantum part, that is, the velocity V of the motion in the CM frame (namely, the integral spin motion or Zitterbewegung). By inserting such a complete, composite expression of the velocity into the kinetic energy term of the non-relativistic classical (Newtonian) Lagrangian, we straightforwardly get the appearance of the so-called quantum potential associated, as it is know, with the Madelueng fluid. This result carries further evidence that the quantum behaviour of micro-systems can be a direct consequence of the fundamental existence of spin. In the second part (Sections 3 and 4), we fix our attention on the total velocity vector v vector w + vector V, being now necessary to pass to relativistic (classical) physics; and we show that the proper time entering the definition of the four-velocity v{sup {mu}} for spinning particles has to be the proper time {tau} of the CM frame. Inserting the correct Lorentz factor into the definition of v{sup {mu}} leads to completely new kinematical properties for v{sup 2}. The important constraint p{mu} v{sup {mu}} identically true for scalar particles, but just assumed a priori in all previous spinning particle theories, is herein derived in a self-consistent way. (author). 24 refs.

UROKIN: A Software to Enhance Our Understanding of Urogenital Motion.

Science.gov (United States)

Czyrnyj, Catriona S; Labrosse, Michel R; Graham, Ryan B; McLean, Linda

2018-05-01

Transperineal ultrasound (TPUS) allows for objective quantification of mid-sagittal urogenital mechanics, yet current practice omits dynamic motion information in favor of analyzing only a rest and a peak motion frame. This work details the development of UROKIN, a semi-automated software which calculates kinematic curves of urogenital landmark motion. A proof of concept analysis, performed using UROKIN on TPUS video recorded from 20 women with and 10 women without stress urinary incontinence (SUI) performing maximum voluntary contraction of the pelvic floor muscles. The anorectal angle and bladder neck were tracked while the motion of the pubic symphysis was used to compensate for the error incurred by TPUS probe motion during imaging. Kinematic curves of landmark motion were generated for each video and curves were smoothed, time normalized, and averaged within groups. Kinematic data yielded by the UROKIN software showed statistically significant differences between women with and without SUI in terms of magnitude and timing characteristics of the kinematic curves depicting landmark motion. Results provide insight into the ways in which UROKIN may be useful to study differences in pelvic floor muscle contraction mechanics between women with and without SUI and other pelvic floor disorders. The UROKIN software improves on methods described in the literature and provides unique capacity to further our understanding of urogenital biomechanics.

Proper Motions and Structural Parameters of the Galactic Globular Cluster M71

Energy Technology Data Exchange (ETDEWEB)

Cadelano, M.; Dalessandro, E.; Ferraro, F. R.; Miocchi, P.; Lanzoni, B.; Pallanca, C. [Dipartimento di Fisica e Astronomia, Università di Bologna, Viale Berti Pichat 6/2, I-40127 Bologna (Italy); Massari, D. [INAF—Osservatorio Astronomico di Bologna, Via Ranzani 1, I-40127 Bologna (Italy)

2017-02-20

By exploiting two ACS/ HST data sets separated by a temporal baseline of ∼7 years, we have determined the relative stellar proper motions (PMs; providing membership) and the absolute PM of the Galactic globular cluster M71. The absolute PM has been used to reconstruct the cluster orbit within a Galactic, three-component, axisymmetric potential. M71 turns out to be in a low-latitude disk-like orbit inside the Galactic disk, further supporting the scenario in which it lost a significant fraction of its initial mass. Since large differential reddening is known to affect this system, we took advantage of near-infrared, ground-based observations to re-determine the cluster center and density profile from direct star counts. The new structural parameters turn out to be significantly different from the ones quoted in the literature. In particular, M71 has a core and a half-mass radii almost 50% larger than previously thought. Finally, we estimate that the initial mass of M71 was likely one order of magnitude larger than its current value, thus helping to solve the discrepancy with the observed number of X-ray sources.

Projectile Motion Hoop Challenge

Science.gov (United States)

Jordan, Connor; Dunn, Amy; Armstrong, Zachary; Adams, Wendy K.

2018-01-01

Projectile motion is a common phenomenon that is used in introductory physics courses to help students understand motion in two dimensions. Authors have shared a range of ideas for teaching this concept and the associated kinematics in "The Physics Teacher" ("TPT"); however, the "Hoop Challenge" is a new setup not…

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.

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

Science.gov (United States)

Richards, Christopher T

2008-10-01

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

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.

Using finite-difference waveform modeling to better understand rupture kinematics and path effects in ground motion modeling: an induced seismicity case study at the Groningen Gas field

Science.gov (United States)

Zurek, B.; Burnett, W. A.; deMartin, B.

2017-12-01

Ground motion models (GMMs) have historically been used as input in the development of probabilistic seismic hazard analysis (PSHA) and as an engineering tool to assess risk in building design. Generally these equations are developed from empirical analysis of observations that come from fairly complete catalogs of seismic events. One of the challenges when doing a PSHA analysis in a region where earthquakes are anthropogenically induced is that the catalog of observations is not complete enough to come up with a set of equations to cover all expected outcomes. For example, PSHA analysis at the Groningen gas field, an area of known induced seismicity, requires estimates of ground motions from tremors up to a maximum magnitude of 6.5 ML. Of the roughly 1300 recordable earthquakes the maximum observed magnitude to date has been 3.6ML. This paper is part of a broader study where we use a deterministic finite-difference wave-form modeling tool to compliment the traditional development of GMMs. Of particular interest is the sensitivity of the GMM's to uncertainty in the rupture process and how this scales to larger magnitude events that have not been observed. A kinematic fault rupture model is introduced to our waveform simulations to test the sensitivity of the GMMs to variability in the fault rupture process that is physically consistent with observations. These tests will aid in constraining the degree of variability in modeled ground motions due to a realistic range of fault parameters and properties. From this study it is our conclusion that in order to properly capture the uncertainty of the GMMs with magnitude up-scaling one needs to address the impact of uncertainty in the near field (risk. Further, by investigating and constraining the range of fault rupture scenarios and earthquake magnitudes on ground motion models, hazard and risk analysis in regions with incomplete earthquake catalogs, such as the Groningen gas field, can be better understood.

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.

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

Directory of Open Access Journals (Sweden)

Guiyang Xin

2015-09-01

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

Tycho- Gaia Astrometric Solution Parallaxes and Proper Motions for Five Galactic Globular Clusters

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Watkins, Laura L.; Van der Marel, Roeland P., E-mail: lwatkins@stsci.edu [Space Telescope Science Institute, 3700 San Martin Drive, Baltimore MD 21218 (United States)

2017-04-20

We present a pilot study of Galactic globular cluster (GC) proper motion (PM) determinations using Gaia data. We search for GC stars in the Tycho- Gaia Astrometric Solution (TGAS) catalog from Gaia Data Release 1 (DR1), and identify five members of NGC 104 (47 Tucanae), one member of NGC 5272 (M3), five members of NGC 6121 (M4), seven members of NGC 6397, and two members of NGC 6656 (M22). By taking a weighted average of member stars, fully accounting for the correlations between parameters, we estimate the parallax (and, hence, distance) and PM of the GCs. This provides a homogeneous PM study of multiple GCs based on an astrometric catalog with small and well-controlled systematic errors and yields random PM errors similar to existing measurements. Detailed comparison to the available Hubble Space Telescope ( HST ) measurements generally shows excellent agreement, validating the astrometric quality of both TGAS and HST . By contrast, comparison to ground-based measurements shows that some of those must have systematic errors exceeding the random errors. Our parallax estimates have uncertainties an order of magnitude larger than previous studies, but nevertheless imply distances consistent with previous estimates. By combining our PM measurements with literature positions, distances, and radial velocities, we measure Galactocentric space motions for the clusters and find that these also agree well with previous analyses. Our analysis provides a framework for determining more accurate distances and PMs of Galactic GCs using future Gaia data releases. This will provide crucial constraints on the near end of the cosmic distance ladder and provide accurate GC orbital histories.

Kinematic Analysis of Continuum Robot Consisted of Driven Flexible Rods

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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.

Kinematics of relative motion of test particles in general relativity

International Nuclear Information System (INIS)

Bazanski, S.L.

1977-01-01

A detailed mathematical study of the concept of geodesic deviation in pseudo-riemannian geometry is presented. A generalization of this concept to geodesic deviations of a higher order is then introduced and the second geodesic deviation is investigated in some detail. A geometric interpretation of the set of generalized geodesic deviations is given and applied in general relativity to determine a covariant and local description (with a desired order of accuracy) of test motions which take place in a certain finite neighbourhood of a given world line of an observer. The proper time evolution of two other objects related to geodesic deviation is also discussed: the space separation vector and the telescopic vector. This last name is given here to a field of null vectors along observer's world line which always point towards the same adjacent world line. The telescopic equations allow to determine the evolution of the frequency shift of electromagnetic radiation sent from and received on neighbouring world lines. On the basis of these equations also certain relations have been derived which connect the frequencies or frequency shifts with the curvature of space-time

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

Science.gov (United States)

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

2012-01-01

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

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.

Mass of the Local Group from Proper Motions of Distant Dwarf Galaxies

Science.gov (United States)

van der Marel, Roeland

2010-09-01

The Local Group and its two dominant spirals, the Milky Way and M31, have become the benchmark for testing many aspects of cosmological and galaxy formation theories, due to many exciting new discoveries in the past decade. However, it is difficult to put results in a proper cosmological context, because our knowledge of the mass M of the Local Group remains uncertain by a factor 4. In units of 10^{12} solar masses, a spherical infall model for the zero-velocity surface gives M 1.3; the sum of estimates for the Milky Way and M31 masses gives M 2.6; and the Local Group Timing argument for the M31 orbit gives M 5.6. It is possible to discriminate between the proposed masses by calculating the orbits of galaxies at the edge of the Local Group, which requires knowledge of transverse velocity components. We therefore propose to use ACS/WFC to determine the proper motions of the 4 dwarf galaxies near the edge of the Local Group {Cetus, Leo A, Tucana, Sag DIG} for which deep first epoch data {with 5-7 year time baselines} already exist in the HST Archive. Our team has extensive expertise with HST astrometric science, and our past/ongoing work for, e.g., Omega Cen, LMC/SMC and M31 show that the necessary astrometric accuracy is within the reach of HST's demonstrated capabilities. We have developed, tested, and published a new technique that uses compact background galaxies as astrometric reference sources, and we have already reduced the first epoch data. The final predicted transverse velocity accuracy, 36 km/s when averaged over the sample, will be sufficient to discriminate between each of the proposed Local Group masses at 2-sigma significance {4-sigma between the most extreme values}. Our project will yield the most accurate Local Group mass determination to date, and only HST can achieve the required accuracy.

The relationship between foot posture and lower limb kinematics during walking: A systematic review.

Science.gov (United States)

Buldt, Andrew K; Murley, George S; Butterworth, Paul; Levinger, Pazit; Menz, Hylton B; Landorf, Karl B

2013-07-01

Variations in foot posture, such as pes planus (low-arched foot) or pes cavus (high-arched foot), are thought to be an intrinsic risk factor for injury due to altered motion of the lower extremity. Hence, the aim of this systematic review was to investigate the relationship between foot posture and lower limb kinematics during walking. A systematic database search of MEDLINE, CINAHL, SPORTDiscus, Embase and Inspec was undertaken in March 2012. Two independent reviewers applied predetermined inclusion criteria to selected articles for review and selected articles were assessed for quality. Articles were then grouped into two broad categories: (i) those comparing mean kinematic parameters between different foot postures, and (ii) those examining associations between foot posture and kinematics using correlation analysis. A final selection of 12 articles was reviewed. Meta-analysis was not conducted due to heterogeneity between studies. Selected articles primarily focused on comparing planus and normal foot postures. Five articles compared kinematic parameters between different foot postures - there was some evidence for increased motion in planus feet, but this was limited by small effect sizes. Seven articles investigated associations between foot posture and kinematics - there was evidence that increasing planus foot posture was positively associated with increased frontal plane motion of the rearfoot. The body of literature provides some evidence of a relationship between pes planus and increased lower limb motion during gait, however this was not conclusive due to heterogeneity between studies and small effect sizes. Copyright © 2013 Elsevier B.V. All rights reserved.

Virtual prototype simulation of hydraulic shovel kinematics for spatial characterization in surface mining operations

Energy Technology Data Exchange (ETDEWEB)

S. Frimpong; Y. Li [University of Missouri-Rolla, Rolla, MO (United States). Department of Mining and Nuclear Engineering

2005-12-15

Hydraulic shovels are large-capacity equipment for excavating and loading dump trucks in constrained surface mining environments. Kinematics simulation of such equipment allows mine planning engineers to plan, design and control their spatial environments to achieve operating safety and efficiency. In this study, a hydraulic shovel was modelled as a mechanical manipulator with five degrees of freedom comprising the crawler, upper, boom, stick, bucket and bucket door components. The model was captured in a schematic diagram consisting of a six-bar linkage using the symbolic notation of Denavit and Hartenberg (Ho and Sriwattanathmma 1989). Homogeneous transformation matrices were used to capture the spatial configuration between adjacent links. The forward kinematics method was used to formulate the kinematics equations by attaching Cartesian coordinates to the schematic shovel diagram. Based on the kinematics model, a 3D virtual prototype of the hydraulic shovel was built in the Automatic Dynamic Analysis of Mechanical Systems (ADAMS) environment to simulate the motions of the hydraulic shovel with selected time steps. The simulator was validated using real-world data with animation and numerical analysis of the digging, swinging and dumping motions of the shovel machinery. The superimposed display of the deployment of the hydraulic shovel in three phases allows a detailed motion examination of the system. The numerical results of linear and angular displacements of the bucket tip and bucket door can be used to analyse the kinematics motion of the hydraulic shovel for its optimization. This simulator provides a solid foundation for further dynamics modelling and dynamic hydraulic shovel performance studies.

The fall of the Northern Unicorn: tangential motions in the Galactic anticentre with SDSS and Gaia

Science.gov (United States)

de Boer, T. J. L.; Belokurov, V.; Koposov, S. E.

2018-01-01

We present the first detailed study of the behaviour of the stellar proper motion across the entire Galactic anticentre area visible in the Sloan Digital Sky Survey (SDSS) data. We use recalibrated SDSS astrometry in combination with positions from Gaia DR1 to provide tangential motion measurements with a systematic uncertainty <5 km s-1 for the Main Sequence stars at the distance of the Monoceros Ring. We demonstrate that Monoceros members rotate around the Galaxy with azimuthal speeds of ∼230 km s-1, only slightly lower than that of the Sun. Additionally, both vertical and azimuthal components of their motion are shown to vary considerably but gradually as a function of Galactic longitude and latitude. The stellar overdensity in the anti-centre region can be split into two components, the narrow, stream-like ACS and the smooth Ring. According to our analysis, these two structures show very similar but clearly distinct kinematic trends, which can be summarized as follows: the amplitude of the velocity variation in vϕ and vz in the ACS is higher compared to the Ring, whose velocity gradients appear to be flatter. Currently, no model available can explain the entirety of the data in this area of the sky. However, the new accurate kinematic map introduced here should provide strong constraints on the genesis of the Monoceros Ring and the associated substructure.

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.

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.

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.

DIFFERENTIAL PROPER-MOTION MEASUREMENTS OF THE CYGNUS EGG NEBULA: THE PRESENCE OF EQUATORIAL OUTFLOWS

Energy Technology Data Exchange (ETDEWEB)

Ueta, Toshiya; Tomasino, Rachael L. [Department of Physics and Astronomy, MS 6900, University of Denver, Denver, CO 80208 (United States); Ferguson, Brian A. [Space Telescope Science Institute, Baltimore, MD 21218 (United States)

2013-08-01

We present the results of differential proper-motion analyses of the Egg Nebula (RAFGL 2688, V1610 Cyg) based on the archived two-epoch optical data taken with the Hubble Space Telescope. First, we determined that the polarization characteristics of the Egg Nebula are influenced by the higher optical depth of the central regions of the nebula (i.e., the 'dustsphere' of {approx}10{sup 3} AU radius), causing the nebula to illuminate in two steps-the direct starlight is first channeled into bipolar cavities and then scattered off to the rest of the nebula. We then measured the amount of motion of local structures and the signature concentric arcs by determining their relative shifts over the 7.25 yr interval. Based on our analysis, which does not rely on the single-scattering assumption, we concluded that the lobes have been excavated by a linear expansion along the bipolar axis for the past {approx}400 yr, while the concentric arcs have been generated continuously and moving out radially at about 10 km s{sup -1} for the past {approx}5500 yr, and there appears to be a colatitudinally increasing trend in the radial expansion velocity field of the concentric arcs. Numerical investigations into the mass-loss modulation by the central binary system exist, which predict such a colatitudinally increasing expansion velocity field in the spiral-shock trails of the mass-loss ejecta. Therefore, the Egg Nebula may represent a rare edge-on case of the binary-modulated circumstellar environs, corroborating the previous theoretical predictions.

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

Directory of Open Access Journals (Sweden)

Osokin Anton Vladislavovich

2017-03-01

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

STAMPS: development and verification of swallowing kinematic analysis software.

Science.gov (United States)

Lee, Woo Hyung; Chun, Changmook; Seo, Han Gil; Lee, Seung Hak; Oh, Byung-Mo

2017-10-17

Swallowing impairment is a common complication in various geriatric and neurodegenerative diseases. Swallowing kinematic analysis is essential to quantitatively evaluate the swallowing motion of the oropharyngeal structures. This study aims to develop a novel swallowing kinematic analysis software, called spatio-temporal analyzer for motion and physiologic study (STAMPS), and verify its validity and reliability. STAMPS was developed in MATLAB, which is one of the most popular platforms for biomedical analysis. This software was constructed to acquire, process, and analyze the data of swallowing motion. The target of swallowing structures includes bony structures (hyoid bone, mandible, maxilla, and cervical vertebral bodies), cartilages (epiglottis and arytenoid), soft tissues (larynx and upper esophageal sphincter), and food bolus. Numerous functions are available for the spatiotemporal parameters of the swallowing structures. Testing for validity and reliability was performed in 10 dysphagia patients with diverse etiologies and using the instrumental swallowing model which was designed to mimic the motion of the hyoid bone and the epiglottis. The intra- and inter-rater reliability tests showed excellent agreement for displacement and moderate to excellent agreement for velocity. The Pearson correlation coefficients between the measured and instrumental reference values were nearly 1.00 (P software is expected to be useful for researchers who are interested in the swallowing motion analysis.

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

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 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.

TH-EF-BRB-08: Robotic Motion Compensation for Radiation Therapy: A 6DOF Phantom Study

Energy Technology Data Exchange (ETDEWEB)

Belcher, AH; Liu, X; Wiersma, R [The University of Chicago, Chicago, IL (United States)

2016-06-15

Purpose: The high accuracy of frame-based stereotactic radiosurgery (SRS), which uses a rigid frame fixed to the patient’s skull, is offset by potential drawbacks of poor patient compliance and clinical workflow restrictions. Recent research into frameless SRS has so far resulted in reduced accuracy. In this study, we investigate the use of a novel 6 degree-of-freedom (6DOF) robotic head motion cancellation system that continuously detects and compensates for patient head motions during a SRS delivery. This approach has the potential to reduce invasiveness while still achieving accuracies better or equal to traditional frame-based SRS. Methods: A 6DOF parallel kinematics robotics stage was constructed, and controlled using an inverse kinematics-based motion compensation algorithm. A 6DOF stereoscopic infrared (IR) marker tracking system was used to monitor real-time motions at sub-millimeter and sub-degree levels. A novel 6DOF calibration technique was first applied to properly orient the camera coordinate frame to match that of the LINAC and robotic control frames. Simulated head motions were measured by the system, and the robotic stage responded to these 6DOF motions automatically, returning the reflective marker coordinate frame to its original position. Results: After the motions were introduced to the system in the phantom-based study, the robotic stage automatically and rapidly returned the phantom to LINAC isocenter. When errors exceeded the compensation lower threshold of 0.25 mm or 0.25 degrees, the system registered the 6DOF error and generated a cancellation trajectory. The system responded in less than 0.5 seconds and returned all axes to less than 0.1 mm and 0.1 degree after the 6DOF compensation was performed. Conclusion: The 6DOF real-time motion cancellation system was found to be effective at compensating for translational and rotational motions to current SRS requirements. This system can improve frameless SRS by automatically returning

TH-EF-BRB-08: Robotic Motion Compensation for Radiation Therapy: A 6DOF Phantom Study

International Nuclear Information System (INIS)

Belcher, AH; Liu, X; Wiersma, R

2016-01-01

Purpose: The high accuracy of frame-based stereotactic radiosurgery (SRS), which uses a rigid frame fixed to the patient’s skull, is offset by potential drawbacks of poor patient compliance and clinical workflow restrictions. Recent research into frameless SRS has so far resulted in reduced accuracy. In this study, we investigate the use of a novel 6 degree-of-freedom (6DOF) robotic head motion cancellation system that continuously detects and compensates for patient head motions during a SRS delivery. This approach has the potential to reduce invasiveness while still achieving accuracies better or equal to traditional frame-based SRS. Methods: A 6DOF parallel kinematics robotics stage was constructed, and controlled using an inverse kinematics-based motion compensation algorithm. A 6DOF stereoscopic infrared (IR) marker tracking system was used to monitor real-time motions at sub-millimeter and sub-degree levels. A novel 6DOF calibration technique was first applied to properly orient the camera coordinate frame to match that of the LINAC and robotic control frames. Simulated head motions were measured by the system, and the robotic stage responded to these 6DOF motions automatically, returning the reflective marker coordinate frame to its original position. Results: After the motions were introduced to the system in the phantom-based study, the robotic stage automatically and rapidly returned the phantom to LINAC isocenter. When errors exceeded the compensation lower threshold of 0.25 mm or 0.25 degrees, the system registered the 6DOF error and generated a cancellation trajectory. The system responded in less than 0.5 seconds and returned all axes to less than 0.1 mm and 0.1 degree after the 6DOF compensation was performed. Conclusion: The 6DOF real-time motion cancellation system was found to be effective at compensating for translational and rotational motions to current SRS requirements. This system can improve frameless SRS by automatically returning

SHORT LITERATURE REVIEW ON THE KINEMATICS AND DYNAMICS OF THE INDUSTRIAL ROBOTS

Directory of Open Access Journals (Sweden)

RATIU Mariana

2016-09-01

Full Text Available This paper is the result of a short literature review on the kinematics and dynamics of the industrial robots, a first study conducted in a wider research that will be further developed in the field of the trajectory generating mechanisms of the industrial robots. After an introduction about the importance of the robots in the industrial processes and about the necessity to streamline and optimize the robot`s motion, are presented some recent approaches related to the kinematic and dynamic analysis, the optimization of the robot`s motion, and modeling of the trajectory generating mechanism of the industrial robots.

Development of a 6DOF robotic motion phantom for radiation therapy

International Nuclear Information System (INIS)

Belcher, Andrew H.; Liu, Xinmin; Grelewicz, Zachary; Pearson, Erik; Wiersma, Rodney D.

2014-01-01

Purpose: The use of medical technology capable of tracking patient motion or positioning patients along 6 degree-of-freedom (6DOF) has steadily increased in the field of radiation therapy. However, due to the complex nature of tracking and performing 6DOF motion, it is critical that such technology is properly verified to be operating within specifications in order to ensure patient safety. In this study, a robotic motion phantom is presented that can be programmed to perform highly accurate motion along any X (left–right), Y (superior–inferior), Z (anterior–posterior), pitch (around X), roll (around Y), and yaw (around Z) axes. In addition, highly synchronized motion along all axes can be performed in order to simulate the dynamic motion of a tumor in 6D. The accuracy and reproducibility of this 6D motion were characterized. Methods: An in-house designed and built 6D robotic motion phantom was constructed following the Stewart–Gough parallel kinematics platform archetype. The device was controlled using an inverse kinematics formulation, and precise movements in all 6 degrees-of-freedom (X, Y, Z, pitch, roll, and yaw) were performed, both simultaneously and separately for each degree-of-freedom. Additionally, previously recorded 6D cranial and prostate motions were effectively executed. The robotic phantom movements were verified using a 15 fps 6D infrared marker tracking system and the measured trajectories were compared quantitatively to the intended input trajectories. The workspace, maximum 6D velocity, backlash, and weight load capabilities of the system were also established. Results: Evaluation of the 6D platform demonstrated translational root mean square error (RMSE) values of 0.14, 0.22, and 0.08 mm over 20 mm in X and Y and 10 mm in Z, respectively, and rotational RMSE values of 0.16°, 0.06°, and 0.08° over 10° of pitch, roll, and yaw, respectively. The robotic stage also effectively performed controlled 6D motions, as well as reproduced

Kinematics and Dynamics of Motion Control Based on Acceleration Control

Science.gov (United States)

Ohishi, Kiyoshi; Ohba, Yuzuru; Katsura, Seiichiro

The first IEEE International Workshop on Advanced Motion Control was held in 1990 pointed out the importance of physical interpretation of motion control. The software servoing technology is now common in machine tools, robotics, and mechatronics. It has been intensively developed for the numerical control (NC) machines. Recently, motion control in unknown environment will be more and more important. Conventional motion control is not always suitable due to the lack of adaptive capability to the environment. A more sophisticated ability in motion control is necessary for compliant contact with environment. Acceleration control is the key technology of motion control in unknown environment. The acceleration control can make a motion system to be a zero control stiffness system without losing the robustness. Furthermore, a realization of multi-degree-of-freedom motion is necessary for future human assistance. A human assistant motion will require various control stiffness corresponding to the task. The review paper focuses on the modal coordinate system to integrate the various control stiffness in the virtual axes. A bilateral teleoperation is a good candidate to consider the future human assistant motion and integration of decentralized systems. Thus the paper reviews and discusses the bilateral teleoperation from the control stiffness and the modal control design points of view.

Evidence-based recommendations for musculoskeletal kinematic 4D-CT studies using wide area-detector scanners: a phantom study with cadaveric correlation

Energy Technology Data Exchange (ETDEWEB)

Gondim Teixeira, Pedro Augusto; Formery, Anne-Sophie; Blum, Alain [CHRU-Nancy Hopital Central, Service d' Imagerie Guilloz, Nancy (France); Hossu, Gabriela [Universite de Lorraine, IADI U947, Nancy (France); INSERM, CIC-IT 1433, Nancy (France); Winninger, Daniel [IDCmem, Nancy (France); Batch, Toufik [Hopital de Mercy, Service de Radiologie, Metz (France); Gervaise, Alban [Legouest Military Instruction Hospital, Medical Imaging Department, Metz (France)

2017-02-15

To establish evidence-based recommendations for musculoskeletal kinematic 4D-CT on wide area-detector CT. In order to assess factors influencing image quality in kinematic CT studies, a phantom consisting of a polymethylmethacrylate rotating disk with round wells of different sizes was imaged with various acquisition protocols. Cadaveric acquisitions were performed on the ankle joint during motion in two different axes and at different speeds to allow validation of phantom data. Images were acquired with a 320 detector-row CT scanner and were evaluated by two readers. Motion artefacts were significantly correlated with various parameters (movement axis, distance to centre, rotation speed and volume acquisition speed) (p < 0.0001). The relation between motion artefacts and distance to motion fulcrum was exponential (R{sup 2} 0.99). Half reconstruction led to a 23 % increase in image noise and a 40 % decrease in motion artefacts. Cadaveric acquisitions confirmed phantom data. Based on these findings, high tube rotation speed and half reconstruction are recommended for kinematic CT. The axis of motion significantly influences image artefacts and should be considered in patient training and evaluation of acquisition protocol suitability. This study provides evidence-based recommendations for musculoskeletal kinematic 4D-CT. (orig.)

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.

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

Science.gov (United States)

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

2017-10-01

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

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.

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

Reconstructing plate-motion changes in the presence of finite-rotations noise.

Science.gov (United States)

Iaffaldano, Giampiero; Bodin, Thomas; Sambridge, Malcolm

2012-01-01

Understanding lithospheric plate motions is of paramount importance to geodynamicists. Much effort is going into kinematic reconstructions featuring progressively finer temporal resolution. However, the challenge of precisely identifying ocean-floor magnetic lineations, and uncertainties in geomagnetic reversal timescales result in substantial finite-rotations noise. Unless some type of temporal smoothing is applied, the scenario arising at the native temporal resolution is puzzling, as plate motions vary erratically and significantly over short periods (<1 Myr). This undermines our ability to make geodynamic inferences, as the rates at which forces need to be built upon plates to explain these kinematics far exceed the most optimistic estimates. Here we show that the largest kinematic changes reconstructed across the Atlantic, Indian and South Pacific ridges arise from data noise. We overcome this limitation using a trans-dimensional hierarchical Bayesian framework. We find that plate-motion changes occur on timescales no shorter than a few million years, yielding simpler kinematic patterns and more plausible dynamics.

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.

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.

The Kinematics and Spondylosis of the Lumbar Spine Vary Depending on the Levels of Motion Segments in Individuals With Low Back Pain.

Science.gov (United States)

Basques, Bryce A; Espinoza Orías, Alejandro A; Shifflett, Grant D; Fice, Michael P; Andersson, Gunnar B; An, Howard S; Inoue, Nozomu

2017-07-01

A prospective cohort study. The aim of this study was to identify associations of spondylotic and kinematic changes with low back pain (LBP). The ability to characterize and differentiate the biomechanics of both the symptomatic and asymptomatic lumbar spine is crucial to alleviate the sparse literature on the association of lumbar spine biomechanics and LBP. Lumbar dynamic plain radiographs (flexion-extension), dynamic computed tomography (CT) scanning (axial rotation, disc height), and magnetic resonance imaging (MRI, disc and facet degeneration grades) were obtained for each subject. These parameters were compared between symptomatic and control groups using Student t test and multivariate logistic regression, which controlled for patient age and sex and identified spinal parameters that were independently associated with symptomatic LBP. Disc grade and mean segmental motion by level were tested by one-way analysis of variance (ANOVA). Ninety-nine volunteers (64 asymptomatic/35 LBP) were prospectively recruited. Mean age was 37.3 ± 10.1 years and 55% were male. LBP showed association with increased L5/S1 translation [odds ratio (OR) 1.63 per mm, P = 0.005], decreased flexion-extension motion at L1/L2 (OR 0.87 per degree, P = 0.036), L2/L3 (OR 0.88 per degree, P = 0.036), and L4/L5 (OR 0.87 per degree, P = 0.020), increased axial rotation at L4/L5 (OR 2.11 per degree, P = 0.032), decreased disc height at L3/L4 (OR 0.52 per mm, P = 0.008) and L4/L5 (OR 0.37 per mm, p  0.05). In symptomatic individuals, L4/L5 and L5/S1 levels were affected by spondylosis and kinematic changes. This study clarifies the relationships between kinematic alterations and LBP, mostly observed at the above-mentioned segments. N/A.

The biomechanical assessment of the cervical inter-vertebral kinematics, between DDD patients ICR based study

Science.gov (United States)

Saveh, Amir Hossein; Zali, Ali Reza; Seddighi, Amir Saeed; Zarghi, Afsaneh; Chizari, Mahmoud; Hanafiah, Yussof

2012-01-01

Abstract: It is very important to pay more attention to spine from the biomechanical perspective. It would allow the analysis of initial conditions of the vertebral disc degeneration syndrome and adopting of normal spine kinematics to compare and match it with a degenerated disc and providing a biomechanical index as an indicator for the conduct of any surgical intervention including arthroplasty to maximize restoring spinal biomechanical motion. It is clear that the head movement is possible with the help of muscles. However, the shape and type of motion depends on the structure and shape of the cervical spine and the interaction between them. Cervical spine kinematics depends on the anatomy of the bones and joints. Bazhdok et al (2000) investigated the cervical kinematics and mechanical behavior of the spine and its anatomical connections. They have examined the atlanto- occipital joint motion during flexion-extension and rotation as well as the mechanism of paradoxical motion of atlanto- axial joint by radiography. Bifalkou et al (2011) studied the inter-vertebral motion based on arc kinematic commentary of video fluoroscopy. They showed that the diagnosis of biomechanical instability can be done based on the kinematic examination of the spine obtained in sagittal images. They also declared that the fluoroscopy can be used as a tool for study. Using an automated algorithm, image adaption was carried out and the motion direction of vertebrae was tracked. In the present study, some patients were selected among patients with cervical disc degeneration. Following imaging by fluoroscopy, the instantaneous center of the spinal action was calculated. It was used as a biomechanical criterion and the treatment group was compared with the healthy group. The loci of the instantaneous centers of the two groups were compared and its difference with the value of healthy group was calculated. A biomechanical criterion was introduced as a basis for comparison of normal and

Resolving kinematic redundancy with constraints using the FSP (Full Space Parameterization) approach

International Nuclear Information System (INIS)

Pin, F.G.; Tulloch, F.A.

1996-01-01

A solution method is presented for the motion planning and control of kinematically redundant serial-link manipulators in the presence of motion constraints such as joint limits or obstacles. Given a trajectory for the end-effector, the approach utilizes the recently proposed Full Space Parameterization (FSP) method to generate a parameterized expression for the entire space of solutions of the unconstrained system. At each time step, a constrained optimization technique is then used to analytically find the specific joint motion solution that satisfies the desired task objective and all the constraints active during the time step. The method is applicable to systems operating in a priori known environments or in unknown environments with sensor-based obstacle detection. The derivation of the analytical solution is first presented for a general type of kinematic constraint and is then applied to the problem of motion planning for redundant manipulators with joint limits and obstacle avoidance. Sample results using planar and 3-D manipulators with various degrees of redundancy are presented to illustrate the efficiency and wide applicability of constrained motion planning using the FSP approach

PARALLAXES AND PROPER MOTIONS OF ULTRACOOL BROWN DWARFS OF SPECTRAL TYPES Y AND LATE T

International Nuclear Information System (INIS)

Marsh, Kenneth A.; Kirkpatrick, J. Davy; Gelino, Christopher R.; Griffith, Roger L.; Wright, Edward L.; Cushing, Michael C.; Skrutskie, Michael F.; Eisenhardt, Peter R.

2013-01-01

We present astrometric measurements of 11 nearby ultracool brown dwarfs of spectral types Y and late-T, based on imaging observations from a variety of space-based and ground-based telescopes. These measurements have been used to estimate relative parallaxes and proper motions via maximum likelihood fitting of geometric model curves. To compensate for the modest statistical significance (∼ tan , assumed similar to that implied by previous observations of T dwarfs. Our estimated distances are therefore somewhat dependent on that assumption. Nevertheless, the results have yielded distances for five of our eight Y dwarfs and all three T dwarfs. Estimated distances in all cases are ∼> 3 pc. In addition, we have obtained significant estimates of V tan for two of the Y dwarfs; both are –1 , consistent with membership in the thin disk population. Comparison of absolute magnitudes with model predictions as a function of color shows that the Y dwarfs are significantly redder in J – H than predicted by a cloud-free model.

A novel mechanism for emulating insect wing kinematics

International Nuclear Information System (INIS)

Seshadri, Pranay; Benedict, Moble; Chopra, Inderjit

2012-01-01

A novel dual-differential four-bar flapping mechanism that can accurately emulate insect wing kinematics in all three degrees of freedom (translation, rotation and stroke plane deviation) is developed. The mechanism is specifically designed to be simple and scalable such that it can be utilized on an insect-based flapping wing micro air vehicle. Kinematic formulations for the wing stroke position, pitch angle and coning angle for this model are derived from first principles and compared with a 3D simulation. A benchtop flapping mechanism based on this model was designed and built, which was also equipped with a balance for force measurements. 3D motion capture tests were conducted on this setup to demonstrate the capability of generating complex figure-of-eight flapping motions along with dynamic pitching. The dual-differential four-bar mechanism was implemented on a light-weight vehicle that demonstrated tethered hover. (paper)

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

Directory of Open Access Journals (Sweden)

Bui Thi Hai Linh

2015-01-01

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

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...

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

Science.gov (United States)

Dong, Gangqi; Zhu, Z. H.

2016-04-01

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

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

Science.gov (United States)

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

2011-01-01

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

Improved kinect-based spatiotemporal and kinematic treadmill gait assessment.

Science.gov (United States)

Eltoukhy, Moataz; Oh, Jeonghoon; Kuenze, Christopher; Signorile, Joseph

2017-01-01

A cost-effective, clinician friendly gait assessment tool that can automatically track patients' anatomical landmarks can provide practitioners with important information that is useful in prescribing rehabilitative and preventive therapies. This study investigated the validity and reliability of the Microsoft Kinect v2 as a potential inexpensive gait analysis tool. Ten healthy subjects walked on a treadmill at 1.3 and 1.6m·s -1 , as spatiotemporal parameters and kinematics were extracted concurrently using the Kinect and three-dimensional motion analysis. Spatiotemporal measures included step length and width, step and stride times, vertical and mediolateral pelvis motion, and foot swing velocity. Kinematic outcomes included hip, knee, and ankle joint angles in the sagittal plane. The absolute agreement and relative consistency between the two systems were assessed using interclass correlations coefficients (ICC2,1), while reproducibility between systems was established using Lin's Concordance Correlation Coefficient (rc). Comparison of ensemble curves and associated 90% confidence intervals (CI90) of the hip, knee, and ankle joint angles were performed to investigate if the Kinect sensor could consistently and accurately assess lower extremity joint motion throughout the gait cycle. Results showed that the Kinect v2 sensor has the potential to be an effective clinical assessment tool for sagittal plane knee and hip joint kinematics, as well as some spatiotemporal temporal variables including pelvis displacement and step characteristics during the gait cycle. Copyright © 2016 Elsevier B.V. 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.

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.

D2 Delta Robot Structural Design and Kinematics Analysis

Science.gov (United States)

Yang, Xudong; wang, Song; Dong, Yu; Yang, Hai

2017-12-01

In this paper, a new type of Delta robot with only two degrees of freedom is proposed on the basis of multi - degree - of - freedom delta robot. In order to meet our application requirements, we have carried out structural design and analysis of the robot. Through SolidWorks modeling, combined with 3D printing technology to determine the final robot structure. In order to achieve the precise control of the robot, the kinematics analysis of the robot was carried out. The SimMechanics toolbox of MATLAB is used to establish the mechanism model, and the kinematics mathematical model is used to simulate the robot motion control in Matlab environment. Finally, according to the design mechanism, the working space of the robot is drawn by the graphic method, which lays the foundation for the motion control of the subsequent robot.

A Three-Dimensional Kinematic and Kinetic Study of the College-Level Female Softball Swing

Science.gov (United States)

Milanovich, Monica; Nesbit, Steven M.

2014-01-01

This paper quantifies and discusses the three-dimensional kinematic and kinetic characteristics of the female softball swing as performed by fourteen female collegiate amateur subjects. The analyses were performed using a three-dimensional computer model. The model was driven kinematically from subject swings data that were recorded with a multi-camera motion analysis system. Each subject used two distinct bats with significantly different inertial properties. Model output included bat trajectories, subject/bat interaction forces and torques, work, and power. These data formed the basis for a detailed analysis and description of fundamental swing kinematic and kinetic quantities. The analyses revealed that the softball swing is a highly coordinated and individual three-dimensional motion and subject-to-subject variations were significant in all kinematic and kinetic quantities. In addition, the potential effects of bat properties on swing mechanics are discussed. The paths of the hands and the centre-of-curvature of the bat relative to the horizontal plane appear to be important trajectory characteristics of the swing. Descriptions of the swing mechanics and practical implications are offered based upon these findings. Key Points The female softball swing is a highly coordinated and individual three-dimensional motion and subject-to-subject variations were significant in all kinematic and kinetic quantities. The paths of the grip point, bat centre-of-curvature, CG, and COP are complex yet reveal consistent patterns among subjects indicating that these patterns are fundamental components of the swing. The most important mechanical quantity relative to generating bat speed is the total work applied to the bat from the batter. Computer modeling of the softball swing is a viable means for study of the fundamental mechanics of the swing motion, the interactions between the batter and the bat, and the energy transfers between the two. PMID:24570623

Kinematics and Dynamics of an Asymmetrical Parallel Robotic Wrist

DEFF Research Database (Denmark)

Wu, Guanglei

2014-01-01

This paper introduces an asymmetrical parallel robotic wrist, which can generate a decoupled unlimited-torsion motion and achieve high positioning accuracy. The kinematics, dexterity, and singularities of the manipulator are investigated to visualize the performance contours of the manipulator...

Magnetic fields and proper motions of sunspots. 1

International Nuclear Information System (INIS)

Kalman, B.

1976-01-01

Determining relation between magnetic fields and intrinsic motions of the Sun spots is considered. Based on daily maps of the longitudinal H 1 and transverse H 2 constituents of the magnetic field and a series of photographs of the Sun a comparison was made of motion of shadow nuclei and semishadow fibres with the structure of the magnetic field in the Sun spot group from 7 till 14 of June, 1969. It was found that the spots moved both along and across the direction of the transverse magnetic field. During the movement of spots changes in the structure of H 2 occurred which in the most cases corresponded to reorientation of lines of force along the trajectory behind the moving spot. However, in some cases the structure of the transverse field behind the moving spot became close to the perpendicular one to the trajectory of the past spot, although it could be almost parallel to the trajectory in front of the spot. The best coincidence of orientations of the spot trajectories with the H 2 structure was obtained near the zero line of the longitudinal field. The orientation of fibres of semishadows along H 2 was observed when the group was near the central meridian

An optimal control strategy for two-dimensional motion camouflage with non-holonimic constraints.

Science.gov (United States)

Rañó, Iñaki

2012-07-01

Motion camouflage is a stealth behaviour observed both in hover-flies and in dragonflies. Existing controllers for mimicking motion camouflage generate this behaviour on an empirical basis or without considering the kinematic motion restrictions present in animal trajectories. This study summarises our formal contributions to solve the generation of motion camouflage as a non-linear optimal control problem. The dynamics of the system capture the kinematic restrictions to motion of the agents, while the performance index ensures camouflage trajectories. An extensive set of simulations support the technique, and a novel analysis of the obtained trajectories contributes to our understanding of possible mechanisms to obtain sensor based motion camouflage, for instance, in mobile robots.

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 ...

Representation of planar motion of complex joints by means of rolling pairs. Application to neck motion.

Science.gov (United States)

Page, Alvaro; de Rosario, Helios; Gálvez, José A; Mata, Vicente

2011-02-24

We propose to model planar movements between two human segments by means of rolling-without-slipping kinematic pairs. We compute the path traced by the instantaneous center of rotation (ICR) as seen from the proximal and distal segments, thus obtaining the fixed and moving centrodes, respectively. The joint motion is then represented by the rolling-without-slipping of one centrode on the other. The resulting joint kinematic model is based on the real movement and accounts for nonfixed axes of rotation; therefore it could improve current models based on revolute pairs in those cases where joint movement implies displacement of the ICR. Previous authors have used the ICR to characterize human joint motion, but they only considered the fixed centrode. Such an approach is not adequate for reproducing motion because the fixed centrode by itself does not convey information about body position. The combination of the fixed and moving centrodes gathers the kinematic information needed to reproduce the position and velocities of moving bodies. To illustrate our method, we applied it to the flexion-extension movement of the head relative to the thorax. The model provides a good estimation of motion both for position variables (mean R(pos)=0.995) and for velocities (mean R(vel)=0.958). This approach is more realistic than other models of neck motion based on revolute pairs, such as the dual-pivot model. The geometry of the centrodes can provide some information about the nature of the movement. For instance, the ascending and descending curves of the fixed centrode suggest a sequential movement of the cervical vertebrae. Copyright © 2010 Elsevier Ltd. All rights reserved.

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.

Test-retest reliability of knee kinematics measurement during gait ...

African Journals Online (AJOL)

ACLR) is crucial to minimize the risk of joint degeneration. To achieve this, it is essential that the chosen measurement method can accurately assess knee kinematics and detect the changes in multi-planes of motion. However to date, limited ...

Robotics-based synthesis of human motion

KAUST Repository

Khatib, O.; Demircan, E.; De Sapio, V.; Sentis, L.; Besier, T.; Delp, S.

2009-01-01

The synthesis of human motion is a complex procedure that involves accurate reconstruction of movement sequences, modeling of musculoskeletal kinematics, dynamics and actuation, and characterization of reliable performance criteria. Many of these processes have much in common with the problems found in robotics research. Task-based methods used in robotics may be leveraged to provide novel musculoskeletal modeling methods and physiologically accurate performance predictions. In this paper, we present (i) a new method for the real-time reconstruction of human motion trajectories using direct marker tracking, (ii) a task-driven muscular effort minimization criterion and (iii) new human performance metrics for dynamic characterization of athletic skills. Dynamic motion reconstruction is achieved through the control of a simulated human model to follow the captured marker trajectories in real-time. The operational space control and real-time simulation provide human dynamics at any configuration of the performance. A new criteria of muscular effort minimization has been introduced to analyze human static postures. Extensive motion capture experiments were conducted to validate the new minimization criterion. Finally, new human performance metrics were introduced to study in details an athletic skill. These metrics include the effort expenditure and the feasible set of operational space accelerations during the performance of the skill. The dynamic characterization takes into account skeletal kinematics as well as muscle routing kinematics and force generating capacities. The developments draw upon an advanced musculoskeletal modeling platform and a task-oriented framework for the effective integration of biomechanics and robotics methods.

Robotics-based synthesis of human motion

KAUST Repository

Khatib, O.

2009-05-01

The synthesis of human motion is a complex procedure that involves accurate reconstruction of movement sequences, modeling of musculoskeletal kinematics, dynamics and actuation, and characterization of reliable performance criteria. Many of these processes have much in common with the problems found in robotics research. Task-based methods used in robotics may be leveraged to provide novel musculoskeletal modeling methods and physiologically accurate performance predictions. In this paper, we present (i) a new method for the real-time reconstruction of human motion trajectories using direct marker tracking, (ii) a task-driven muscular effort minimization criterion and (iii) new human performance metrics for dynamic characterization of athletic skills. Dynamic motion reconstruction is achieved through the control of a simulated human model to follow the captured marker trajectories in real-time. The operational space control and real-time simulation provide human dynamics at any configuration of the performance. A new criteria of muscular effort minimization has been introduced to analyze human static postures. Extensive motion capture experiments were conducted to validate the new minimization criterion. Finally, new human performance metrics were introduced to study in details an athletic skill. These metrics include the effort expenditure and the feasible set of operational space accelerations during the performance of the skill. The dynamic characterization takes into account skeletal kinematics as well as muscle routing kinematics and force generating capacities. The developments draw upon an advanced musculoskeletal modeling platform and a task-oriented framework for the effective integration of biomechanics and robotics methods.

Global-local optimization of flapping kinematics in hovering flight

KAUST Repository

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

2013-01-01

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

Global-local optimization of flapping kinematics in hovering flight

KAUST Repository

Ghommem, Mehdi

2013-06-01

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

Procedure to describe clavicular motion.

Science.gov (United States)

Gutierrez Delgado, Guivey; De Beule, Matthieu; Ortega Cardentey, Dolgis R; Segers, Patrick; Iznaga Benítez, Arsenio M; Rodríguez Moliner, Tania; Verhegghe, Benedict; Palmans, Tanneke; Van Hoof, Tom; Van Tongel, Alexander

2017-03-01

For many years, researchers have attempted to describe shoulder motions by using different mathematical methods. The aim of this study was to describe a procedure to quantify clavicular motion. The procedure proposed for the kinematic analysis consists of 4 main processes: 3 transcortical pins in the clavicle, motion capture, obtaining 3-dimensional bone models, and data processing. Clavicular motion by abduction (30° to 150°) and flexion (55° to 165°) were characterized by an increment of retraction of 27° to 33°, elevation of 25° to 28°, and posterior rotation of 14° to 15°, respectively. In circumduction, clavicular movement described an ellipse, which was reflected by retraction and elevation. Kinematic analysis shows that the articular surfaces move by simultaneously rolling and sliding on the convex surface of the sternum for the 3 movements of abduction, flexion, and circumduction. The use of 3 body landmarks in the clavicle and the direct measurement of bone allowed description of the osteokinematic and arthrokinematic movement of the clavicle. Copyright © 2017 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Elsevier Inc. All rights reserved.

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.

An X-ray Expansion and Proper Motion Study of the Magellanic Cloud Supernova Remnant J0509-6731 with the Chandra X-ray Observatory

Science.gov (United States)

Roper, Quentin; Filipovi, Miroslav; Allen, Glenn E.; Sano, Hidetoshi; Park, Laurence; Pannuti, Thomas G.; Sasaki, Manami; Haberl, Frank; Kavanagh, Patrick J.; Yamane, Yumiko; Yoshiike, Satoshi; Fujii, Kosuke; Fukui, Yasuo; Seitenzahl, Ivo R.

2018-05-01

Using archival Chandra data consisting of a total of 78.46 ksec over two epochs seven years apart, we have measured the expansion of the young (˜400 years old) type Ia Large Magellanic Cloud supernova remnant (SNR) J0509-6731. In addition, we use radial brightness profile matching to detect proper-motion expansion of this SNR, and estimate an speed of 7 500±1 700 km s-1. This is one of the only proper motion studies of extragalactic SNRs expansion that is able to derive an expansion velocity, and one of only two such studies of an extragalactic SNR to yield positive results in the X-rays. We find that this expansion velocity is consistent with an optical expansion study on this object. In addition, we examine the medium into which the SNR is expanding by examining the CO and neutral H I gas using radio data obtained from Mopra, the Australia Telescope Compact Array and Parkes radio telescopes. We also briefly compare this result with a recent radio survey, and find that our results predict a radio spectral index α of -0.67±0.07. This value is consistent with high frequency radio observations of MCSNR J0509-6731.

Tachyon kinematics and causality: A systematic, thorough analysis

International Nuclear Information System (INIS)

Recami, E.

1985-01-01

The chronological order of the events along a space-like path is not invariant under Lorentz transformations, as wellknown. This led to an early conviction that tachyons would give rise to causal anomalies. A relativistic version of the Stuckelberg-Feynman 'switching procedure' (SWP) has been invoked as the suitable tool to eliminate those anomalies. The application of the 'SWP' does eliminate the motions backwards in time, but interchanges the roles of source and detector. This fact triggered the proposal of a host of causal 'paradoxes'. Till now, however, it has not been recognized that such paradoxes can be sensibly discussed (and completely solved, at least 'in microphysics') only after having properly developed the tachyon relativistic mechanics. It is shown how to apply the 'SWP', both in the case of ordinary Special Relativity, and in the case with tachyons. Then, the kinematics of the tachyon-exchange between two (ordinary) bodies is carrefully exploited. Being finally able to tackle the tachyon-causality problem, the paradoxes are sucessively solved: (i) by Tolman-Regge; (ii) by Pirani; (iii) by Edmonds; (iv) by Bell. At last, a further new paradox associated with the transmission of signals by modulated tachyon beams is discussed. (Author) [pt

Kinematic state estimation and motion planning for stochastic nonholonomic systems using the exponential map.

Science.gov (United States)

Park, Wooram; Liu, Yan; Zhou, Yu; Moses, Matthew; Chirikjian, Gregory S

2008-04-11

A nonholonomic system subjected to external noise from the environment, or internal noise in its own actuators, will evolve in a stochastic manner described by an ensemble of trajectories. This ensemble of trajectories is equivalent to the solution of a Fokker-Planck equation that typically evolves on a Lie group. If the most likely state of such a system is to be estimated, and plans for subsequent motions from the current state are to be made so as to move the system to a desired state with high probability, then modeling how the probability density of the system evolves is critical. Methods for solving Fokker-Planck equations that evolve on Lie groups then become important. Such equations can be solved using the operational properties of group Fourier transforms in which irreducible unitary representation (IUR) matrices play a critical role. Therefore, we develop a simple approach for the numerical approximation of all the IUR matrices for two of the groups of most interest in robotics: the rotation group in three-dimensional space, SO(3), and the Euclidean motion group of the plane, SE(2). This approach uses the exponential mapping from the Lie algebras of these groups, and takes advantage of the sparse nature of the Lie algebra representation matrices. Other techniques for density estimation on groups are also explored. The computed densities are applied in the context of probabilistic path planning for kinematic cart in the plane and flexible needle steering in three-dimensional space. In these examples the injection of artificial noise into the computational models (rather than noise in the actual physical systems) serves as a tool to search the configuration spaces and plan paths. Finally, we illustrate how density estimation problems arise in the characterization of physical noise in orientational sensors such as gyroscopes.

Kinematic Measurement of Knee Prosthesis from Single-Plane Projection Images

Science.gov (United States)

Hirokawa, Shunji; Ariyoshi, Shogo; Takahashi, Kenji; Maruyama, Koichi

In this paper, the measurement of 3D motion from 2D perspective projections of knee prosthesis is described. The technique reported by Banks and Hodge was further developed in this study. The estimation was performed in two steps. The first-step estimation was performed on the assumption of orthogonal projection. Then, the second-step estimation was subsequently carried out based upon the perspective projection to accomplish more accurate estimation. The simulation results have demonstrated that the technique archived sufficient accuracies of position/orientation estimation for prosthetic kinematics. Then we applied our algorithm to the CCD images, thereby examining the influences of various artifacts, possibly incorporated through an imaging process, on the estimation accuracies. We found that accuracies in the experiment were influenced mainly by the geometric discrepancies between the prosthesis component and computer generated model and by the spacial inconsistencies between the coordinate axes of the positioner and that of the computer model. However, we verified that our algorithm could achieve proper and consistent estimation even for the CCD images.

Three-dimensional trunk kinematics in golf: between-club differences and relationships to clubhead speed.

Science.gov (United States)

Joyce, Christopher; Burnett, Angus; Cochrane, Jodie; Ball, Kevin

2013-06-01

The aims of this study were (i) to determine whether significant three-dimensional (3D) trunk kinematic differences existed between a driver and a five-iron during a golf swing; and (ii) to determine the anthropometric, physiological, and trunk kinematic variables associated with clubhead speed. Trunk range of motion and golf swing kinematic data were collected from 15 low-handicap male golfers (handicap = 2.5 +/- 1.9). Data were collected using a 10-camera motion capture system operating at 250 Hz. Data on clubhead speed and ball velocity were collected using a real-time launch monitor. Paired t-tests revealed nine significant (p golf swing kinematics, namely trunk and lower trunk flexion/extension and lower trunk axial rotation. Multiple regression analyses explained 33.7-66.7% of the variance in clubhead speed for the driver and five-iron, respectively, with both trunk and lower trunk variables showing associations with clubhead speed. Future studies should consider the role of the upper limbs and modifiable features of the golf club in developing clubhead speed for the driver in particular.

A Three-Dimensional Kinematic and Kinetic Study of the College-Level Female Softball Swing

Directory of Open Access Journals (Sweden)

Monica Milanovich, Steven M. Nesbit

2014-03-01

Full Text Available This paper quantifies and discusses the three-dimensional kinematic and kinetic characteristics of the female softball swing as performed by fourteen female collegiate amateur subjects. The analyses were performed using a three-dimensional computer model. The model was driven kinematically from subject swings data that were recorded with a multi-camera motion analysis system. Each subject used two distinct bats with significantly different inertial properties. Model output included bat trajectories, subject/bat interaction forces and torques, work, and power. These data formed the basis for a detailed analysis and description of fundamental swing kinematic and kinetic quantities. The analyses revealed that the softball swing is a highly coordinated and individual three-dimensional motion and subject-to-subject variations were significant in all kinematic and kinetic quantities. In addition, the potential effects of bat properties on swing mechanics are discussed. The paths of the hands and the centre-of-curvature of the bat relative to the horizontal plane appear to be important trajectory characteristics of the swing. Descriptions of the swing mechanics and practical implications are offered based upon these findings.

Compression of Human Motion Animation Using the Reduction of Interjoint Correlation

Directory of Open Access Journals (Sweden)

Shiyu Li

2008-01-01

Full Text Available We propose two compression methods for the human motion in 3D space, based on the forward and inverse kinematics. In a motion chain, a movement of each joint is represented by a series of vector signals in 3D space. In general, specific types of joints such as end effectors often require higher precision than other general types of joints in, for example, CG animation and robot manipulation. The first method, which combines wavelet transform and forward kinematics, enables users to reconstruct the end effectors more precisely. Moreover, progressive decoding can be realized. The distortion of parent joint coming from quantization affects its child joint in turn and is accumulated to the end effector. To address this problem and to control the movement of the whole body, we propose a prediction method further based on the inverse kinematics. This method achieves efficient compression with a higher compression ratio and higher quality of the motion data. By comparing with some conventional methods, we demonstrate the advantage of ours with typical motions.

Compression of Human Motion Animation Using the Reduction of Interjoint Correlation

Directory of Open Access Journals (Sweden)

Li Shiyu

2008-01-01

Full Text Available Abstract We propose two compression methods for the human motion in 3D space, based on the forward and inverse kinematics. In a motion chain, a movement of each joint is represented by a series of vector signals in 3D space. In general, specific types of joints such as end effectors often require higher precision than other general types of joints in, for example, CG animation and robot manipulation. The first method, which combines wavelet transform and forward kinematics, enables users to reconstruct the end effectors more precisely. Moreover, progressive decoding can be realized. The distortion of parent joint coming from quantization affects its child joint in turn and is accumulated to the end effector. To address this problem and to control the movement of the whole body, we propose a prediction method further based on the inverse kinematics. This method achieves efficient compression with a higher compression ratio and higher quality of the motion data. By comparing with some conventional methods, we demonstrate the advantage of ours with typical motions.

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.

Development of esMOCA Biomechanic, Motion Capture Instrumentation for Biomechanics Analysis

Science.gov (United States)

Arendra, A.; Akhmad, S.

2018-01-01

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

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

6th International Workshop on Computational Kinematics

CERN Document Server

Gracia, Alba

2014-01-01

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

Kinematics in special and general relativity

International Nuclear Information System (INIS)

Woodside, R.W.M.

1979-05-01

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

Scapula Kinematics of Youth Baseball Players

Directory of Open Access Journals (Sweden)

Oliver Gretchen

2015-12-01

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

Proper time axis of a closed relativistic system

International Nuclear Information System (INIS)

Chernikov, N.A.; Fadeev, N.G.; Shavokhina, N.S.

1997-01-01

The definition of a proper time axis of a closed relativistic system of colliding particles is given. The solution of the proper time axis problem is presented. If the light velocity c equals the imaginary unit i, then in the case of a plane motion of the system the problem about the proper time axis turns out to be equivalent to the known in engineering mechanics problem about the reduction of any system of forces, applied to a rigid body, to the dynamic screw. In the general case, when c=i, the problem about the proper time axis turns out to be equivalent to the problem about the reduction to the dynamic screw of a system of forces, applied to a rigid body in a four-dimensional Euclidean space

Robot Kinematics, using Dual Quaternions

Directory of Open Access Journals (Sweden)

Mahmoud Gouasmi

2012-03-01

Full Text Available From the point of view of classical mechanics, deriving the equations of motion for systems of coupled rigid bodies is regarded as a straightforward procedure: once a suitable set of generalized coordinates and reference frames have been chosen, what remains is to either apply Lagrange’s equations or Newton and Euler’s equations to obtain the differential equations of motion. As the complexity of multibody system increases, the need for more elegant formulation of the equation of motion becomes an issue of paramount importance. Our primary focus is on the kinematic analysis of rigid bodies and serial manipulators (robotic systems  using simultaneously, both homogeneous transformations (4x4 matrices and Dual Quaternions, for the sake of results comparisons (cost,complexity,storage capacity etc. . This paper has been done mainly for educational and peadagogical purposes, hoping that the scientific community will finally adopt and use Dual Quaternions at least when dealing with multibody systems and specially robotics.

Validation of a protocol for the estimation of three-dimensional body center of mass kinematics in sport.

Science.gov (United States)

Mapelli, Andrea; Zago, Matteo; Fusini, Laura; Galante, Domenico; Colombo, Andrea; Sforza, Chiarella

2014-01-01

Since strictly related to balance and stability control, body center of mass (CoM) kinematics is a relevant quantity in sport surveys. Many methods have been proposed to estimate CoM displacement. Among them, segmental method appears to be suitable to investigate CoM kinematics in sport: human body is assumed as a system of rigid bodies, hence the whole-body CoM is calculated as the weighted average of the CoM of each segment. The number of landmarks represents a crucial choice in the protocol design process: one have to find the proper compromise between accuracy and invasivity. In this study, using a motion analysis system, a protocol based upon the segmental method is validated, adopting an anatomical model comprising 14 landmarks. Two sets of experiments were conducted. Firstly, our protocol was compared to the ground reaction force method (GRF), accounted as a standard in CoM estimation. In the second experiment, we investigated the aerial phase typical of many disciplines, comparing our protocol with: (1) an absolute reference, the parabolic regression of the vertical CoM trajectory during the time of flight; (2) two common approaches to estimate CoM kinematics in gait, known as sacrum and reconstructed pelvis methods. Recognized accuracy indexes proved that the results obtained were comparable to the GRF; what is more, during the aerial phases our protocol showed to be significantly more accurate than the two other methods. The protocol assessed can therefore be adopted as a reliable tool for CoM kinematics estimation in further sport researches. Copyright © 2013 Elsevier B.V. All rights reserved.

Unsteady motion: escape jumps in planktonic copepods, their kinematics and energetics

DEFF Research Database (Denmark)

Kiørboe, Thomas; Andersen, Anders Peter; Langlois, Vincent J.

2010-01-01

velocities in other aquatic organisms. The relative duration of the pauses between power strokes was observed to increase with organism size. We demonstrate that this is an inherent property of swimming by alternating power strokes and pauses. We finally show that the Strouhal number is in the range of peak......We describe the kinematics of escape jumps in three species of 0.3–3.0 mm-sized planktonic copepods. We find similar kinematics between species with periodically alternating power strokes and passive coasting and a resulting highly fluctuating escape velocity. By direct numerical simulations, we...... estimate the force and power output needed to accelerate and overcome drag. Both are very high compared with those of other organisms, as are the escape velocities in comparison to startle velocities of other aquatic animals. Thus, the maximum weight-specific force, which for muscle motors of other animals...

A novel method to replicate the kinematics of the carpus using a six degree-of-freedom robot.

Science.gov (United States)

Fraysse, François; Costi, John J; Stanley, Richard M; Ding, Boyin; McGuire, Duncan; Eng, Kevin; Bain, Gregory I; Thewlis, Dominic

2014-03-21

Understanding the kinematics of the carpus is essential to the understanding and treatment of wrist pathologies. However, many of the previous techniques presented are limited by non-functional motion or the interpolation of points from static images at different postures. We present a method that has the capability of replicating the kinematics of the wrist during activities of daily living using a unique mechanical testing system. To quantify the kinematics of the carpal bones, we used bone pin-mounted markers and optical motion capture methods. In this paper, we present a hammering motion as an example of an activity of daily living. However, the method can be applied to a wide variety of movements. Our method showed good accuracy (1.0-2.6°) of in vivo movement reproduction in our ex vivo model. Most carpal motion during wrist flexion-extension occurs at the radiocarpal level while in ulnar deviation the motion is more equally shared between radiocarpal and midcarpal joints, and in radial deviation the motion happens mainly at the midcarpal joint. For all rotations, there was more rotation of the midcarpal row relative to the lunate than relative to the scaphoid or triquetrum. For the functional motion studied (hammering), there was more midcarpal motion in wrist extension compared to pure wrist extension while radioulnar deviation patterns were similar to those observed in pure wrist radioulnar deviation. Finally, it was found that for the amplitudes studied the amount of carpal rotations was proportional to global wrist rotations. Copyright © 2014 Elsevier Ltd. All rights reserved.

Key features of hip hop dance motions affect evaluation by judges.

Science.gov (United States)

Sato, Nahoko; Nunome, Hiroyuki; Ikegami, Yasuo

2014-06-01

The evaluation of hip hop dancers presently lacks clearly defined criteria and is often dependent on the subjective impressions of judges. Our study objective was to extract hidden motion characteristics that could potentially distinguish the skill levels of hip hop dancers and to examine the relationship between performance kinematics and judging scores. Eleven expert, six nonexpert, and nine novice dancers participated in the study, where each performed the "wave" motion as an experimental task. The movements of their upper extremities were captured by a motion capture system, and several kinematic parameters including the propagation velocity of the wave were calculated. Twelve judges evaluated the performances of the dancers, and we compared the kinematic parameters of the three groups and examined the relationship between the judging scores and the kinematic parameters. We found the coefficient of variation of the propagation velocity to be significantly different among the groups (P < .01) and highly correlated with the judging scores (r = -0.800, P < .01). This revealed that the variation of propagation velocity was the most dominant variable representing the skill level of the dancers and that the smooth propagation of the wave was most closely related to the evaluation by judges.

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

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....

Acceleration Kinematics in Cricketers: Implications for Performance in the Field

Directory of Open Access Journals (Sweden)

G. Lockie Robert

2014-03-01

Full Text Available Cricket fielding often involves maximal acceleration to retrieve the ball. There has been no analysis of acceleration specific to cricketers, or for players who field primarily in the infield (closer to the pitch or outfield (closer to the boundary. This study analyzed the first two steps of a 10-m sprint in experienced cricketers. Eighteen males (age = 24.06 ± 4.87 years; height = 1.81 ± 0.06 m; mass = 79.67 ± 10.37 kg were defined as primarily infielders (n = 10 or outfielders (n = 8. Timing lights recorded 0-5 and 0-10 m time. Motion capture measured first and second step kinematics, including: step length; step frequency; contact time; shoulder motion; lead and rear arm elbow angle; drive leg hip and knee extension, and ankle plantar flexion; swing leg hip and knee flexion, and ankle dorsi flexion. A one-way analysis of variance (p < 0.05 determined between-group differences. Data was pooled for a Pearson’s correlation analysis (p < 0.05 to analyze kinematic relationships. There were no differences in sprint times, and few variables differentiated infielders and outfielders. Left shoulder range of motion related to second step length (r = 0.471. First step hip flexion correlated with both step lengths (r = 0.570-0.598, and frequencies (r = -0.504--0.606. First step knee flexion related to both step lengths (r = 0.528-0.682, and first step frequency (r = -0.669. First step ankle plantar flexion correlated with second step length (r = -0.692 and frequency (r = 0.726. Greater joint motion ranges related to longer steps. Cricketers display similar sprint kinematics regardless of fielding position, likely because players may field in the infield or outfield depending on match situation. Due to relationships with shoulder and leg motion, and the importance and trainability of step length, cricketers should target this variable to enhance acceleration.

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.

Projectile Motion Hoop Challenge

Science.gov (United States)

Jordan, Connor; Dunn, Amy; Armstrong, Zachary; Adams, Wendy K.

2018-04-01

Projectile motion is a common phenomenon that is used in introductory physics courses to help students understand motion in two dimensions. Authors have shared a range of ideas for teaching this concept and the associated kinematics in The Physics Teacher; however, the "Hoop Challenge" is a new setup not before described in TPT. In this article an experiment is illustrated to explore projectile motion in a fun and challenging manner that has been used with both high school and university students. With a few simple materials, students have a vested interest in being able to calculate the height of the projectile at a given distance from its launch site. They also have an exciting visual demonstration of projectile motion when the lab is over.

Linear vestibuloocular reflex during motion along axes between nasooccipital and interaural

Science.gov (United States)

Tomko, David L.; Paige, Gary D.

1992-01-01

Linear vestibuloocular reflexes (LVORs), which stabilize retinal images by producing eye movements to compensate for linear head motion, are of two types: (1) responses to head tilt, which work primarily at low frequencies; and (2) responses to head translation, which act at higher frequencies. This work tested the hypothesis that reflexive eye movements would follow the same kinematics relative to the motion axis regardless of head orientation relative to linear motion. The experiments consisted of recording horizontal and vertical eye movements in squirrel monkeys during linear oscillations at 5 Hz along the head's nasooccipital (NO) axis and along axes lying within +/- 30 deg of the NO axis. It was found that LVORs followed the same kinematics regardless of the eye position in the head or the head orientation relative to motion.

The effect of radial head implant shape on radiocapitellar kinematics during in vitro forearm rotation.

Science.gov (United States)

Shannon, Hannah L; Deluce, Simon R; Giles, Joshua W; Johnson, James A; King, Graham J W

2015-02-01

A number of radial head implants are in clinical use for the management of radial head fractures and their sequelae. However, the optimal shape of a radial head implant to ensure proper tracking relative to the capitellum has not been established. This in vitro biomechanical study compared radiocapitellar joint kinematics for 3 radial head implant designs as well as the native head. Eight cadaveric upper extremities were tested using a forearm rotation simulator with the elbow at 90° of flexion. Motion of the radius relative to the capitellum was optically tracked. A stem was navigated into a predetermined location and cemented in place. Three unipolar implant shapes were tested: axisymmetric, reverse-engineered patient-specific, and population-based quasi-anatomic. The patient-specific and quasi-anatomic implants were derived from measurements performed on computed tomography models. Medial-lateral and anterior-posterior translation of the radial head with respect to the capitellum varied with forearm rotation and radial head condition. A significant difference in medial-lateral (P = .03) and anterior-posterior (P = .03) translation was found between the native radial head and the 3 implants. No differences were observed among the radial head conditions except for a difference in medial-lateral translation between the axisymmetric and patient-specific implants (P = .04). Radiocapitellar kinematics of the tested radial head implants were similar in all but one comparison, and all had different kinematics from the native radial head. Patient-specific radial head implants did not prove advantageous relative to conventional implant designs. The shape of the fixed stem unipolar radial head implants had little influence on radiocapitellar kinematics when optimally positioned in this testing model. Copyright © 2015 Journal of Shoulder and Elbow Surgery Board of Trustees. Published by Elsevier Inc. All rights reserved.

Kinematics at the Main Mechanism of a Railbound Forging Manipulator

Directory of Open Access Journals (Sweden)

Florian Ion Tiberiu Petrescu

2015-09-01

Full Text Available Normal 0 false false false EN-US X-NONE X-NONE MicrosoftInternetExplorer4 Heavy payload forging manipulators are mainly characterized by large load output and large capacitive load input. The relationship between outputs and inputs will greatly influence the control and the reliability. Forging manipulators have become more prevalent in the industry today. They are used to manipulate objects to be forged. The most common forging manipulators are moving on a railway to have a greater precision and stability. They have been called the railbound forging manipulators. In this paper we analyze the general kinematics of the main mechanism from a such manipulator. Kinematic scheme shows a typical forging manipulator, with the basic motions in operation process: walking, motion of the tong and buffering. The lifting mechanism consists of several parts including linkages, hydraulic drives and motion pairs. The principle of type design from the viewpoints of the relationship between output characteristics and actuator inputs is discussed. An idea of establishing the incidence relationship between output characteristics and actuator inputs is proposed. These novel forging manipulators which satisfy certain functional requirements provide an effective help for the design of forging manipulators.

Exercise therapy for treatment of supraspinatus tears does not alter glenohumeral kinematics during internal/external rotation with the arm at the side.

Science.gov (United States)

Ferrer, Gerald A; Miller, R Matthew; Zlotnicki, Jason P; Tashman, Scott; Irrgang, James J; Musahl, Volker; Debski, Richard E

2018-01-01

Rotator cuff tears are a significant clinical problem, with exercise therapy being a common treatment option for patients. Failure rates of exercise therapy may be due to the failure to improve glenohumeral kinematics. Tears involving the supraspinatus may result in altered glenohumeral kinematics and joint instability for internal/external rotation with the arm at the side because not all muscles used to stabilize the glenohumeral joint are functioning normally. The objective of the study is to assess in vivo glenohumeral kinematic changes for internal/external rotation motions with the arm at the side of patients with a symptomatic full-thickness supraspinatus tear before and after a 12-week exercise therapy programme. Five patients underwent dynamic stereoradiography analysis before and after a 12-week exercise therapy protocol to measure changes in glenohumeral kinematics during transverse plane internal/external rotation with the arm at the side. Patient-reported outcomes and shoulder strength were also evaluated. No patient sought surgery immediately following exercise therapy. Significant improvements in isometric shoulder strength and patient-reported outcomes were observed (p internal/external rotation with the arm at the side. Despite satisfactory clinical outcomes following exercise therapy, glenohumeral kinematics did not change. The lack of changes may be due to the motion studied or the focus of current exercise therapy protocols being increasing shoulder strength and restoring range of motion. Current exercise therapy protocols should be adapted to also focus on restoring glenohumeral kinematics to improve joint stability since exercise therapy may have different effects depending on the motions of daily living. Prognostic study, Level II.

A Study on the Bio-mimetic Motion of Reptiles

Energy Technology Data Exchange (ETDEWEB)

Shin, Hochelo; Kim, Changhoi; Eom, Heungseop; Jeong, Kyungmin; Jung, Seungjo

2013-10-15

After investigating the locomotion based on the biological characteristics about the from a literature search about the reptile, the locomotion of lizards is captured with marker based motion capture system. Tested lizards are Cuban anole, bearded dragon, domestic lizards such as a white-striped grass lizard and a leopard lizard, After analyzing the motion of the lizards with the measured data, a 25 DOF kinematics model of a lizard was proposed. A periodic gait of the lizard was modeled by defining gait parameters. The body structure of the lizard was analyzed with a bone specimen for the kinematics modeling. Dynamics parameters such as a mass and a inertia of a link are obtained by measuring the weight and the volume of each link. The crawl and the trot gait were simulated with the dynamics model. To control the poly-morphic motion of snake robot, various locomotions of snakes and the motion algorithm of snake robots were investigated. A test model of snake robot and a control system were developed to analyzed the motion and energy efficiency according to the gaits and to realize the poly-morphic motion control.

A Study on the Bio-mimetic Motion of Reptiles

International Nuclear Information System (INIS)

Shin, Hochelo; Kim, Changhoi; Eom, Heungseop; Jeong, Kyungmin; Jung, Seungjo

2013-10-01

After investigating the locomotion based on the biological characteristics about the from a literature search about the reptile, the locomotion of lizards is captured with marker based motion capture system. Tested lizards are Cuban anole, bearded dragon, domestic lizards such as a white-striped grass lizard and a leopard lizard, After analyzing the motion of the lizards with the measured data, a 25 DOF kinematics model of a lizard was proposed. A periodic gait of the lizard was modeled by defining gait parameters. The body structure of the lizard was analyzed with a bone specimen for the kinematics modeling. Dynamics parameters such as a mass and a inertia of a link are obtained by measuring the weight and the volume of each link. The crawl and the trot gait were simulated with the dynamics model. To control the poly-morphic motion of snake robot, various locomotions of snakes and the motion algorithm of snake robots were investigated. A test model of snake robot and a control system were developed to analyzed the motion and energy efficiency according to the gaits and to realize the poly-morphic motion control

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

Science.gov (United States)

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

2015-01-01

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

Kinematic 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

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.

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

NARCIS (Netherlands)

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

2018-01-01

Analysis of running mechanics has traditionally been limited to a gait laboratory using either force plates or an instrumented treadmill in combination with a full-body optical motion capture system. With the introduction of inertial motion capture systems, it becomes possible to measure kinematics

GAIA: A WINDOW TO LARGE-SCALE MOTIONS

Energy Technology Data Exchange (ETDEWEB)

Nusser, Adi [Physics Department and the Asher Space Science Institute-Technion, Haifa 32000 (Israel); Branchini, Enzo [Department of Physics, Universita Roma Tre, Via della Vasca Navale 84, 00146 Rome (Italy); Davis, Marc, E-mail: adi@physics.technion.ac.il, E-mail: branchin@fis.uniroma3.it, E-mail: mdavis@berkeley.edu [Departments of Astronomy and Physics, University of California, Berkeley, CA 94720 (United States)

2012-08-10

Using redshifts as a proxy for galaxy distances, estimates of the two-dimensional (2D) transverse peculiar velocities of distant galaxies could be obtained from future measurements of proper motions. We provide the mathematical framework for analyzing 2D transverse motions and show that they offer several advantages over traditional probes of large-scale motions. They are completely independent of any intrinsic relations between galaxy properties; hence, they are essentially free of selection biases. They are free from homogeneous and inhomogeneous Malmquist biases that typically plague distance indicator catalogs. They provide additional information to traditional probes that yield line-of-sight peculiar velocities only. Further, because of their 2D nature, fundamental questions regarding vorticity of large-scale flows can be addressed. Gaia, for example, is expected to provide proper motions of at least bright galaxies with high central surface brightness, making proper motions a likely contender for traditional probes based on current and future distance indicator measurements.

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

Analyzing Robotic Kinematics Via Computed Simulations

Science.gov (United States)

Carnahan, Timothy M.

1992-01-01

Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.

Kinematic properties of supergiants in the Perseus spiral arm

Energy Technology Data Exchange (ETDEWEB)

Gerasimenko, T P [Ural' skij Gosudarstvennyj Univ., Sverdlovsk (USSR)

1963-05-01

Large-scale inhomogeneity of the velocity field in the Perseus spiral arm region is found on the basis of the analysis of spatial motions of supergiants. The inhomogeneity seems to be connected with both presence of large groups of young stars and systematic motions in the arm predicted by the density wave theory. Proper motions of 78 stars are presented.

SHORT LITERATURE REVIEW ON THE KINEMATICS AND DYNAMICS OF THE INDUSTRIAL ROBOTS

OpenAIRE

RATIU Mariana

2016-01-01

This paper is the result of a short literature review on the kinematics and dynamics of the industrial robots, a first study conducted in a wider research that will be further developed in the field of the trajectory generating mechanisms of the industrial robots. After an introduction about the importance of the robots in the industrial processes and about the necessity to streamline and optimize the robot`s motion, are presented some recent approaches related to the kinematic and dynamic an...

Whole analogy between Daniel Bernoulli solution and direct kinematics solution

Directory of Open Access Journals (Sweden)

Filipović Mirjana

2010-01-01

Full Text Available In this paper, the relationship between the original Euler-Bernoulli's rod equation and contemporary knowledge is established. The solution which Daniel Bernoulli defined for the simplest conditions is essentially the solution of 'direct kinematics'. For this reason, special attention is devoted to dynamics and kinematics of elastic mechanisms configuration. The Euler-Bernoulli equation and its solution (used in literature for a long time should be expanded according to the requirements of the mechanisms motion complexity. The elastic deformation is a dynamic value that depends on the total mechanism movements dynamics. Mathematical model of the actuators comprises also elasticity forces.

Does the graft-tunnel friction influence knee joint kinematics and biomechanics after anterior cruciate ligament reconstruction? A finite element study.

Science.gov (United States)

Wan, Chao; Hao, Zhixiu

2018-02-01

Graft tissues within bone tunnels remain mobile for a long time after anterior cruciate ligament (ACL) reconstruction. However, whether the graft-tunnel friction affects the finite element (FE) simulation of the ACL reconstruction is still unclear. Four friction coefficients (from 0 to 0.3) were simulated in the ACL-reconstructed joint model as well as two loading levels of anterior tibial drawer. The graft-tunnel friction did not affect joint kinematics and the maximal principal strain of the graft. By contrast, both the relative graft-tunnel motion and equivalent strain for the bone tunnels were altered, which corresponded to different processes of graft-tunnel integration and bone remodeling, respectively. It implies that the graft-tunnel friction should be defined properly for studying the graft-tunnel integration or bone remodeling after ACL reconstruction using numerical simulation.

Inter-segment foot motion in girls using a three-dimensional multi-segment foot model.

Science.gov (United States)

Jang, Woo Young; Lee, Dong Yeon; Jung, Hae Woon; Lee, Doo Jae; Yoo, Won Joon; Choi, In Ho

2018-05-06

Several multi-segment foot models (MFMs) have been introduced for in vivo analyses of dynamic foot kinematics. However, the normal gait patterns of healthy children and adolescents remain uncharacterized. We sought to determine normal foot kinematics according to age in clinically normal female children and adolescents using a Foot 3D model. Fifty-eight girls (age 7-17 years) with normal function and without radiographic abnormalities were tested. Three representative strides from five separate trials were analyzed. Kinematic data of foot segment motion were tracked and evaluated using an MFM with a 15-marker set (Foot 3D model). As controls, 50 symptom-free female adults (20-35 years old) were analyzed. In the hindfoot kinematic analysis, plantar flexion motion in the pre-swing phase was significantly greater in girls aged 11 years or older than in girls aged foot progression angle showed mildly increased internal rotation in the loading response phase and the swing phase in girls aged foot motion in girls aged 11 years or older showed low-arch kinematic characteristics, whereas those in girls aged 11 years or older were more similar to the patterns in young adult women. Copyright © 2018 Elsevier B.V. All rights reserved.

Identifications and limited spectroscopy for Luyten common proper motion stars with probable white dwarf components. I - Pair brighter than 17th magnitude

Science.gov (United States)

Oswalt, Terry D.; Hintzen, Paul M.; Luyten, Willem J.

1988-01-01

Identifications are provided for 103 bright Luyten common proper motion (CPM) stellar systems with m(pg) less than 17.0 mag containing likely white dwarf (WD) components. New spectral types are presented for 55 components, and spectral types for 51 more are available in the literature. With the CPM systems previously published by Giclas et al. (1978), the Luyten stars provide a uniform sample of nearly 200 pairs or multiples brighter than 17h magnitude. Selection effects biasing the combined samples are discussed; in particular, evidence is presented that fewer than 1 percent of wide WD binaries have been detected.

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)

VALIDITY AND REPRODUCIBILITY OF MEASURING THE KINEMATIC COUPLING BEHAVIOR OF CALCANEAL PRONATION/SUPINATION AND SHANK ROTATION DURING WEIGHT BEARING USING AN OPTICAL THREE-DIMENSIONAL MOTION ANALYSIS SYSTEM

Directory of Open Access Journals (Sweden)

Masahiro Edo

2017-12-01

Full Text Available Background: It’s important to understand the kinematic coupling of calcaneus and shank to optimize the pathological movement of the lower extremity. However, the quantitative indicator to show the kinematic coupling hasn’t been clarified. We measured the angles of calcaneal pronation-to-supination and shank rotation during pronation and supination of both feet in standing position and devised a technique to quantify the kinematic coupling behavior of calcaneal pronation/supination and shank rotation as the linear regression coefficient (kinematic chain ratio: KCR of those measurements. Therefore, we verified the validity and reproducibility of this technique. Methods: This study is a non-comparative cross-sectional study. The KCR, which is an outcome, was measured using an optical three-dimensional motion analysis system in 10 healthy subjects. The coefficient of determination (R² was calculated for the linear regression equation of the angle of calcaneal pronation-to-supination and angle of shank rotation, and the intraclass correlation coefficient (ICC [1,1] was calculated for the KCR during foot pronation and foot supination and for the KCR measured on different days. And also, skin movement artifacts were investigated by measurement of the displacement of bone and body surface markers in one healthy subject. Results: The linear regression equation of calcaneal pronation/supination and the angle of shank rotation included R²≥0.9 for all subjects. The KCR on foot pronation and supination had an ICC(1,1 of 0.95. The KCR measured on different days had an ICC(1,1 of 0.72. Skin movement artifacts were within the allowable range. Conclusion: The validity and reproducibility of this technique were largely good, and the technique can be used to quantify kinematic coupling behavior.

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

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

2013-07-01

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

Comparison of Lower Limb Segments Kinematics in a Taekwondo Kick. An Approach to the Proximal to Distal Motion

Directory of Open Access Journals (Sweden)

Estevan Isaac

2015-09-01

Full Text Available In taekwondo, there is a lack of consensus about how the kick sequence occurs. The aim of this study was to analyse the peak velocity (resultant and value in each plane of lower limb segments (thigh, shank and foot, and the time to reach this peak velocity in the kicking lower limb during the execution of the roundhouse kick technique. Ten experienced taekwondo athletes (five males and five females; mean age of 25.3 ±5.1 years; mean experience of 12.9 ±5.3 years participated voluntarily in this study performing consecutive kicking trials to a target located at their sternum height. Measurements for the kinematic analysis were performed using two 3D force plates and an eight camera motion capture system. The results showed that the proximal segment reached a lower peak velocity (resultant and in each plane than distal segments (except the peak velocity in the frontal plane where the thigh and shank presented similar values, with the distal segment taking the longest to reach this peak velocity (p < 0.01. Also, at the instant every segment reached the peak velocity, the velocity of the distal segment was higher than the proximal one (p < 0.01. It provides evidence about the sequential movement of the kicking lower limb segments. In conclusion, during the roundhouse kick in taekwondo inter-segment motion seems to be based on a proximo-distal pattern.

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).

The Kinematics of Central American Fore-Arc Motion in Nicaragua: Geodetic, Geophysical and Geologic Study of Magma-Tectonic Interactions

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La Femina, P. C.; Geirsson, H.; Saballos, A.; Mattioli, G. S.

2017-12-01

A long-standing paradigm in plate tectonics is that oblique convergence results in strain partitioning and the formation of migrating fore-arc terranes accommodated on margin-parallel strike-slip faults within or in close proximity to active volcanic arcs (e.g., the Sumatran fault). Some convergent margins, however, are segmented by margin-normal faults and margin-parallel shear is accommodated by motion on these faults and by vertical axis block rotation. Furthermore, geologic and geophysical observations of active and extinct margins where strain partitioning has occurred, indicate the emplacement of magmas within the shear zones or extensional step-overs. Characterizing the mechanism of accommodation is important for understanding short-term (decadal) seismogenesis, and long-term (millions of years) fore-arc migration, and the formation of continental lithosphere. We investigate the geometry and kinematics of Quaternary faulting and magmatism along the Nicaraguan convergent margin, where historical upper crustal earthquakes have been located on margin-normal, strike-slip faults within the fore arc and arc. Using new GPS time series, other geophysical and geologic data, we: 1) determine the location of the maximum gradient in forearc motion; 2) estimate displacement rates on margin-normal faults; and 3) constrain the geometric moment rate for the fault system. We find that: 1) forearc motion is 11 mm a-1; 2) deformation is accommodated within the active volcanic arc; and 3) that margin-normal faults can have rates of 10 mm a-1 in agreement with geologic estimates from paleoseismology. The minimum geometric moment rate for the margin-normal fault system is 2.62x107 m3 yr-1, whereas the geometric moment rate for historical (1931-2006) earthquakes is 1.01x107 m3/yr. The discrepancy between fore-arc migration and historical seismicity may be due to aseismic accommodation of fore-arc motion by magmatic intrusion along north-trending volcanic alignments within the

Opportunities for measuring wheelchair kinematics in match settings; reliability of a three inertial sensor configuration.

Science.gov (United States)

van der Slikke, R M A; Berger, M A M; Bregman, D J J; Lagerberg, A H; Veeger, H E J

2015-09-18

Knowledge of wheelchair kinematics during a match is prerequisite for performance improvement in wheelchair basketball. Unfortunately, no measurement system providing key kinematic outcomes proved to be reliable in competition. In this study, the reliability of estimated wheelchair kinematics based on a three inertial measurement unit (IMU) configuration was assessed in wheelchair basketball match-like conditions. Twenty participants performed a series of tests reflecting different motion aspects of wheelchair basketball. During the tests wheelchair kinematics were simultaneously measured using IMUs on wheels and frame, and a 24-camera optical motion analysis system serving as gold standard. Results showed only small deviations of the IMU method compared to the gold standard, once a newly developed skid correction algorithm was applied. Calculated Root Mean Square Errors (RMSE) showed good estimates for frame displacement (RMSE≤0.05 m) and speed (RMSE≤0.1m/s), except for three truly vigorous tests. Estimates of frame rotation in the horizontal plane (RMSE0.90), rotational speed (ICC>0.99) and IRC (ICC> 0.90) showed high correlations between IMU data and gold standard. IMU based estimation of wheelchair kinematics provided reliable results, except for brief moments of wheel skidding in truly vigorous tests. The IMU method is believed to enable prospective research in wheelchair basketball match conditions and contribute to individual support of athletes in everyday sports practice. Copyright © 2015 Elsevier Ltd. All rights reserved.

Predictive local receptive fields based respiratory motion tracking for motion-adaptive radiotherapy.

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Yubo Wang; Tatinati, Sivanagaraja; Liyu Huang; Kim Jeong Hong; Shafiq, Ghufran; Veluvolu, Kalyana C; Khong, Andy W H

2017-07-01

Extracranial robotic radiotherapy employs external markers and a correlation model to trace the tumor motion caused by the respiration. The real-time tracking of tumor motion however requires a prediction model to compensate the latencies induced by the software (image data acquisition and processing) and hardware (mechanical and kinematic) limitations of the treatment system. A new prediction algorithm based on local receptive fields extreme learning machines (pLRF-ELM) is proposed for respiratory motion prediction. All the existing respiratory motion prediction methods model the non-stationary respiratory motion traces directly to predict the future values. Unlike these existing methods, the pLRF-ELM performs prediction by modeling the higher-level features obtained by mapping the raw respiratory motion into the random feature space of ELM instead of directly modeling the raw respiratory motion. The developed method is evaluated using the dataset acquired from 31 patients for two horizons in-line with the latencies of treatment systems like CyberKnife. Results showed that pLRF-ELM is superior to that of existing prediction methods. Results further highlight that the abstracted higher-level features are suitable to approximate the nonlinear and non-stationary characteristics of respiratory motion for accurate prediction.

The HST Large Programme on ω Centauri. II. Internal Kinematics

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Bellini, Andrea; Libralato, Mattia; Bedin, Luigi R.; Milone, Antonino P.; van der Marel, Roeland P.; Anderson, Jay; Apai, Dániel; Burgasser, Adam J.; Marino, Anna F.; Rees, Jon M.

2018-01-01

In this second installment of the series, we look at the internal kinematics of the multiple stellar populations of the globular cluster ω Centauri in one of the parallel Hubble Space Telescope (HST) fields, located at about 3.5 half-light radii from the center of the cluster. Thanks to the over 15 yr long baseline and the exquisite astrometric precision of the HST cameras, well-measured stars in our proper-motion catalog have errors as low as ∼10 μas yr‑1, and the catalog itself extends to near the hydrogen-burning limit of the cluster. We show that second-generation (2G) stars are significantly more radially anisotropic than first-generation (1G) stars. The latter are instead consistent with an isotropic velocity distribution. In addition, 1G stars have excess systemic rotation in the plane of the sky with respect to 2G stars. We show that the six populations below the main-sequence (MS) knee identified in our first paper are associated with the five main population groups recently isolated on the upper MS in the core of cluster. Furthermore, we find both 1G and 2G stars in the field to be far from being in energy equipartition, with {η }1{{G}}=-0.007+/- 0.026 for the former and {η }2{{G}}=0.074+/- 0.029 for the latter, where η is defined so that the velocity dispersion {σ }μ scales with stellar mass as {σ }μ \\propto {m}-η . The kinematical differences reported here can help constrain the formation mechanisms for the multiple stellar populations in ω Centauri and other globular clusters. We make our astro-photometric catalog publicly available.

Optimizing the way kinematical feed chains with great distance between slides are chosen for CNC machine tools

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Lucian, P.; Gheorghe, S.

2017-08-01

This paper presents a new method, based on FRISCO formula, for optimizing the choice of the best control system for kinematical feed chains with great distance between slides used in computer numerical controlled machine tools. Such machines are usually, but not limited to, used for machining large and complex parts (mostly in the aviation industry) or complex casting molds. For such machine tools the kinematic feed chains are arranged in a dual-parallel drive structure that allows the mobile element to be moved by the two kinematical branches and their related control systems. Such an arrangement allows for high speed and high rigidity (a critical requirement for precision machining) during the machining process. A significant issue for such an arrangement it’s the ability of the two parallel control systems to follow the same trajectory accurately in order to address this issue it is necessary to achieve synchronous motion control for the two kinematical branches ensuring that the correct perpendicular position it’s kept by the mobile element during its motion on the two slides.

Kinematics of Shooting in High School and Collegiate Lacrosse Players With and Without Low Back Pain.

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Wasser, Joseph G; Chen, Cong; Vincent, Heather K

2016-07-01

Low back pain (LBP) and motion alterations can occur in athletes who engage in high-speed throwing motions. The relationship between LBP and shooting motion in lacrosse players is not yet known. To quantify the effects of LBP on key kinematic parameters of the lacrosse shot and determine the contribution of the severity of LBP on specific kinematic parameters of the shooting motion. Controlled laboratory study. High school and collegiate players (N = 24) were stratified into 2 groups based on back pain symptoms (LBP or no pain). Three-dimensional motion capture of overhead throws was used to collect data on knee, pelvis, trunk, and shoulder kinematics as well as crosse stick (the stick capped with a strung net) and ball speed. Mean low back numeric pain rating scale (NRSpain) score was 2.9. Knee flexion at ball release was greater in the LBP than no pain group, indicating a more bent knee (P = .04). The LBP group demonstrated less angular velocity transfer from pelvis to trunk than the no pain group (P = .05). Total range of motion of the pelvis and shoulders during the shot and follow-through were less in the LBP group than the no pain group (83.6° ± 24.5° vs 75.9° ± 24.5°, P = .05). Age- and sex-adjusted regression analyses revealed that the low back NRSpain rating contributed 6.3% to 25.0% of the variance to the models of shoulder transverse rotation range of motion, trunk and shoulder rotation angular velocities, and knee flexion angle (P core training and prehabilitation programs for high school and collegiate players may reduce pain in affected players as well as help them to attain appropriate motion parameters and avoid secondary musculoskeletal injuries. This research identified a prehabilitation need in the understudied lacrosse population. Therapeutic strategies can be developed to strengthen the throwing motion, which could control mechanical loading patterns on the low back and minimize pain symptoms in players with chronic LBP.

Kinematic control of walking.

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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

Influence of Total Knee Arthroplasty on Patellar Kinematics and Patellofemoral Pressure.

Science.gov (United States)

Tanikawa, Hidenori; Tada, Mitsunori; Harato, Kengo; Okuma, Kazunari; Nagura, Takeo

2017-01-01

Patellofemoral complications are one of the main problems after total knee arthroplasty (TKA). The design of the TKA component may affect the patellar biomechanics, which may be associated with this postoperative complication. The purpose of this study was to assess the influence of TKA and prosthesis designs on the patellar kinematics and patellofemoral pressure. Using fresh-frozen cadavers, we measured the patellofemoral pressure, patella offset, and patella tilt in the following 4 conditions: normal knee (patella replacement only), cruciate-retaining TKA, condylar-stabilizing TKA, and posterior-stabilized TKA. The patellofemoral pressure increased significantly after the cruciate-retaining TKA and condylar-stabilizing TKA compared with the normal knee. The patella offset in the normal knee decreased with increasing knee flexion angles, while the patella offset in the TKA knees did not change significantly through the full range of motion. The amount of lateral patella tilt in the normal knee was significantly larger than the TKA knees in the full range of motion. Although the femoral components are designed to reproduce an anatomical patellar tracking, the physiological patellar kinematics were not observed. Relatively high patellofemoral pressure and kinematic change after TKA may be associated with postoperative complications such as the anterior knee pain. Copyright © 2016 Elsevier Inc. All rights reserved.

A kinematic fit method for all-photon events

International Nuclear Information System (INIS)

Du Shuxian; Yuan Changzheng; Chinese Academy of Sciences, Beijing

2006-01-01

An improved kinematic fit method is developed for analyzing all-photon events, where the interaction point is unknown. The fitting algorithm is checked with Monte Carlo samples to ensure that the fitting program works properly. This is applied to the Monte Carlo simulated ψ(2S) decays. A higher efficiency is achieved. This method can be generally applied to analyzing all-photon events at electron-positron collider. (authors)

Integrating concepts and skills: Slope and kinematics graphs

Science.gov (United States)

Tonelli, Edward P., Jr.

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

Effective motion design applied to energy-efficient handling processes

Energy Technology Data Exchange (ETDEWEB)

Brett, Tobias

2013-10-01

Industrial robots are available in a large variety of mechanical alternatives regarding size, motor power, link length ratio or payload. The four major types of serial kinematics dominating the market are complemented by various parallel kinematics for special purpose. In contrast, few other path planning alternatives are applied in industrial robotics which are based on similar analytic solution principles. The objective of this thesis is to develop a systematic design method for artifacts in motion, to integrate motion design and mechanical design to enable new processes for production. For each design, a theoretical benchmark is developed, which cannot be attained by conventional robots in principle. A key performance indicator enables to measure the degree of goal achievement towards the benchmark during all design phases. Motion behaviors are identified on a local level by dynamic systems modeling and are integrated into new global behavior featuring a new quality, suitable for exceeding the design benchmark in industrial processes. Two exemplary handling robot designs are presented. The first concept enables motion behavior to consume less electrical power than kinetic energy transferred to and from its payload during motion. The second concept enables motion with four degrees of freedom by single motor stimulation, reducing idle power consumption on factor 4 towards conventional robots.

Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot.

Science.gov (United States)

Mancisidor, Aitziber; Zubizarreta, Asier; Cabanes, Itziar; Bengoa, Pablo; Jung, Je Hyung

2017-07-01

In order to enhance the performance of rehabilitation robots, it is imperative to know both force and motion caused by the interaction between user and robot. However, common direct measurement of both signals through force and motion sensors not only increases the complexity of the system but also impedes affordability of the system. As an alternative of the direct measurement, in this work, we present new force and motion estimators for the proper control of the upper-limb rehabilitation Universal Haptic Pantograph (UHP) robot. The estimators are based on the kinematic and dynamic model of the UHP and the use of signals measured by means of common low-cost sensors. In order to demonstrate the effectiveness of the estimators, several experimental tests were carried out. The force and impedance control of the UHP was implemented first by directly measuring the interaction force using accurate extra sensors and the robot performance was compared to the case where the proposed estimators replace the direct measured values. The experimental results reveal that the controller based on the estimators has similar performance to that using direct measurement (less than 1 N difference in root mean square error between two cases), indicating that the proposed force and motion estimators can facilitate implementation of interactive controller for the UHP in robotmediated rehabilitation trainings.

Is Active Tectonics on Madagascar Consistent with Somalian Plate Kinematics?

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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.

Kinematic analysis of hip and knee rotation and other contributors to ballet turnout.

Science.gov (United States)

Quanbeck, Amy E; Russell, Jeffrey A; Handley, Sara C; Quanbeck, Deborah S

2017-02-01

Turnout, or external rotation (ER) of the lower extremities, is essential in ballet. The purpose of this study was to utilise physical examination and a biomechanical method for obtaining functional kinematic data using hip and knee joint centres to identify the relative turnout contributions from hip rotation, femoral anteversion, knee rotation, tibial torsion, and other sources. Ten female dancers received a lower extremity alignment assessment, including passive hip rotation, femoral anteversion, tibial torsion, weightbearing foot alignment, and Beighton hypermobility score. Next, turnout was assessed using plantar pressure plots and three-dimensional motion analysis; participants performed turnout to ballet first position on both a plantar pressure mat and friction-reducing discs. A retro-reflective functional marker motion capture system mapped the lower extremities and hip and knee joint centres. Mean total turnout was 129±15.7° via plantar pressure plots and 135±17.8° via kinematics. Bilateral hip ER during turnout was 49±10.2° (36% of total turnout). Bilateral knee ER during turnout was 41±5.9° (32% of total turnout). Hip ER contribution to total turnout measured kinematically was less than expected compared to other studies, where hip ER was determined without functional kinematic data. Knee ER contributed substantially more turnout than expected or previously reported. This analysis method allows precise assessment of turnout contributors.

NUMERICAL SIMULATIONS FOR THE CASE OF RIGID ROTATING KINEMATIC COUPLING WITH BIG CLEARANCE

Directory of Open Access Journals (Sweden)

Jan-Cristian GRIGORE

2010-10-01

Full Text Available In this paper an algorithm based on [1] [2] are numerical simulations, achieving generalized coordinates of motion, positions, speeds of a rigid rotating kinematic coupling with big clearance in joint, case without friction

Using the Microsoft Kinect™ to assess 3-D shoulder kinematics during computer use.

Science.gov (United States)

Xu, Xu; Robertson, Michelle; Chen, Karen B; Lin, Jia-Hua; McGorry, Raymond W

2017-11-01

Shoulder joint kinematics has been used as a representative indicator to investigate musculoskeletal symptoms among computer users for office ergonomics studies. The traditional measurement of shoulder kinematics normally requires a laboratory-based motion tracking system which limits the field studies. In the current study, a portable, low cost, and marker-less Microsoft Kinect™ sensor was examined for its feasibility on shoulder kinematics measurement during computer tasks. Eleven healthy participants performed a standardized computer task, and their shoulder kinematics data were measured by a Kinect sensor and a motion tracking system concurrently. The results indicated that placing the Kinect sensor in front of the participants would yielded a more accurate shoulder kinematics measurements then placing the Kinect sensor 15° or 30° to one side. The results also showed that the Kinect sensor had a better estimate on shoulder flexion/extension, compared with shoulder adduction/abduction and shoulder axial rotation. The RMSE of front-placed Kinect sensor on shoulder flexion/extension was less than 10° for both the right and the left shoulder. The measurement error of the front-placed Kinect sensor on the shoulder adduction/abduction was approximately 10° to 15°, and the magnitude of error is proportional to the magnitude of that joint angle. After the calibration, the RMSE on shoulder adduction/abduction were less than 10° based on an independent dataset of 5 additional participants. For shoulder axial rotation, the RMSE of front-placed Kinect sensor ranged between approximately 15° to 30°. The results of the study suggest that the Kinect sensor can provide some insight on shoulder kinematics for improving office ergonomics. Copyright © 2017 Elsevier Ltd. All rights reserved.

Research on Robot Pose Control Technology Based on Kinematics Analysis Model

Science.gov (United States)

Liu, Dalong; Xu, Lijuan

2018-01-01

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

Kinematics of galactic planetary nebulae

International Nuclear Information System (INIS)

Kiosa, M.I.; Khromov, G.S.

1979-01-01

The classical method of determining the components of the solar motion relative to the centroid of the system of planetary nebulae with known radial velocities is investigated. It is shown that this method is insensitive to random errors in the radial velocities and that low accuracy in determining the coordinates of the solar apex and motion results from the insufficient number of planetaries with measured radial velocities. The planetary nebulae are found not to satisfy well the law of differential galactic rotation with circular orbits. This is attributed to the elongation of their galactic orbits. A method for obtaining the statistical parallax of planetary nebulae is considered, and the parallax calculated from the tau components of their proper motion is shown to be the most reliable

Effect of ship motion on spinal loading during manual lifting

NARCIS (Netherlands)

Faber, G.S.; Kingma, I.; Delleman, N.; Dieën, J. van

2008-01-01

This study investigated the effects of ship motion on peak spinal loading during lifting. All measurements were done on a ship at sea. In 1-min trials, which were repeated over a wide range of sailing conditions, subjects lifted an 18 kg box five times. Ship motion, whole body kinematics, ground

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

Science.gov (United States)

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

2017-07-01

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

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

Directory of Open Access Journals (Sweden)

Jianxun Fu

2015-05-01

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

Repeatability of the three dimensional kinematics of the pelvis, spine and lower limbs while performing selected exercises

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Skublewska-Paszkowska Maria

2017-01-01

Full Text Available Three-dimensional optical systems are used for calculating many kinetic and kinematic parameters. The obtained data are precise; however, their repeatability is a very important aspect. The aim of this paper is to verify the range of motion repeatability of one healthy subject in the joints of the pelvis, spine and lower limbs based on the coefficient of variation. The participant performed seven exercises, repeated five times: two-leg squat, single-leg squat, forward bending, forward-step motion, step onto the stair, hip extension in a standing position and tip-toe extension while standing. Motion was recorded using Vicon motion capture system consisting of eight NIR cameras. The participant had 39 markers attached to her body according to the Plug-in Gait model. The coefficient of variation was calculated in three dimensions (X, Y and Z. The greatest repeatability, pursuant to the coefficient, was observed during the two-leg squat and forward bending in the sagittal plane (X coordinate. It was also high during the single-leg squat. The lowest repeatability was observed during the tip-toe extension while standing and the hip extension in a standing position. During the step onto the stair and the forward-step motion, a higher repeatability of measurement occurred in the open kinematic chain than in the closed chain; in the hip extension the reverse occurred. Repeatability of a range of motion is different in two types of kinematic chain and in 7 exercises. Exercises such as tip-toe extension and hip extension, which require a greater ability to balance, indicated more variability in movement.

A Method for Mechanism Analysis of Frog Swimming Based on Motion Observation Experiments

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Wei Zhang

2014-05-01

Full Text Available For understanding the mechanism of frog swimming under water and designing a frog-inspired swimming robot, kinematics of the frog body and trajectories of joints should be obtained. In this paper, an aquatic frog, Xenopus laevis, was chosen for analysis of swimming motions which were recorded by a high speed camera, and kinematic data were processed in a swimming data extraction platform. According to the shape features of the frog, we propose a method that the frog eyes are set as the natural data extraction markers for body motion, and kinematic data of joint trajectories are calculated by the contour points on the limbs. For the data processing, a pinhole camera model was built to transform the pixel coordinate system to world coordinate system, and the errors caused by the water refraction were analyzed and corrected. Finally, from the developed data extraction platform, the kinematic data for the analysis of swimming mechanism and design of frog-inspired robot were obtained.

Monitoring diver kinematics with dielectric elastomer sensors

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Walker, Christopher R.; Anderson, Iain A.

2017-04-01

Diving, initially motivated for food purposes, is crucial to the oil and gas industry, search and rescue, and is even done recreationally by millions of people. There is a growing need however, to monitor the health and activity of divers. The Divers Alert Network has reported on average 90 fatalities per year since 1980. Furthermore an estimated 1000 divers require recompression treatment for dive-related injuries every year. One means of monitoring diver activity is to integrate strain sensors into a wetsuit. This would provide kinematic information on the diver potentially improving buoyancy control assessment, providing a platform for gesture communication, detecting panic attacks and monitoring diver fatigue. To explore diver kinematic monitoring we have coupled dielectric elastomer sensors to a wetsuit worn by the pilot of a human-powered wet submarine. This provided a unique platform to test the performance and accuracy of dielectric elastomer strain sensors in an underwater application. The aim of this study was to assess the ability of strain sensors to monitor the kinematics of a diver. This study was in collaboration with the University of Auckland's human-powered submarine team, Team Taniwha. The pilot, completely encapsulated in a hull, pedals to propel the submarine forward. Therefore this study focused on leg motion as that is the primary motion of the submarine pilot. Four carbon-filled silicone dielectric elastomer sensors were fabricated and coupled to the pilot's wetsuit. The first two sensors were attached over the knee joints, with the remaining two attached between the pelvis and thigh. The goal was to accurately measure leg joint angles thereby determining the position of each leg relative to the hip. A floating data acquisition unit monitored the sensors and transmitted data packets to a nearby computer for real-time processing. A GoPro Hero 4 silver edition was used to capture the experiments and provide a means of post-validation. The

Human Body Parts Tracking and Kinematic Features Assessment Based on RSSI and Inertial Sensor Measurements

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Gaddi Blumrosen

2013-08-01

Full Text Available Acquisition of patient kinematics in different environments plays an important role in the detection of risk situations such as fall detection in elderly patients, in rehabilitation of patients with injuries, and in the design of treatment plans for patients with neurological diseases. Received Signal Strength Indicator (RSSI measurements in a Body Area Network (BAN, capture the signal power on a radio link. The main aim of this paper is to demonstrate the potential of utilizing RSSI measurements in assessment of human kinematic features, and to give methods to determine these features. RSSI measurements can be used for tracking different body parts’ displacements on scales of a few centimeters, for classifying motion and gait patterns instead of inertial sensors, and to serve as an additional reference to other sensors, in particular inertial sensors. Criteria and analytical methods for body part tracking, kinematic motion feature extraction, and a Kalman filter model for aggregation of RSSI and inertial sensor were derived. The methods were verified by a set of experiments performed in an indoor environment. In the future, the use of RSSI measurements can help in continuous assessment of various kinematic features of patients during their daily life activities and enhance medical diagnosis accuracy with lower costs.

A new kinematical definition of orbital eccentricity

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Ninković S.

2009-01-01

Full Text Available A new concept of orbital eccentricity is given. The dimensionless quantities proposed in the present paper to serve as orbital eccentricities have a kinematical nature. The purpose is to use them in describing the motion for the case of three-dimensional orbits. A comparison done for nearly planar orbits shows that the values of the eccentricities proposed here do not differ significantly from those corresponding to the eccentricities of geometric nature usually applied.

Kinematics of Hooke universal joint robot wrists

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Mckinney, William S., Jr.

1988-01-01

The singularity problem associated with wrist mechanisms commonly found on industrial manipulators can be alleviated by redesigning the wrist so that it functions as a three-axis gimbal system. This paper discussess the kinematics of gimbal robot wrists made of one and two Hooke universal joints. Derivations of the resolved rate motion control equations for the single and double Hooke universal joint wrists are presented using the three-axis gimbal system as a theoretical wrist model.

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.

Sunspot proper motions in active region NOAA 2372 and its flare activity during SMY period of 1980 April 4-13

International Nuclear Information System (INIS)

Ambastha, A.; Bhatnagar, A.

1988-01-01

Solar Active Region NOAA 2372 was observed extensively by the Solar Maximum Mission (SMM) satellite and several ground-based observatories during 1980 April 4-13 in the Solar Maximum Year. After its birth around April 4, it underwent a rapid growth and produced a reported 84 flares in the course of its disc passage. In this paper, photospheric and chromospheric observations of this active region have been studied together with Marshall Space Flight Center magnetograms and X-ray data from HXIS aboard the SMM satellite. In particular, the relationship of the flare-productivity with sunspot proper motions and emergence of new regions of magnetic flux in the active region from its birth to its disappearance at the W-limb has been discussed. (author). 7 figures, 2 tables, 29 refs

HIGH-PRECISION RADIO AND INFRARED ASTROMETRY OF LSPM J1314+1320AB. I. PARALLAX, PROPER MOTIONS, AND LIMITS ON PLANETS

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Forbrich, Jan [University of Vienna, Department of Astrophysics, Türkenschanzstr. 17, A-1180 Vienna (Austria); Dupuy, Trent J.; Rizzuto, Aaron; Mann, Andrew W.; Kraus, Adam L. [The University of Texas at Austin, Department of Astronomy, 2515 Speedway C1400, Austin, TX 78712 (United States); Reid, Mark J.; Berger, Edo [Harvard-Smithsonian Center for Astrophysics, 60 Garden Street, Cambridge, MA 02138 (United States); Liu, Michael C.; Aller, Kimberly [Institute for Astronomy, University of Hawai’i, 2680 Woodlawn Drive, Honolulu, HI 96822 (United States)

2016-08-10

We present multi-epoch astrometric radio observations with the Very Long Baseline Array (VLBA) of the young ultracool-dwarf binary LSPM J1314+1320AB. The radio emission comes from the secondary star. Combining the VLBA data with Keck near-infrared adaptive-optics observations of both components, a full astrometric fit of parallax (π {sub abs} = 57.975 ± 0.045 mas, corresponding to a distance of d = 17.249 ± 0.013 pc), proper motion (μ {sub α} {sub cos} {sub δ} = −247.99 ± 0.10 mas yr{sup −1}, μ {sub δ} = −183.58 ± 0.22 mas yr{sup −1}), and orbital motion is obtained. Despite the fact that the two components have nearly identical masses to within ±2%, the secondary’s radio emission exceeds that of the primary by a factor of ≳30, suggesting a difference in stellar rotation history, which could result in different magnetic field configurations. Alternatively, the emission could be anisotropic and beamed toward us for the secondary but not for the primary. Using only reflex motion, we exclude planets of mass 0.7–10 M {sub jup} with orbital periods of 600–10 days, respectively. Additionally, we use the full orbital solution of the binary to derive an upper limit for the semimajor axis of 0.23 au for stable planetary orbits within this system. These limits cover a parameter space that is inaccessible with, and complementary to, near-infrared radial velocity surveys of ultracool dwarfs. Our absolute astrometry will constitute an important test for the astrometric calibration of Gaia .

Deviating running kinematics and hamstring injury susceptibility in male soccer players: Cause or consequence?

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Schuermans, Joke; Van Tiggelen, Damien; Palmans, Tanneke; Danneels, Lieven; Witvrouw, Erik

2017-09-01

Although the vast majority of hamstring injuries in male soccer are sustained during high speed running, the association between sprinting kinematics and hamstring injury vulnerability has never been investigated prospectively in a cohort at risk. This study aimed to objectify the importance of lower limb and trunk kinematics during full sprint in hamstring injury susceptibility. Cohort study; level of evidence, 2. At the end of the 2013 soccer season, three-dimensional kinematic data of the lower limb and trunk were collected during sprinting in a cohort consisting of 30 soccer players with a recent history of hamstring injury and 30 matched controls. Subsequently, a 1.5 season follow up was conducted for (re)injury registry. Ultimately, joint and segment motion patterns were submitted to retro- and prospective statistical curve analyses for injury risk prediction. Statistical analysis revealed that index injury occurrence was associated with higher levels of anterior pelvic tilting and thoracic side bending throughout the airborne (swing) phases of sprinting, whereas no kinematic differences during running were found when comparing players with a recent hamstring injury history with their matched controls. Deficient core stability, enabling excessive pelvis and trunk motion during swing, probably increases the primary injury risk. Although sprinting encompasses a relative risk of hamstring muscle failure in every athlete, running coordination demonstrated to be essential in hamstring injury prevention. Copyright © 2017 Elsevier B.V. All rights reserved.

Coordination of dual robot arms using kinematic redundancy

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Suh, Il Hong; Shin, Kang G.

1988-01-01

A method is developed to coordinate the motion of dual robot arms carrying a solid object, where the first robot (leader) grasps one end of the object rigidly and the second robot (follower) is allowed to change its grasping position at the other end of the object along the object surface while supporting the object. It is shown that this flexible grasping is equivalent to the addition of one more degree of freedom (dof), giving the follower more maneuvering capabilities. In particular, motion commands for the follower are generated by using kinematic redundancy. To show the utility and power of the method, an example system with two PUMA 560 robots carrying a beam is analyzed.

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.

Mobile Motion Capture--MiMiC.

Science.gov (United States)

Harbert, Simeon D; Jaiswal, Tushar; Harley, Linda R; Vaughn, Tyler W; Baranak, Andrew S

2013-01-01

The low cost, simple, robust, mobile, and easy to use Mobile Motion Capture (MiMiC) system is presented and the constraints which guided the design of MiMiC are discussed. The MiMiC Android application allows motion data to be captured from kinematic modules such as Shimmer 2r sensors over Bluetooth. MiMiC is cost effective and can be used for an entire day in a person's daily routine without being intrusive. MiMiC is a flexible motion capture system which can be used for many applications including fall detection, detection of fatigue in industry workers, and analysis of individuals' work patterns in various environments.

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

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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.

Gender differences associated with rearfoot, midfoot, and forefoot kinematics during running.

Science.gov (United States)

Takabayashi, Tomoya; Edama, Mutsuaki; Nakamura, Masatoshi; Nakamura, Emi; Inai, Takuma; Kubo, Masayoshi

2017-11-01

Females, as compared with males, have a higher proportion of injuries in the foot region. However, the reason for this gender difference regarding foot injuries remains unclear. This study aimed to investigate gender differences associated with rearfoot, midfoot, and forefoot kinematics during running. Twelve healthy males and 12 females ran on a treadmill. The running speed was set to speed which changes from walking to running. Three-dimensional kinematics of rearfoot, midfoot, and forefoot were collected and compared between males and females. Furthermore, spatiotemporal parameters (speed, cadence, and step length) were measured. In the rearfoot angle, females showed a significantly greater peak value of plantarflexion and range of motion in the sagittal plane as compared with males (effect size (ES) = 1.55 and ES = 1.12, respectively). In the midfoot angle, females showed a significantly greater peak value of dorsiflexion and range of motion in the sagittal plane as compared with males (ES = 1.49 and ES = 1.71, respectively). The forefoot peak angles and ranges of motion were not significantly different between the genders in all three planes. A previous study suggested that a gender-related difference in excessive motions of the lower extremities during running has been suggested as a contributing factor to running injuries. Therefore, the present investigation may provide insight into the reason for the high incidence of foot injuries in females.

Segmental in vivo vertebral kinematics at the walk, trot and canter: a preliminary study.

Science.gov (United States)

Haussler, K K; Bertram, J E; Gellman, K; Hermanson, J W

2001-04-01

Understanding the pathophysiology of equine back problems, for clinical evaluation, treatment or injury prevention, requires understanding of the normal 3-dimensional motion characteristics of the vertebral column. Recent studies have investigated regional vertebral kinematics; however, there are no reported measures of direct in vivo segmental vertebral kinematics in exercising horses. Relative movements between 2 adjacent vertebrae were recorded for 3 horses that were clinically sound and did not have a known history of a back problem. A transducer consisting of 2 fixtures and an array of liquid metal strain gauges (LMSGs) was used to measure 3-dimensional segmental vertebral motion. The transducer was attached directly to Steinmann pins implanted in the dorsal spinous processes of adjacent vertebrae in 3 vertebral regions: thoracic (T14 to T16), lumbar (L1 to L3) and lumbosacral (L6 to S2). Rotational displacements between adjacent vertebrae were calculated from the differential outputs of the LMSG array during walk, trot and canter on a treadmill. Peak magnitudes of dorsoventral flexion, lateral bending and axial rotation were recorded continuously for each stride. The largest motion of the 3 instrumented vertebral segments was at the lumbosacral junction. In general, the greatest magnitude of segmental vertebral motion occurred during the canter and the least during the trot. The dynamic and continuous measure of 3-dimensional in vivo segmental vertebral motion provides an important new perspective for evaluating vertebral motion and back problems in horses.

The effect of neck pain on cervical kinematics, as assessed in a virtual environment.

Science.gov (United States)

Sarig Bahat, Hilla; Weiss, Patrice L; Laufer, Yocheved

2010-12-01

To compare cervical kinematics during functional motion in patients with neck pain and in asymptomatic participants using a novel virtual reality assessment. Clinical comparative trial. Participants were recruited from university staff and students, and from a local physical therapy clinic. Patients with chronic neck pain (n=25) and asymptomatic participants (n=42). Not applicable. Kinematic measures (response time, peak and mean velocity, number of velocity peaks, time to peak velocity percentage) were sampled while participants were engaged in the virtual game. Group and motion direction differences were assessed with a 2-way repeated-measures analysis of variance, Tukey-Kramer testing, and contrast analysis when relevant. Participants with neck pain had lower peak and mean velocities than the asymptomatic participants (PCervical rotations were significantly faster and smoother than flexion and extension movements (Pcervical motion in patients with neck pain ranged from 22% to 44% compared with asymptomatic participants. Velocity and smoothness of cervical motion were more restricted in patients with chronic neck pain than found previously. Unlike range of motion and other static measurements, these dynamic variables reflect functional cervical motion and therefore contribute to a better understanding of the impairment associated with neck pain. Because the ability to move quickly in response to external stimuli is a commonly occurring phenomenon, this deficit is highly relevant to clinical assessment and management. Copyright © 2010 American Congress of Rehabilitation Medicine. Published by Elsevier Inc. All rights reserved.

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).

Inverse Dynamic Analysis for Various Drivings in Kinematic Systems

Energy Technology Data Exchange (ETDEWEB)

Lee, Byung Hoon [Pusan Nat’l Univ., Busan (Korea, Republic of)

2017-09-15

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the mechanical system and to design its components. This paper presents an algorithm that calculates actuating forces(or torques), depending on the various types of driving constraints, in order to produce a given system motion in the joint coordinate space. The joint coordinates are used as the generalized coordinates of a kinematic system. System equations of motion and constraint acceleration equations are transformed from the Cartesian coordinate space to the joint coordinate space using the velocity transformation method. A numerical example is carried out to verify the algorithm proposed.

Measures and Relative Motions of Some Mostly F. G. W. Struve Doubles

Science.gov (United States)

Wiley, E. O.

2012-04-01

Measures of 59 pairs of double stars with long observational histories using "lucky imaging" techniques are reported. Relative motions of 59 pairs are investigated using histories of observation, scatter plots of relative motion, ordinary least-squares (OLS) and total proper motion analyses performed in "R," an open source programming language. A scatter plot of the coefficient of determinations derived from the OLS y|epoch and OLS x|epoch clearly separates common proper motion pairs from optical pairs and what are termed "long-period binary candidates." Differences in proper motion separate optical pairs from long-term binary candidates. An Appendix is provided that details how to use known rectilinear pairs as calibration pairs for the program REDUC.

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

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

Science.gov (United States)

West, T; Ng, L; Campbell, A

2014-12-01

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

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.

VERY LARGE TELESCOPE KINEMATICS FOR OMEGA CENTAURI: FURTHER SUPPORT FOR A CENTRAL BLACK HOLE

International Nuclear Information System (INIS)

Noyola, Eva; Gebhardt, Karl; Kissler-Patig, Markus; Luetzgendorf, Nora; Jalali, Behrang; De Zeeuw, P. Tim; Baumgardt, Holger

2010-01-01

The Galactic globular cluster ω Centauri is a prime candidate for hosting an intermediate-mass black hole. Recent measurements lead to contradictory conclusions on this issue. We use VLT-FLAMES to obtain new integrated spectra for the central region of ω Centauri. We combine these data with existing measurements of the radial velocity dispersion profile taking into account a new derived center from kinematics and two different centers from the literature. The data support previous measurements performed for a smaller field of view and show a discrepancy with the results from a large proper motion data set. We see a rise in the radial velocity dispersion in the central region to 22.8 ± 1.2 km s -1 , which provides a strong sign for a central black hole. Isotropic dynamical models for ω Centauri imply black hole masses ranging from 3.0 x 10 4 to 5.2 x 10 4 M sun depending on the center. The best-fitted mass is (4.7 ± 1.0) x 10 4 M sun .

PRECISION MOTION SYSTEM FOR OPTO-MECHANICAL EQUIPMENT OF MICROELECTRONICS

Directory of Open Access Journals (Sweden)

I. V. Dainiak

2015-01-01

Full Text Available The paper proposes a structure of precision motion system built on the basis of a circular multi-coordinate synchronous segment motor and reconfigurable parallel kinematic mechanism. The multi-coordinate synchronous segment motor may have from two to six movable segments depending on the design, and number of the segments generally defines an internal mobility of the motor. A specific feature of the parallel kinematic mechanism consists in the possibility of its structure reconfiguration by serial connection of two neighboring rods with the help of free elements of their spherical joints into triangular circuits with one spherical hinge at the common vertex. As result of this, the controlled motion of motor movable segments is transformed into the complex spatial displacement of circular platform with number of degrees of freedom up to six inclusively.A mathematical model for solution of the kinematic problem in the investigated parallel mechanism has been offered in the paper. The model allows to calculate a position of movable segments of multi-coordinate synchronous motor depending on the desired position and orientation of the executive circular platform. The parametric definition of base point positions in the motor segments in time allows eventually to form algorithms of programmable motions.The paper substantiates ability to embed the developed motion system into projection unit of opto-mechanical equipment while preserving traditional configuration scheme. This provides the possibility of adaptive adjustment of optical elements during operation; it allows to adjust the optical elements when the geometry of projection system is changed due to deterioration. As result, main characteristics of projection system: resolution, depth of field and image contrast and distortion are maintained at the required level. The developed motion system can be used as a coordinate system of positioning, alignment and scanning in the assembly and other

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

Science.gov (United States)

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

2007-06-01

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

Local Muscle Fatigue and 3D Kinematics of the Cervical Spine in Healthy Subjects.

Science.gov (United States)

Niederer, Daniel; Vogt, Lutz; Pippig, Torsten; Wall, Rudolf; Banzer, Winfried

2016-01-01

The authors aimed to further explore the effects of local muscle fatigue on cervical 3D kinematics and the interrelationship between these kinematic characteristics and local muscle endurance capacity in the unimpaired cervical spine. Twenty healthy subjects (38 ± 10 years; 5 women) performed 2 × 10 maximal cervical flexion-extension movements. Isometric muscle endurance tests (prone/supine lying) were applied between sets to induce local muscle fatigue quantified by Borg scale rates of perceived exertion (RPE) and slope in mean power frequency (MPF; surface electromyography; m. sternocleidomastoideus, m. splenius capitis). Cervical motion characteristics (maximal range of motion [ROM], coefficient of variation of the 10 repetitive movements, mean angular velocity, conjunct movements in transversal and frontal plane) were calculated from raw 3D ultrasonic movement data. Average isometric strength testing duration for flexion and extension correlated to the cervical ROM (r = .49/r = .48; p .05). Although subjects' cervical muscle endurance capacity and motor output seems to be conjugated, no impact of local cervical muscle fatigue on motor function was shown. These findings underline the importance of complementary measures to address muscular performance and kinematic characteristics in outcome assessment and functional rehabilitation of the cervical spine.

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.

Foot segmental motion and coupling in stage II and III tibialis posterior tendon dysfunction.

Science.gov (United States)

Van de Velde, Maarten; Matricali, Giovanni Arnoldo; Wuite, Sander; Roels, Charlotte; Staes, Filip; Deschamps, Kevin

2017-06-01

Classification systems developed in the field of posterior tibialis tendon dysfunction omit to include dynamic measurements. Since this may negatively affect the selection of the most appropriate treatment modality, studies on foot kinematics are highly recommended. Previous research characterised the foot kinematics in patients with posterior tibialis tendon dysfunction. However, none of the studies analysed foot segmental motion synchrony during stance phase, nor compared the kinematic behaviour of the foot in presence of different posterior tibialis tendon dysfunction stages. Therefore, we aimed at comparing foot segmental motion and coupling in patients with posterior tibialis tendon dysfunction grade 2 and 3 to those of asymptomatic subjects. Foot segmental motion of 11 patients suffering from posterior tibialis tendon dysfunction stage 2, 4 patients with posterior tibialis tendon dysfunction stage 3 and 15 asymptomatic subjects was objectively quantified with the Rizzoli foot model using an instrumented walkway and a 3D passive motion capture system. Dependent variables were the range of motion occurring at the different inter-segment angles during subphases of stance and swing phase as well as the cross-correlation coefficient between a number of segments. Significant differences in range of motion were predominantly found during the forefoot push off phase and swing phase. In general, both patient cohorts demonstrated a reduced range of motion compared to the control group. This hypomobility occurred predominantly in the rearfoot and midfoot (pfoot which should be considered in the decision making process since it may help explaining the success and failure of certain conservative and surgical interventions. Copyright © 2017 Elsevier Ltd. All rights reserved.

Hip and upper extremity kinematics in youth baseball pitchers.

Science.gov (United States)

Holt, Taylor; Oliver, Gretchen D

2016-01-01

The purpose of this study was to examine the relationship between dynamic hip rotational range of motion and upper extremity kinematics during baseball pitching. Thirty-one youth baseball pitchers (10.87 ± 0.92 years; 150.03 ± 5.48 cm; 44.83 ± 8.04 kg) participated. A strong correlation was found between stance hip rotation and scapular upward rotation at maximum shoulder external rotation (r = 0.531, P = 0.002) and at ball release (r = 0.536, P = 0.002). No statistically significant correlations were found between dynamic hip rotational range of motion and passive hip range of motion. Hip range of motion deficits can constrain pelvis rotation and limit energy generation in the lower extremities. Shoulder pathomechanics can then develop as greater responsibility is placed on the shoulder to generate the energy lost from the proximal segments, increasing risk of upper extremity injury. Additionally, it appears that passive seated measurements of hip range of motion may not accurately reflect the dynamic range of motion of the hips through the progression of the pitch cycle.

Teaching physics with Angry Birds: exploring the kinematics and dynamics of the game

Science.gov (United States)

Rodrigues, M.; Simeão Carvalho, P.

2013-07-01

In this paper, we present classroom strategies for teaching kinematics at middle and high school levels, using Rovio’s famous game Angry Birds and the video analyser software Tracker. We show how to take advantage of this entertaining video game, by recording appropriate motions of birds that students can explore by manipulating data, characterizing the red bird’s motion and fitting results to physical models. A dynamic approach is also addressed to link gravitational force to projectile trajectories.

Energy Optimal Trajectories in Human Arm Motion Aiming for Assistive Robots

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Lelai Zhou

2017-01-01

Full Text Available The energy expenditure in human arm has been of great interests for seeking optimal human arm trajectories. This paper presents a new way for calculating metabolic energy consumption of human arm motions. The purpose is to reveal the relationship between the energy consumption and the trajectory of arm motion, and further, the acceleration and arm orientation contributions. Human arm motion in horizontal plane is investigated by virtue of Qualisys motion capture system. The motion data is post-processed by a biomechanical model to obtain the metabolic expenditure. Results on the arm motion kinematics, dynamics and metabolic energy consumption, are included.

INFRARED AND KINEMATIC PROPERTIES OF THE SUBSTELLAR OBJECT G 196-3 B

International Nuclear Information System (INIS)

Zapatero Osorio, M. R.; Caballero, J. A.; Rebolo, R.; Bihain, G.; Bejar, V. J. S.; Alvarez, C.

2010-01-01

We report unusual near- and mid-infrared photometric properties of G 196-3 B, the young substellar companion at 16'' from the active M2.5-type star G 196-3 A, using data taken with the IRAC and MIPS instruments onboard Spitzer. G 196-3 B shows markedly redder colors at all wavelengths from 1.6 up to 24 μm than expected for its spectral type, which is determined at L3 from optical and near-infrared spectra. We discuss various physical scenarios to account for its reddish nature and conclude that a low-gravity atmosphere with enshrouded upper atmospheric layers and/or a warm dusty disk/envelope provides the most likely explanations, the two of them consistent with an age in the interval 20-300 Myr. We also present new and accurate separate proper motion measurements for G 196-3 A and B confirming that both objects are gravitationally linked and share the same motion within a few mas yr -1 . After integration of the combined spectrophotometric spectral energy distributions, we obtain the result that the difference in the bolometric magnitudes of G 196-3 A and B is 6.15 ± 0.10 mag. Kinematic consideration of the Galactic space motions of the system for distances in the interval 15-30 pc suggests that the pair is a likely member of the Local Association and that it lies near the past positions of young star clusters like α Persei less than 85 Myr ago, where the binary might have originated. At these young ages, the mass of G 196-3 B would be in the range 12-25 M Jup , close to the frontier between planets and brown dwarfs.

The kinematics of the white dwarf population from the SDSS DR12

Science.gov (United States)

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

2018-04-01

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

Experiments and kinematics analysis of a hand rehabilitation exoskeleton with circuitous joints.

Science.gov (United States)

Zhang, Fuhai; Fu, Yili; Zhang, Qinchao; Wang, Shuguo

2015-01-01

Aiming at the hand rehabilitation of stroke patients, a wearable hand exoskeleton with circuitous joint is proposed. The circuitous joint adopts the symmetric pinion and rack mechanism (SPRM) with the parallel mechanism. The exoskeleton finger is a serial mechanism composed of three closed-chain SPRM joints in series. The kinematic equations of the open chain of the finger and the closed chains of the SPRM joints were built to analyze the kinematics of the hand rehabilitation exoskeleton. The experimental setup of the hand rehabilitation exoskeleton was built and the continuous passive motion (CPM) rehabilitation experiment and the test of human-robot interaction force measurement were conducted. Experiment results show that the mechanical design of the hand rehabilitation robot is reasonable and that the kinematic analysis is correct, thus the exoskeleton can be used for the hand rehabilitation of stroke patients.

Modeling and identification for robot motion control

NARCIS (Netherlands)

Kostic, D.; Jager, de A.G.; Steinbuch, M.; Kurfess, T.R.

2004-01-01

This chapter deals with the problems of robot modelling and identification for high-performance model-based motion control. A derivation of robot kinematic and dynamic models was explained. Modelling of friction effects was also discussed. Use of a writing task to establish correctness of the models

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.

Amusement Park Physics in Panggon Lunjak (Trampoline: Analysis of Kinematics and Energy Use Video Tracking

Directory of Open Access Journals (Sweden)

Akhmad Yusuf

2017-12-01

Full Text Available Panggon Lunjak (trampoline is one of the famous amusement parks among the people that we can use as a recreation to enjoy a pleasant sensation. Without us knowing the amusement park that we often encounter is actually the result of the application of science and technology, especially in the field of physics, because it is amusement park for student of science is a real laboratory or the giant laboratory that we can use as a study of physics concepts and as research materials. Panggon Lunjak (trampoline motion is very close to the harmonic  motion where the resulting graph of the sinus so that on the graph will be in the analysis of  kinematics and energy phenomena, so that research on simple harmonic motion materials is not limited to research using pendulum motion and spring load motion which is often exemplified as research on harmonic motion. The purpose of this study is to analyze the physical aspects of Panggon Lunjak (trampoline motion based on the laws of physics on the concept of kinematics and analyze energy, Where the mechanical energy of addition between potential energy and kinetic energy (Conservation of energy. The analysis is done by using video tracking. Based on the analysis done using people as a mass, the result of the amplitude, the spring constant, angular frequency, and the law of conservation of energy on the Panggon Lunjak (trampoline is true. This analysis activity will be well used as a physics learning for students.

Fast-starting after a breath: air-breathing motions are kinematically similar to escape responses in the catfish Hoplosternum littorale

Directory of Open Access Journals (Sweden)

Paolo Domenici

2014-12-01

Full Text Available Fast-starts are brief accelerations commonly observed in fish within the context of predator–prey interactions. In typical C-start escape responses, fish react to a threatening stimulus by bending their body into a C-shape during the first muscle contraction (i.e. stage 1 which provides a sudden acceleration away from the stimulus. Recently, similar C-starts have been recorded in fish aiming at a prey. Little is known about C-starts outside the context of predator–prey interactions, though recent work has shown that escape response can also be induced by high temperature. Here, we test the hypothesis that air-breathing fish may use C-starts in the context of gulping air at the surface. Hoplosternum littorale is an air-breathing freshwater catfish found in South America. Field video observations reveal that their air-breathing behaviour consists of air-gulping at the surface, followed by a fast turn which re-directs the fish towards the bottom. Using high-speed video in the laboratory, we compared the kinematics of the turn immediately following air-gulping performed by H. littorale in normoxia with those of mechanically-triggered C-start escape responses and with routine (i.e. spontaneous turns. Our results show that air-breathing events overlap considerably with escape responses with a large stage 1 angle in terms of turning rates, distance covered and the relationship between these rates. Therefore, these two behaviours can be considered kinematically comparable, suggesting that air-breathing in this species is followed by escape-like C-start motions, presumably to minimise time at the surface and exposure to avian predators. These findings show that C-starts can occur in a variety of contexts in which fish may need to get away from areas of potential danger.

CHARACTERIZING THE COOL KOIs. III. KOI 961: A SMALL STAR WITH LARGE PROPER MOTION AND THREE SMALL PLANETS

International Nuclear Information System (INIS)

Muirhead, Philip S.; Johnson, John Asher; Morton, Timothy D.; Pineda, John Sebastian; Bottom, Michael; Crepp, Justin R.; Kirby, Evan N.; Apps, Kevin; Carter, Joshua A.; Fabrycky, Daniel C.; Hamren, Katherine; Rojas-Ayala, Bárbara; Schlawin, Everett; Covey, Kevin R.; Stassun, Keivan G.; Pepper, Joshua; Hebb, Leslie; Howard, Andrew W.; Isaacson, Howard T.; Marcy, Geoffrey W.

2012-01-01

We characterize the star KOI 961, an M dwarf with transit signals indicative of three short-period exoplanets discovered by the Kepler mission. We proceed by comparing KOI 961 to Barnard's Star, a nearby, well-characterized mid-M dwarf. We compare colors, optical and near-infrared spectra, and find remarkable agreement between the two, implying similar effective temperatures and metallicities. Both are metal-poor compared to the Solar neighborhood, have low projected rotational velocity, high absolute radial velocity, large proper motion, and no quiescent Hα emission—all of which are consistent with being old M dwarfs. We combine empirical measurements of Barnard's Star and expectations from evolutionary isochrones to estimate KOI 961's mass (0.13 ± 0.05 M ☉ ), radius (0.17 ± 0.04 R ☉ ), and luminosity (2.40 × 10 –3.0±0.3 L ☉ ). We calculate KOI 961's distance (38.7 ± 6.3 pc) and space motions, which, like Barnard's Star, are consistent with a high scale-height population in the Milky Way. We perform an independent multi-transit fit to the public Kepler light curve and significantly revise the transit parameters for the three planets. We calculate the false-positive probability for each planet candidate, and find a less than 1% chance that any one of the transiting signals is due to a background or hierarchical eclipsing binary, validating the planetary nature of the transits. The best-fitting radii for all three planets are less than 1 R ⊕ , with KOI 961.03 being Mars-sized (R P = 0.57 ± 0.18 R ⊕ ), and they represent some of the smallest exoplanets detected to date.

Differences in kinematics of the support limb depends on specific movement tasks of take-off

Directory of Open Access Journals (Sweden)

Vladimír Hojka

2016-06-01

Full Text Available Background: Many sport activities are a sequence of jumps (running, jumping, hurdling etc.. Each jump flight phase is the result of the execution of the previous support phase. Objective: The goal of the research was to identify differences in adjustment of the support lower limb and differences in take-off kinematics in specific take-off movement task. Methods: 14 male athletes (22.6 ± 4.4 years; 182.4 ± 5.3 cm; 74.7 ± 6.2 kg took part in a laboratory experiment. Each athlete performed five different take-off movements (running, acceleration running - second step, long jump take-off, high jump take-off and take-off to the hurdle. System Qualisys was used to analyze the kinematics of the support limb. Dynamics of the support phase was monitored via force plate. ANOVA and Bonferroni post-hoc test were used to measure the significance of the differences between different take off tasks. Results: Dynamic characteristic showed significant differences in take-off (p < .001. This variability is caused by differences in kinematic parameters at the instant of touch-down, minimum joint angles and take-off. The most important finding was different variability in range of motion in eccentric or concentric phases of each jump. Vertically orientated jumps are terminated in a higher degree of extension. Horizontal take-off types are characterized by the highest ranges of motion especially in the ankle joint. Conclusions: The support lower limb compliance is adjusted to the required task, which is related to lower limb kinematics during the support phase. High range of motion in each joint refers to more compliant adjustment of the joint.

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

DISTANCE AND KINEMATICS OF THE TW HYDRAE ASSOCIATION FROM PARALLAXES

Energy Technology Data Exchange (ETDEWEB)

Weinberger, Alycia J.; Boss, Alan P. [Department of Terrestrial Magnetism, Carnegie Institution of Washington, 5241 Broad Branch Road NW, Washington, DC 20015 (United States); Anglada-Escude, Guillem, E-mail: weinberger@dtm.ciw.edu [Institut fuer Astrophysik, Universitaet Goettingen, Friedrich-Hund-Platz 1, 37077 Goettingen (Germany)

2013-01-10

From common proper motion and signatures of youth, researchers have identified about 30 members of a putative TW Hydrae Association. Only four of these had parallactic distances from Hipparcos. We have measured parallaxes and proper motions for 14 primary members. We combine these with literature values of radial velocities to show that the Galactic space motions of the stars, with the exception of TWA 9 and 22, are parallel and do not indicate convergence at a common formation point sometime in the last few million years. The space motions of TWA 9 and 22 do not agree with the others and indicate that they are not TWA members. The median parallax is 18 mas or 56 pc. We further analyze the stars' absolute magnitudes on pre-main-sequence evolutionary tracks and find a range of ages with a median of 10.1 Myr and no correlation between age and Galactic location. The TWA stars may have formed from an extended and filamentary molecular cloud but are not necessarily precisely coeval.

Virtual sine arm kinematic mount system

International Nuclear Information System (INIS)

Xu, Z.; Randall, K.J.

1997-01-01

A novel kinematic mount system for a vertical focusing mirror of the soft x-ray spectroscopy beamline at the Advanced Photon Source is described. The system contains three points in a horizontal plane. Each point consists of two horizontal linear precision stages, a spherical ball bearing, and a vertical precision stage. The horizontal linear stages are aligned orthogonally and are conjoined by a spherical ball bearing, supported by the vertical linear stage at each point. The position of each confined horizontal stage is controlled by a motorized micrometer head by spring-loading the flat tip of the micrometer head onto a tooling ball fixing on the carriage of the stage. A virtual sine arm is formed by tilting the upstream horizontal stage down and the two downstream horizontal stages up by a small angle. The fine pitch motion is achieved by adjusting the upstream stage. This supporting structure is extremely steady due to a relatively large span across the supporting points and yields extremely high resolution on the pitch motion. With a one degree tilt and a microstepping motor, the authors achieved a 0.4 nanoradian resolution on the mirror pitch motion

Asteroid proper elements from an analytical second order theory

International Nuclear Information System (INIS)

Knezevic, Z.; Milani, A.

1989-01-01

The authors have computed by a fully analytical method a new set of proper elements for 3322 numbered main-belt asteroids. They are presented in the following format: asteroid number, proper semimajor axis (AU), proper eccentricity, sine of proper inclination and quality code (see below). This new set is significantly more accurate than all the previous ones at low to moderate eccentricities and inclinations, and especially near the main mean-motion resonances (e.g., the Themis region). This is because the short periodic perturbations are rigorously removed, and the main effects of the second-order (containing the square of the ratio [the mass of Jupiter/mass of the Sun]) are accounted for. Effects arising from the terms in the Hamiltonian of degree up to four in the eccentricity and inclination of both the asteroid and Jupiter are taken into account, and the fundamental frequencies g (for the perihelion) and s(for the node) of the asteroid are computed with a interative algorithm consistent with the basic results of modern dynamics (e.g., Kolmogorov-Arnold-Moser theory)

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.

Wolf-Rayet stars and O-star runaways with HIPPARCOS - I. Kinematics

NARCIS (Netherlands)

Moffat, AFJ; Marchenko, SV; Seggewiss, W; van der Hucht, KA; Schrijver, H; Stenholm, B; Lundstrom, [No Value; Gunawan, DYAS; Sutantyo, W; van den Heuvel, EPJ; De Cuyper, JP; Gomez, AE

Reliable systemic radial velocities are almost impossible to secure for Wolf-Rayet stars, difficult for O stars. Therefore, to study the motions - both systematic in the Galaxy and peculiar - of these two related types of hot, luminous star, we have examined the Hipparcos proper motions of some 70

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

Science.gov (United States)

Yi, Jinhua; Yu, Hongliu; Zhang, Ying; Hu, Xin; Shi, Ping

2015-12-01

The present paper proposed a central-driven structure of upper limb rehabilitation robot in order to reduce the volume of the robotic arm in the structure, and also to reduce the influence of motor noise, radiation and other adverse factors on upper limb dysfunction patient. The forward and inverse kinematics equations have been obtained with using the Denavit-Hartenberg (D-H) parameter method. The motion simulation has been done to obtain the angle-time curve of each joint and the position-time curve of handle under setting rehabilitation path by using Solid Works software. Experimental results showed that the rationality with the central-driven structure design had been verified by the fact that the handle could move under setting rehabilitation path. The effectiveness of kinematics equations had been proved, and the error was less than 3° by comparing the angle-time curves obtained from calculation with those from motion simulation.

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

NARCIS (Netherlands)

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

2017-01-01

The detailed distribution and kinematics of the atomic and the CO-bright molecular hydrogen in the disc of the Milky Way inside the solar circle are derived under the assumptions of axisymmetry and pure circular motions. We divide the Galactic disc into a series of rings, and assume that the gas in

Auditory Imagery Shapes Movement Timing and Kinematics: Evidence from a Musical Task

Science.gov (United States)

Keller, Peter E.; Dalla Bella, Simone; Koch, Iring

2010-01-01

The role of anticipatory auditory imagery in music-like sequential action was investigated by examining timing accuracy and kinematics using a motion capture system. Musicians responded to metronomic pacing signals by producing three unpaced taps on three vertically aligned keys at the given tempo. Taps triggered tones in two out of three blocked…

New High Proper Motion Stars from the Digitized Sky Survey. II. Northern Stars with 0.5" yr-1 < μ < 2.0" yr-1 at High Galactic Latitudes

Science.gov (United States)

Lépine, Sébastien; Shara, Michael M.; Rich, R. Michael

2003-08-01

In a continuation of our systematic search for high proper motion stars in the Digitized Sky Survey, we have completed the analysis of northern sky fields at Galactic latitudes above 25°. With the help of our SUPERBLINK software, a powerful automated blink comparator developed by us, we have identified 1146 stars in the magnitude range 8data mining of the Digitized Sky Survey, developed and operated by the Catalogs and Surveys Branch of the Space Telescope Science Institute, Baltimore.

Kinematics and dynamics analysis of a novel serial-parallel dynamic simulator

Energy Technology Data Exchange (ETDEWEB)

Hu, Bo; Zhang, Lian Dong; Yu, Jingjing [Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao, Hebei (China)

2016-11-15

A serial-parallel dynamics simulator based on serial-parallel manipulator is proposed. According to the dynamics simulator motion requirement, the proposed serial-parallel dynamics simulator formed by 3-RRS (active revolute joint-revolute joint-spherical joint) and 3-SPR (Spherical joint-active prismatic joint-revolute joint) PMs adopts the outer and inner layout. By integrating the kinematics, constraint and coupling information of the 3-RRS and 3-SPR PMs into the serial-parallel manipulator, the inverse Jacobian matrix, velocity, and acceleration of the serial-parallel dynamics simulator are studied. Based on the principle of virtual work and the kinematics model, the inverse dynamic model is established. Finally, the workspace of the (3-RRS)+(3-SPR) dynamics simulator is constructed.

Kinematics and dynamics analysis of a novel serial-parallel dynamic simulator

International Nuclear Information System (INIS)

Hu, Bo; Zhang, Lian Dong; Yu, Jingjing

2016-01-01

A serial-parallel dynamics simulator based on serial-parallel manipulator is proposed. According to the dynamics simulator motion requirement, the proposed serial-parallel dynamics simulator formed by 3-RRS (active revolute joint-revolute joint-spherical joint) and 3-SPR (Spherical joint-active prismatic joint-revolute joint) PMs adopts the outer and inner layout. By integrating the kinematics, constraint and coupling information of the 3-RRS and 3-SPR PMs into the serial-parallel manipulator, the inverse Jacobian matrix, velocity, and acceleration of the serial-parallel dynamics simulator are studied. Based on the principle of virtual work and the kinematics model, the inverse dynamic model is established. Finally, the workspace of the (3-RRS)+(3-SPR) dynamics simulator is constructed

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

Science.gov (United States)

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

2005-01-01

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

Real-Time Cosmology with Gaia: Developing the Theory to Use Extragalactic Proper Motions to Make Dynamical Cosmological Tests, to Measure Geometric Distances, and to Detect Primordial Gravitational Waves

Science.gov (United States)

Darling, Jeremy

A new field of study, "real-time cosmology," is now possible. This involves observing a dynamic universe that can be seen to change over human timescales. Most cosmological observations are geometrical, using standard candles or rulers to measure the expansion history and curvature as light propagates through the universe. Real-time cosmological measurements are dynamical, revealing the changing geometry of the universe - thus often providing geometrical distances independent of the canonical cosmological distance ladder - and are typically orthogonal to customary cosmological tests. This field of inquiry is no longer far-fetched, and this proposal demonstrates using extant data that many types of measurement are now within a factor of a few of being detectable, but the theory will very soon lag the observational capabilities. The Gaia mission will provide astrometry and proper motions of roughly 100 microarcseconds per year for half a million quasars by the end of its 5-year mission, but the theory for how to employ these data for cosmological tests has not been established. This project will develop the theory, models, and methods needed to make optimal use of the Gaia extragalactic proper motion measurements and to make significant new cosmological tests, distance measurements, and mass measurements. Gaia data can provide rich cosmological tests that are nearly model-independent. This work will build the theoretical framework enabling Gaia to measure or constrain: (1) The real-time growth and recession of structures, providing mass and distance measurements, (2) Extragalactic parallax for a statistical sample and individual galaxies, thus providing geometric distances, (3) The primordial stochastic long-period gravitational wave background, which deflects quasar light in a quadrupolar proper motion pattern, and (4) Cosmic shear, rotation, bulk motion, and local voids that may manifest as an apparent acceleration attributed to dark energy. One can also test the

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.

Kinematic Patterns Associated with the Vertical Force Produced during the Eggbeater Kick.

Science.gov (United States)

Oliveira, Nuno; Chiu, Chuang-Yuan; Sanders, Ross H

2015-01-01

The purpose of this study was to determine the kinematic patterns that maximized the vertical force produced during the water polo eggbeater kick. Twelve water polo players were tested executing the eggbeater kick with the trunk aligned vertically and with the upper limbs above water while trying to maintain as high a position as possible out of the water for nine eggbeater kick cycles. Lower limb joint angular kinematics, pitch angles and speed of the feet were calculated. The vertical force produced during the eggbeater kick cycle was calculated using inverse dynamics for the independent lower body segments and combined upper body segments, and a participant-specific second-degree regression equation for the weight and buoyancy contributions. Vertical force normalized to body weight was associated with hip flexion (average, r = 0.691; maximum, r = 0.791; range of motion, r = 0.710), hip abduction (maximum, r = 0.654), knee flexion (average, r = 0.716; minimum, r = 0.653) and knee flexion-extension angular velocity (r = 0.758). Effective orientation of the hips resulted in fast horizontal motion of the feet with positive pitch angles. Vertical motion of the feet was negatively associated with vertical force. A multiple regression model comprising the non-collinear variables of maximum hip abduction, hip flexion range of motion and knee flexion angular velocity accounted for 81% of the variance in normalized vertical force. For high performance in the water polo, eggbeater kick players should execute fast horizontal motion with the feet by having large abduction and flexion of the hips, and fast extension and flexion of the knees.

Modeling and dynamic simulation of astronaut's upper limb motions considering counter torques generated by the space suit.

Science.gov (United States)

Li, Jingwen; Ye, Qing; Ding, Li; Liao, Qianfang

2017-07-01

Extravehicular activity (EVA) is an inevitable task for astronauts to maintain proper functions of both the spacecraft and the space station. Both experimental research in a microgravity simulator (e.g. neutral buoyancy tank, zero-g aircraft or a drop tower/tube) and mathematical modeling were used to study EVA to provide guidance for the training on Earth and task design in space. Modeling has become more and more promising because of its efficiency. Based on the task analysis, almost 90% of EVA activity is accomplished through upper limb motions. Therefore, focusing on upper limb models of the body and space suit is valuable to this effort. In previous modeling studies, some multi-rigid-body systems were developed to simplify the human musculoskeletal system, and the space suit was mostly considered as a part of the astronaut body. With the aim to improve the reality of the models, we developed an astronauts' upper limb model, including a torque model and a muscle-force model, with the counter torques from the space suit being considered as a boundary condition. Inverse kinematics and the Maggi-Kane's method was applied to calculate the joint angles, joint torques and muscle force given that the terminal trajectory of upper limb motion was known. Also, we validated the muscle-force model using electromyogram (EMG) data collected in a validation experiment. Muscle force calculated from our model presented a similar trend with the EMG data, supporting the effectiveness and feasibility of the muscle-force model we established, and also, partially validating the joint model in kinematics aspect.

A Kinematic Conservation Law in Free Surface Flow

OpenAIRE

Gavrilyuk , Sergey; Kalisch , Henrik; Khorsand , Zahra

2015-01-01

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

Kinematic parameters that influence the aesthetic perception of beauty in contemporary dance.

Science.gov (United States)

Torrents, Carlota; Castañer, Marta; Jofre, Toni; Morey, Gaspar; Reverter, Ferran

2013-01-01

Some experiments have stablished that certain kinematic parameters can influence the subjective aesthetic perception of the dance audience. Neave, McCarty, Freynik, Caplan, Hönekopp, and Fink (2010, Biology Letters 7 221-224) reported eleven movement parameters in non-expert male dancers, showing a significant positive correlation with perceived dance quality. We aim to identify some of the kinematic parameters of expert dancers' movements that influence the subjective aesthetic perception of observers in relation to specific skills of contemporary dance. Four experienced contemporary dancers performed three repetitions of four dance-related motor skills. Motion was captured by a VICON-MX system. The resulting 48 animations were viewed by 108 observers. The observers judged beauty using a semantic differential. The data were then subjected to multiple factor analysis. The results suggested that there were strong associations between higher beauty scores and certain kinematic parameters, especially those related to amplitude of movement.

Multiobjective Optimum Design of a 3-RRR Spherical Parallel Manipulator with Kinematic and Dynamic Dexterities

DEFF Research Database (Denmark)

Wu, Guanglei

2012-01-01

parameters of the spherical parallel manipulator. The proposed approach is illustrated with the optimum design of a special spherical parallel manipulator with unlimited rolling motion. The corresponding optimization problem aims to maximize the kinematic and dynamic dexterities over its regular shaped...

X-Ray Analysis of the Proper Motion and Pulsar Wind Nebula for PSR J1741-2054

Science.gov (United States)

Auchettl, Katie; Slane, Patrick; Romani, Roger W.; Posselt, Bettina; Pavlov, George G.; Kargaltsev, Oleg; Ng, C-Y.; Temim, Tea; Weisskopf, Martin C.; Bykov, Andrei;

Imaging spectrophotometry of ionized gas in NGC 1068. I - Kinematics of the narrow-line region

Science.gov (United States)

Cecil, Gerald; Bland, Jonathan; Tully, R. Brent

1990-01-01

The kinematics of collisionally excited forbidden N II 6548, 6583 across the inner 1 arcmin diameter of the nearby Seyfert galaxy NGC 1068 is mapped using an imaging Fabry-Perot interferometer and low-noise CCD. The stack of monochromatic images, which spatially resolved the high-velocity gas, was analyzed for kinematic and photometric content. Profiles agree well with previous long-slit work, and their complete spatial coverage makes it possible to constrain the gas volume distribution. It is found that the narrow-line region is distributed in a thick center-darkened, line-emitting cylinder that envelopes the collimated radio jet. Three distinct kinematic subsystems, of which the cylinder is composed, are discussed in detail. Detailed behavior of the emission-line profiles, at the few points in the NE quadrant with simple kinematics, argues that the ionized gas develops a significant component of motion perpendicular to the jet axis.

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

Science.gov (United States)

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

2017-12-01

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

Three-dimensional kinematics of the lower limbs during forward ice hockey skating.

Science.gov (United States)

Upjohn, Tegan; Turcotte, René; Pearsall, David J; Loh, Jonathan

2008-05-01

The objectives of the study were to describe lower limb kinematics in three dimensions during the forward skating stride in hockey players and to contrast skating techniques between low- and high-calibre skaters. Participant motions were recorded with four synchronized digital video cameras while wearing reflective marker triads on the thighs, shanks, and skates. Participants skated on a specialized treadmill with a polyethylene slat bed at a self-selected speed for 1 min. Each participant completed three 1-min skating trials separated by 5 min of rest. Joint and limb segment angles were calculated within the local (anatomical) and global reference planes. Similar gross movement patterns and stride rates were observed; however, high-calibre participants showed a greater range and rate of joint motion in both the sagittal and frontal planes, contributing to greater stride length for high-calibre players. Furthermore, consequent postural differences led to greater lateral excursion during the power stroke in high-calibre skaters. In conclusion, specific kinematic differences in both joint and limb segment angle movement patterns were observed between low- and high-calibre skaters.

Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots

Science.gov (United States)

Hannan, Michael W.; Walker, Ian D.

2003-01-01

Traditionally, robot manipulators have been a simple arrangement of a small number of serially connected links and actuated joints. Though these manipulators prove to be very effective for many tasks, they are not without their limitations, due mainly to their lack of maneuverability or total degrees of freedom. Continuum style (i.e., continuous "back-bone") robots, on the other hand, exhibit a wide range of maneuverability, and can have a large number of degrees of freedom. The motion of continuum style robots is generated through the bending of the robot over a given section; unlike traditional robots where the motion occurs in discrete locations, i.e., joints. The motion of continuum manipulators is often compared to that of biological manipulators such as trunks and tentacles. These continuum style robots can achieve motions that could only be obtainable by a conventionally designed robot with many more degrees of freedom. In this paper we present a detailed formulation and explanation of a novel kinematic model for continuum style robots. The design, construction, and implementation of our continuum style robot called the elephant trunk manipulator is presented. Experimental results are then provided to verify the legitimacy of our model when applied to our physical manipulator. We also provide a set of obstacle avoidance experiments that help to exhibit the practical implementation of both our manipulator and our kinematic model. c2003 Wiley Periodicals, Inc.

Effect of trunk sagittal attitude on shoulder, thorax and pelvis three-dimensional kinematics in able-bodied subjects during gait.

Directory of Open Access Journals (Sweden)

Alberto Leardini

Full Text Available It has been shown that an original attitude in forward or backward inclination of the trunk is maintained at gait initiation and during locomotion, and that this affects lower limb loading patterns. However, no studies have shown the extent to which shoulder, thorax and pelvis three-dimensional kinematics are modified during gait due to this sagittal inclination attitude. Thirty young healthy volunteers were analyzed during level walking with video-based motion analysis. Reflecting markers were mounted on anatomical landmarks to form a two-marker shoulder line segment, and a four-marker thorax and pelvis segments. Absolute and relative spatial rotations were calculated, for a total of 11 degrees of freedom. The subjects were divided into two groups of 15 according to the median of mean thorax inclination angle over the gait cycle. Preliminary MANOVA analysis assessed whether gender was an independent variable. Then two-factor nested ANOVA was used to test the possible effect of thorax inclination on body segments, planes of motion and gait periods, separately. There was no significant difference in all anthropometric and spatio-temporal parameters between the two groups, except for subject mass. The three-dimensional kinematics of the thorax and pelvis were not affected by gender. Nested ANOVA revealed group effect in all segment rotations apart those at the pelvis, in the sagittal and frontal planes, and at the push-off. Attitudes in sagittal thorax inclination altered trunk segments kinematics during gait. Subjects with a backward thorax showed less thorax-to-pelvis motion, but more shoulder-to-thorax and thorax-to-laboratory motion, less motion in flexion/extension and in lateral bending, and also less motion during push-off. This contributes to the understanding of forward propulsion and sideways load transfer mechanisms, fundamental for the maintenance of balance and the risk of falling.

3D+T motion analysis with nanosensors

Science.gov (United States)

Leduc, Jean-Pierre

2017-09-01

This paper addresses the problem of motion analysis performed in a signal sampled on an irregular grid spread in 3-dimensional space and time (3D+T). Nanosensors can be randomly scattered in the field to form a "sensor network". Once released, each nanosensor transmits at its own fixed pace information which corresponds to some physical variable measured in the field. Each nanosensor is supposed to have a limited lifetime given by a Poisson-exponential distribution after release. The motion analysis is supported by a model based on a Lie group called the Galilei group that refers to the actual mechanics that takes place on some given geometry. The Galilei group has representations in the Hilbert space of the captured signals. Those representations have the properties to be unitary, irreducible and square-integrable and to enable the existence of admissible continuous wavelets fit for motion analysis. The motion analysis can be considered as a so-called "inverse problem" where the physical model is inferred to estimate the kinematical parameters of interest. The estimation of the kinematical parameters is performed by a gradient algorithm. The gradient algorithm extends in the trajectory determination. Trajectory computation is related to a Lagrangian-Hamiltonian formulation and fits into a neuro-dynamic programming approach that can be implemented in the form of a Q-learning algorithm. Applications relevant for this problem can be found in medical imaging, Earth science, military, and neurophysiology.

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.

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

Science.gov (United States)

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

2017-09-01

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

Unsteady motion: escape jumps in planktonic copepods, their kinematics and energetics

Science.gov (United States)

Kiørboe, Thomas; Andersen, Anders; Langlois, Vincent J.; Jakobsen, Hans H.

2010-01-01

We describe the kinematics of escape jumps in three species of 0.3–3.0 mm-sized planktonic copepods. We find similar kinematics between species with periodically alternating power strokes and passive coasting and a resulting highly fluctuating escape velocity. By direct numerical simulations, we estimate the force and power output needed to accelerate and overcome drag. Both are very high compared with those of other organisms, as are the escape velocities in comparison to startle velocities of other aquatic animals. Thus, the maximum weight-specific force, which for muscle motors of other animals has been found to be near constant at 57 N (kg muscle)−1, is more than an order of magnitude higher for the escaping copepods. We argue that this is feasible because most copepods have different systems for steady propulsion (feeding appendages) and intensive escapes (swimming legs), with the muscular arrangement of the latter probably adapted for high force production during short-lasting bursts. The resulting escape velocities scale with body length to power 0.65, different from the size-scaling of both similar sized and larger animals moving at constant velocity, but similar to that found for startle velocities in other aquatic organisms. The relative duration of the pauses between power strokes was observed to increase with organism size. We demonstrate that this is an inherent property of swimming by alternating power strokes and pauses. We finally show that the Strouhal number is in the range of peak propulsion efficiency, again suggesting that copepods are optimally designed for rapid escape jumps. PMID:20462876

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.

Reliable sagittal plane kinematic gait assessments are feasible using low-cost webcam technology.

Science.gov (United States)

Saner, Robert J; Washabaugh, Edward P; Krishnan, Chandramouli

2017-07-01

Three-dimensional (3-D) motion capture systems are commonly used for gait analysis because they provide reliable and accurate measurements. However, the downside of this approach is that it is expensive and requires technical expertise; thus making it less feasible in the clinic. To address this limitation, we recently developed and validated (using a high-precision walking robot) a low-cost, two-dimensional (2-D) real-time motion tracking approach using a simple webcam and LabVIEW Vision Assistant. The purpose of this study was to establish the repeatability and minimal detectable change values of hip and knee sagittal plane gait kinematics recorded using this system. Twenty-one healthy subjects underwent two kinematic assessments while walking on a treadmill at a range of gait velocities. Intraclass correlation coefficients (ICC) and minimal detectable change (MDC) values were calculated for commonly used hip and knee kinematic parameters to demonstrate the reliability of the system. Additionally, Bland-Altman plots were generated to examine the agreement between the measurements recorded on two different days. The system demonstrated good to excellent reliability (ICC>0.75) for all the gait parameters tested on this study. The MDC values were typically low (gait assessments using webcam technology can be reliably used for clinical and research purposes. Copyright © 2017 Elsevier B.V. All rights reserved.

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.

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

Directory of Open Access Journals (Sweden)

Ahmed R. J. Almusawi

2016-01-01

Full Text Available This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot’s joint angles.

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

Science.gov (United States)

Dülger, L. Canan; Kapucu, Sadettin

2016-01-01

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles. PMID:27610129

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

Science.gov (United States)

Almusawi, Ahmed R J; Dülger, L Canan; Kapucu, Sadettin

2016-01-01

This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot's joint angles.

Kinematics of the contralateral and ipsilateral shoulder: A possible relationship with post-stroke shoulder pain

NARCIS (Netherlands)

Niessen, M.H.M.; Janssen, T.W.J.; Meskers, C.G.M.; Koppe, P.; Konijnenbelt, M.; Veeger, H.E.J.

2008-01-01

Objective: Post-stroke shoulder pain is a common phenomenon in hemiplegia and impedes rehabilitation. The aim of this study was to identify a possible relationship between post-stroke shoulder pain, scapula resting position and shoulder motion. Methods: Shoulder kinematics of 27 patients after

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)

Simultaneous estimation of human and exoskeleton motion: A simplified protocol.

Science.gov (United States)

Alvarez, M T; Torricelli, D; Del-Ama, A J; Pinto, D; Gonzalez-Vargas, J; Moreno, J C; Gil-Agudo, A; Pons, J L

2017-07-01

Adequate benchmarking procedures in the area of wearable robots is gaining importance in order to compare different devices on a quantitative basis, improve them and support the standardization and regulation procedures. Performance assessment usually focuses on the execution of locomotion tasks, and is mostly based on kinematic-related measures. Typical drawbacks of marker-based motion capture systems, gold standard for measure of human limb motion, become challenging when measuring limb kinematics, due to the concomitant presence of the robot. This work answers the question of how to reliably assess the subject's body motion by placing markers over the exoskeleton. Focusing on the ankle joint, the proposed methodology showed that it is possible to reconstruct the trajectory of the subject's joint by placing markers on the exoskeleton, although foot flexibility during walking can impact the reconstruction accuracy. More experiments are needed to confirm this hypothesis, and more subjects and walking conditions are needed to better characterize the errors of the proposed methodology, although our results are promising, indicating small errors.

[Advances on biomechanics and kinematics of sprain of ankle joint].

Science.gov (United States)

Zhao, Yong; Wang, Gang

2015-04-01

Ankle sprains are orthopedic clinical common disease, accounting for joint ligament sprain of the first place. If treatment is not timely or appropriate, the joint pain and instability maybe develop, and even bone arthritis maybe develop. The mechanism of injury of ankle joint, anatomical basis has been fully study at present, and the diagnostic problem is very clear. Along with the development of science and technology, biological modeling and three-dimensional finite element, three-dimensional motion capture system,digital technology study, electromyographic signal study were used for the basic research of sprain of ankle. Biomechanical and kinematic study of ankle sprain has received adequate attention, combined with the mechanism research of ankle sprain,and to explore the the biomechanics and kinematics research progress of the sprain of ankle joint.

Revised East-West Antarctic plate motions since the Middle Eocene

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Granot, R.; Cande, S. C.; Stock, J.; Damaske, D.

2010-12-01

The middle Cenozoic (43-26 Ma) rifting between East and West Antarctica is defined by an episode of ultraslow seafloor spreading in the Adare Basin, located off northwestern Ross Sea. The absence of fracture zones and the lack of sufficient well-located magnetic anomaly picks have resulted in a poorly constrained kinematic model (Cande et al., 2000). Here we utilize the results from a dense aeromagnetic survey (Damaske et al., 2007) collected as part of GANOVEX IX 2005/06 campaign to re-evaluate the kinematics of the West Antarctic rift system since the Middle Eocene. We identify marine magnetic anomalies (anomalies 12o, 13o, 16y, and 18o) along a total of 25,000 km of the GPS navigated magnetic profiles. The continuation of these anomalies into the Northern Basin has allowed us to use the entire N-S length of this dataset in our calculations. A distinct curvature in the orientation of the spreading axis provides a strong constraint on our calculated kinematic models. The results from two- (East-West Antarctica) and three- (Australia-East Antarctica-West Antarctica) plate solutions agree well and create a cluster of rotation axes located south of the rift system, near the South Pole. These solutions reveal that spreading rate and direction, and therefore motion between East and West Antarctica, were steady between the Middle Eocene and Early Oligocene. Our kinematic solutions confirm the results of Davey and De Santis (2005) that the Victoria Land Basin has accommodated ~95 km of extension since the Middle Eocene. This magnetic pattern also provides valuable constraints on the post-spreading deformation of the Adare Basin (Granot et al., 2010). The Adare Basin has accommodated very little extension since the Late Oligocene (<7 km), but motion has probably increased southward. The details of this younger phase of motion are still crudely constrained.

Group theoretic approaches to nuclear and hadronic collective motion

International Nuclear Information System (INIS)

Biedenharn, L.C.

1982-01-01

Three approaches to nuclear and hadronic collective motion are reviewed, compared and contrasted: the standard symmetry approach as typified by the Interacting Boson Model, the kinematic symmetry group approach of Gell-Mann and Tomonaga, and the recent direct construction by Buck. 50 references

Group theoretic approaches to nuclear and hadronic collective motion

Energy Technology Data Exchange (ETDEWEB)

Biedenharn, L.C.

1982-01-01

Three approaches to nuclear and hadronic collective motion are reviewed, compared and contrasted: the standard symmetry approach as typified by the Interacting Boson Model, the kinematic symmetry group approach of Gell-Mann and Tomonaga, and the recent direct construction by Buck. 50 references.

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

Directory of Open Access Journals (Sweden)

Alexander V. Perig

2017-11-01

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

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

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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.

3D surface flow kinematics derived from airborne UAVSAR interferometric synthetic aperture radar to constrain the physical mechanisms controlling landslide motion

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Delbridge, B. G.; Burgmann, R.; Fielding, E. J.; Hensley, S.; Schulz, W. H.

2013-12-01

This project focuses on improving our understanding of the physical mechanisms controlling landslide motion by studying the landslide-wide kinematics of the Slumgullion landslide in southwestern Colorado using interferometric synthetic aperture radar (InSAR) and GPS. The NASA/JPL UAVSAR airborne repeat-pass SAR interferometry system imaged the Slumgullion landslide from 4 look directions on eight flights in 2011 and 2012. Combining the four look directions allows us to extract the full 3-D velocity field of the surface. Observing the full 3-dimensional flow field allows us to extract the full strain tensor (assuming free surface boundary conditions and incompressible flow) since we have both the spatial resolution to take spatial derivates and full deformation information. COSMO-SkyMed(CSK) high-resolution Spotlight data was also acquired during time intervals overlapping with the UAVSAR one-week pairs, with intervals as short as one day. These observations allow for the quantitative testing of the deformation magnitude and estimated formal errors in the UAVSAR derived deformation field. We also test the agreement of the deformation at 20 GPS monitoring sites concurrently acquired by the USGS. We also utilize the temporal resolution of real-time GPS acquired by the UC Berkeley Active Tectonics Group during a temporary deployment from July 22nd - August 2nd. By combining this data with the kinematic data we hope to elucidate the response of the landslide to environmental changes such as rainfall, snowmelt, and atmospheric pressure, and consequently the mechanisms controlling the dynamics of the landslide system. To constrain the longer temporal dynamics, interferograms made from pairs of CSK images acquired in 2010, 2011, 2012 and 2013 reveal the slide deformation on a longer timescale by allowing us to measure meters of motion and see the average rates over year long intervals using pixel offset tracking of the high-resolution SAR amplitude images. The results of

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

Science.gov (United States)

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

2015-09-01

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

Hydrodynamic interactions in metachronal paddling: effects of varying stroke kinematics

Science.gov (United States)

Samaee, Milad; Kasoju, Vishwa; Lai, Hong Kuan; Santhanakrishnan, Arvind

2017-11-01

Crustaceans such as shrimp and krill use a drag-based technique for propulsion, in which multiple pairs of limbs are paddled rhythmically from the tail to the head. Each limb is phase-shifted in time relative to its neighbor. Most studies of this type of metachronal swimming have focused on the jet formed in the animal's wake. However, synergistic hydrodynamic interactions between adjacent limbs in metachrony have received minimal attention. We used a dynamically scaled robotic model to experimentally investigate how variations in stroke kinematics impact inter-paddle hydrodynamic interactions and thrust generation. Physical models of limbs were fitted to the robot and paddled with two different motion profiles (MPs)-1) MP1: metachronal power stroke (PS) and metachronal recovery stroke (RS); and 2) MP2: metachronal PS and synchronous RS. Stroke frequency and amplitude were maintained constant across both MPs. Our results show that MP2 produced faster jets in the thrust-generating direction as compared to MP1. The necessity for a pause in MP2 after completion of PS by the paddles leading the motion, prior to executing the synchronous RS, aided in further downstream flow propagation. The effect of using asymmetric stroke kinematics on thrust generated will be discussed.

Evaluation of RSA set-up from a clinical biplane fluoroscopy system for 3D joint kinematic analysis.

Science.gov (United States)

Bonanzinga, Tommaso; Signorelli, Cecilia; Bontempi, Marco; Russo, Alessandro; Zaffagnini, Stefano; Marcacci, Maurilio; Bragonzoni, Laura

2016-01-01

dinamic roentgen stereophotogrammetric analysis (RSA), a technique currently based only on customized radiographic equipment, has been shown to be a very accurate method for detecting three-dimensional (3D) joint motion. The aim of the present work was to evaluate the applicability of an innovative RSA set-up for in vivo knee kinematic analysis, using a biplane fluoroscopic image system. To this end, the Authors describe the set-up as well as a possible protocol for clinical knee joint evaluation. The accuracy of the kinematic measurements is assessed. the Authors evaluated the accuracy of 3D kinematic analysis of the knee in a new RSA set-up, based on a commercial biplane fluoroscopy system integrated into the clinical environment. The study was organized in three main phases: an in vitro test under static conditions, an in vitro test under dynamic conditions reproducing a flexion-extension range of motion (ROM), and an in vivo analysis of the flexion-extension ROM. For each test, the following were calculated, as an indication of the tracking accuracy: mean, minimum, maximum values and standard deviation of the error of rigid body fitting. in terms of rigid body fitting, in vivo test errors were found to be 0.10±0.05 mm. Phantom tests in static and kinematic conditions showed precision levels, for translations and rotations, of below 0.1 mm/0.2° and below 0.5 mm/0.3° respectively for all directions. the results of this study suggest that kinematic RSA can be successfully performed using a standard clinical biplane fluoroscopy system for the acquisition of slow movements of the lower limb. a kinematic RSA set-up using a clinical biplane fluoroscopy system is potentially applicable and provides a useful method for obtaining better characterization of joint biomechanics.

A KINEMATIC STUDY OF FINSWIMMING AT SURFACE

Directory of Open Access Journals (Sweden)

Pier-Giorgio Zanone

2004-06-01

Full Text Available Finswimming is a sport of speed practiced on the surface or underwater, in which performance is based on whole-body oscillations. The present study investigated the undulatory motion performed by finswimmers at the surface. This study aiming to analyze the influence of the interaction of gender, practice level, and race distance on selected kinematic parameters. Six elite and six novices finswimmers equipped with joints markers (wrist, elbow, shoulder, hip, knee, and ankle were recorded in the sagittal plane. The position of these anatomical marks was digitized at 50 Hz. An automated motion analysis software yielded velocity, vertical amplitude, frequency, and angular position. Results showed that stroke frequency decreased whereas the mean amplitude of all joints increased with increasing race distance (p < 0.01. Mean joint amplitude for the upper limbs (wrist, elbow and shoulder was smaller for experts than for novices. Whereas that of the ankle was larger, so that the oscillation amplitude increased from shoulder to ankle. Elite male finswimmers were pitching more acutely than female. Moreover, elite male finswimmers showed a smaller knee bending than novices and than elite females (p < 0.01. This indicated that elite male finswimmers attempt to reduce drag forces thanks to a weak knee bending and a low upper limbs pitch. To sum up, gender, expertise, and race distance affect the performance and its kinematics in terms frontal drag. Expertise in finswimming requires taking advantage of the mechanical constraints pertaining to hydrodynamic constraints in order to optimize performance

Analysis of motion in speed skating

Science.gov (United States)

Koga, Yuzo; Nishimura, Tetsu; Watanabe, Naoki; Okamoto, Kousuke; Wada, Yuhei

1997-03-01

A motion on sports has been studied by many researchers from the view of the medical, psychological and mechanical fields. Here, we try to analyze a speed skating motion dynamically for an aim of performing the best record. As an official competition of speed skating is performed on the round rink, the skating motion must be studied on the three phases, that is, starting phase, straight and curved course skating phase. It is indispensable to have a visual data of a skating motion in order to analyze kinematically. So we took a several subject's skating motion by 8 mm video cameras in order to obtain three dimensional data. As the first step, the movement of the center of gravity of skater (abbreviate to C. G.) is discussed in this paper, because a skating motion is very complicated. The movement of C. G. will give an information of the reaction force to a skate blade from the surface of ice. We discuss the discrepancy of several skating motion by studied subjects. Our final goal is to suggest the best skating form for getting the finest record.

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

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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”.

Design and Kinematic Analysis of a New End-Effector for a Robotic Needle Insertion-Type Intervention System

Directory of Open Access Journals (Sweden)

Youngjin Moon

2014-12-01

Full Text Available This paper presents a new end-effector as a key component for a robotic needle insertion-type intervention system and its kinematic analysis. The mechanism is designed as a spherical mechanism with a revolute joint and a curved sliding joint, and its links always move on the surface of a sphere. The remote centre of motion (RCM of the designed mechanism is placed below the base of the mechanism to avoid contact with the patient's body, unlike the conventional end-effectors developed for needle insertion. For the proposed mechanism, the forward kinematics are solved in terms of input joint parameters and then the reverse kinematics are solved by using the cross-product relationship between each joint vector and a vector mutually perpendicular to the vectors. The kinematic solutions are confirmed by numerical examples.

Three-dimensional Force and Kinematic Interactions in V1 Skating at High Speeds.

Science.gov (United States)

Stöggl, Thomas; Holmberg, Hans-Christer

2015-06-01

To describe the detailed kinetics and kinematics associated with use of the V1 skating technique at high skiing speeds and to identify factors that predict performance. Fifteen elite male cross-country skiers performed an incremental roller-skiing speed test (Vpeak) on a treadmill using the V1 skating technique. Pole and plantar forces and whole-body kinematics were monitored at four submaximal speeds. The propulsive force of the "strong side" pole was greater than that of the "weak side" (P skating at high speeds. The faster skiers exhibit more symmetric leg motion on the "strong" and "weak" sides, as well as more synchronized poling. With respect to methods, the pressure insoles and three-dimensional kinematics in combination with the leg push-off model described here can easily be applied to all skating techniques, aiding in the evaluation of skiing techniques and comparison of effectiveness.

Comparison of robot surgery modular and total knee arthroplasty kinematics.

Science.gov (United States)

Yildirim, Gokce; Fernandez-Madrid, Ivan; Schwarzkopf, Ran; Walker, Peter S; Karia, Raj

2014-04-01

The kinematics of seven knee specimens were measured from 0 to 120 degrees flexion using an up-and-down crouching machine. Motion was characterized by the positions of the centers of the lateral and medial femoral condyles in the anterior-posterior direction relative to a fixed tibia. A modular unicompartmental knee, trochlea flange, and patella resurfacing (multicompartmental knee [MCK] system) were implanted using a surgeon-interactive robot system that provided accurate surface matching. The MCK was tested, followed by standard cruciate retaining (CR) and posterior stabilized (PS) knees. The motion of the MCK was close to anatomic, especially on the medial side, in contrast to the CR and PS knees that showed abnormal motion features. Such a modular knee system, accurately inserted, has the potential for close to normal function in clinical application. Thieme Medical Publishers 333 Seventh Avenue, New York, NY 10001, USA.

Multisegmental Foot and Ankle Motion Analysis After Hallux Valgus Surgery

Science.gov (United States)

Canseco, Karl; Long, Jason; Smedberg, Thomas; Tarima, Sergey; Marks, Richard M.; Harris, Gerald F.

2015-01-01

Background Gait changes in patients with hallux valgus, including altered kinematic and temporal-spatial parameters, have been documented in the literature. Although operative treatment can yield favorable clinical and radiographic results, restoration of normal gait in this population remains unclear. Segmental kinematic changes within the foot and ankle during ambulation after operative correction of hallux valgus have not been reported. The aim of this study was to analyze changes in multisegmental foot and ankle kinematics in patients who underwent operative correction of hallux valgus. Methods A 15-camera Vicon Motion Analysis System was used to evaluate 24 feet in 19 patients with hallux valgus preoperatively and postoperatively. The Milwaukee Foot Model was used to characterize segmental kinematics and temporal-spatial parameters (TSPs). Preoperative and postoperative kinematics and TSPs were compared using paired nonparametric methods; comparisons with normative data were performed using unpaired nonparametric methods. Outcomes were evaluated using the SF-36 assessment tool. Results Preoperatively, patients with hallux valgus showed significantly altered temporal-spatial and kinematic parameters. Postoperatively, kinematic analysis demonstrated restoration of hallux position to normal. Hallux valgus angles and intermetatarsal angles were significantly improved, and outcomes showed a significant increase in performance of physical activities. Temporal-spatial parameters and kinematics in the more proximal segments were not significantly changed postoperatively. Conclusion Postoperative results demonstrated significant improvement in foot geometry and hallux kinematics in the coronal and transverse planes. However, the analysis did not identify restoration of proximal kinematics. Clinical Relevance Further investigation is necessary to explore possible causes/clinical relevance and appropriate treatment interventions for the persistently altered kinematics

Physiological Motion Axis for the Seat of a Dynamic Office Chair

Science.gov (United States)

Kuster, Roman Peter; Bauer, Christoph Markus; Oetiker, Sarah; Kool, Jan

2016-01-01

Objective The aim of this study was to determine and verify the optimal location of the motion axis (MA) for the seat of a dynamic office chair. Background A dynamic seat that supports pelvic motion may improve physical well-being and decrease the risk of sitting-associated disorders. However, office work requires an undisturbed view on the work task, which means a stable position of the upper trunk and head. Current dynamic office chairs do not fulfill this need. Consequently, a dynamic seat was adapted to the physiological kinematics of the human spine. Method Three-dimensional motion tracking in free sitting helped determine the physiological MA of the spine in the frontal plane. Three dynamic seats with physiological, lower, and higher MA were compared in stable upper body posture (thorax inclination) and seat support of pelvic motion (dynamic fitting accuracy). Spinal kinematics during sitting and walking were compared. Results The physiological MA was at the level of the 11th thoracic vertebra, causing minimal thorax inclination and high dynamic fitting accuracy. Spinal motion in active sitting and walking was similar. Conclusion The physiological MA of the seat allows considerable lateral flexion of the spine similar to walking with a stable upper body posture and a high seat support of pelvic motion. Application The physiological MA enables lateral flexion of the spine, similar to walking, without affecting stable upper body posture, thus allowing active sitting while focusing on work. PMID:27150530

Overall properties of the Gaia DR1 reference frame

Science.gov (United States)

Liu, N.; Zhu, Z.; Liu, J.-C.; Ding, C.-Y.

2017-03-01

Aims: The first Gaia data release (Gaia DR1) provides 2191 ICRF2 sources with their positions in the auxiliary quasar solution and five astrometric parameters - positions, parallaxes, and proper motions - for stars in common between the Tycho-2 catalogue and Gaia in the joint Tycho-Gaia astrometric solution (TGAS). We aim to analyze the overall properties of Gaia DR1 reference frame. Methods: We compare quasar positions of the auxiliary quasar solution with ICRF2 sources using different samples and evaluate the influence on the Gaia DR1 reference frame owing to the Galactic aberration effect over the J2000.0-J2015.0 period. Then we estimate the global rotation between TGAS with Tycho-2 proper motion systems to investigate the property of the Gaia DR1 reference frame. Finally, the Galactic kinematics analysis using the K-M giant proper motions is performed to understand the property of Gaia DR1 reference frame. Results: The positional comparison between the auxiliary quasar solution and ICRF2 shows negligible orientation and validates the declination bias of -0.1mas in Gaia quasar positions with respect to ICRF2. Galactic aberration effect is thought to cause an offset 0.01mas of the Z axis direction of Gaia DR1 reference frame. The global rotation between TGAS and Tycho-2 proper motion systems, obtained by different samples, shows a much smaller value than the claimed value 0.24mas yr-1. For the Galactic kinematics analysis of the TGAS K-M giants, we find possible non-zero Galactic rotation components beyond the classical Oort constants: the rigid part ωYG = -0.38±0.15mas yr-1 and the differential part ω^primeYG = -0.29±0.19mas yr-1 around the YG axis of Galactic coordinates, which indicates possible residual rotation in Gaia DR1 reference frame or problems in the current Galactic kinematical model. Conclusions: The Gaia DR1 reference frame is well aligned to ICRF2, and the possible influence of the Galactic aberration effect should be taken into consideration

Differences in ball speed and three-dimensional kinematics between male and female handball players during a standing throw with run-up.

Science.gov (United States)

Serrien, Ben; Clijsen, Ron; Blondeel, Jonathan; Goossens, Maggy; Baeyens, Jean-Pierre

2015-01-01

The purpose of this paper was to examine differences in ball release speed and throwing kinematics between male and female team-handball players in a standing throw with run-up. Other research has shown that this throwing type produces the highest ball release speeds and comparing groups with differences in ball release speed can suggest where this difference might come from. If throwing technique differs, perhaps gender-specific coordination- and strength-training guidelines are in order. Measurements of three-dimensional kinematics were performed with a seven-camera VICON motion capture system and subsequent joint angles and angular velocities calculations were executed in Mathcad. Data-analysis with Statistical Parametric Mapping allowed us to examine the entire time-series of every variable without having to reduce the data to certain scalar values such as minima/maxima extracted from the time-series. Statistical Parametric Mapping enabled us to detect several differences in the throwing kinematics (12 out of 20 variables had one or more differences somewhere during the motion). The results indicated two distinct strategies in generating and transferring momentum through the kinematic chain. Male team-handball players showed more activity in the transverse plane (pelvis and trunk rotation and shoulder horizontal abduction) whereas female team-handball players showed more activity in the sagital plane (trunk flexion). Also the arm cocking maneuver was quite different. The observed differences between male and female team handball players in the motions of pelvis, trunk and throwing arm can be important information for coaches to give feedback to athletes. Whether these differences contribute to the observed difference in ball release speed is at the present unclear and more research on the relation with anthropometric profile needs to be done. Kinematic differences might suggest gender-specific training guidelines in team-handball.

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.

Kinematics of the trunk and the lower extremities during restricted and unrestricted squats.

Science.gov (United States)

List, Renate; Gülay, Turgut; Stoop, Mirjam; Lorenzetti, Silvio

2013-06-01

Squatting is a common strength training exercise used for rehabilitation, fitness training, and in preparation for competition. Knowledge about the loading and the motion of the back during the squat exercise is crucial to avoid overuse or injury. The aim of this study was the measurement and comparison of the kinematics of the lower leg, trunk, and spine during unrestricted and restricted (knees are not allowed beyond toes) squats. A total of 30 subjects performed unrestricted and restricted barbell squats with an extra load of 0, 25, and 50% bodyweight. Motion was tracked using a 12-camera Vicon system. A newly developed marker set with 24 trunk and 7 pelvic markers allowed us to measure 3D segmental kinematics between the pelvic and the lumbar regions, between the lumbar and the thoracic segments, and the sagittal curvatures of the lumbar and the thoracic spine. In an unrestricted squat, the angle of the knee is larger and the range of motion (ROM) between the lumbar and the thoracic segments is significantly smaller compared with a restricted squat (p squats. The unrestricted execution of a squat leads to a larger ROM in the knee and smaller changes in the curvature of the thoracic spine and the range of smaller segmental motions within the trunk. This execution in turn leads to lower stresses in the back. To strengthen the muscles of the leg, the unrestricted squat may be the best option for most people. Thus, practitioners should not be overly strict in coaching against anterior knee displacement during performance of the squat.

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.

Foot and Ankle Kinematics During Descent From Varying Step Heights.

Science.gov (United States)

Gerstle, Emily E; O'Connor, Kristian; Keenan, Kevin G; Cobb, Stephen C

2017-12-01

In the general population, one-third of incidences during step negotiation occur during the transition to level walking. Furthermore, falls during curb negotiation are a common cause of injury in older adults. Distal foot kinematics may be an important factor in determining injury risk associated with transition step negotiation. The purpose of this study was to identify foot and ankle kinematics of uninjured individuals during descent from varying step heights. A 7-segment foot model was used to quantify kinematics as participants walked on a level walkway, stepped down a single step (heights: 5 cm, 15 cm, 25 cm), and continued walking. As step height increased, landing strategy transitioned from the rearfoot to the forefoot, and the rearfoot, lateral and medial midfoot, and medial forefoot became more plantar flexed. During weight acceptance, sagittal plane range of motion of the rearfoot, lateral midfoot, and medial and lateral forefoot increased as step height increased. The changes in landing strategy and distal foot function suggest a less stable ankle position at initial contact and increased demand on the distal foot at initial contact and through the weight acceptance phase of transition step negotiation as step height increases.

Vision based motion control for a humanoid head

NARCIS (Netherlands)

Visser, L.C.; Carloni, Raffaella; Stramigioli, Stefano

2009-01-01

This paper describes the design of a motion control algorithm for a humanoid robotic head, which consists of a neck with four degrees of freedom and two eyes (a stereo pair system) that tilt on a common axis and rotate sideways freely. The kinematic and dynamic properties of the head are analyzed

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

Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning

International Nuclear Information System (INIS)

Pin, Francois G.

2003-01-01

Our overall objective is the development of a generalized methodology and code for the automated generation of the kinematics equations of robots and for the analytical solution of their motion planning equations subject to time-varying constraints, behavioral objectives and modular configuration

Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning

International Nuclear Information System (INIS)

Pin, Grancois G.

2004-01-01

Our overall objective is the development of a generalized methodology and code for the automated generation of the kinematics equations of robots and for the analytical solution of their motion planning equations subject to time-varying constraints, behavioral objectives, and modular configuration

The theory of relativity and super-light-speeds-I: Kinematical part

International Nuclear Information System (INIS)

Cao Shenglin.

1987-05-01

According to some local properties of Lorentz transformation, Einstein stated: ''Velocities greater than that of light have no possibility of existence''. He neglected to point out the applicable range of the special theory of relativity. In fact, it could only be applied to the sub-light-speed. This paper shows that if we think of the possibility of the existence of the super-light-speed and redescribe the special theory of relativity following Einstein's way, a new kinematical theory would be founded. The new theory would retain all kinematical meaning of the special theory of relativity when matters move with sub-light-speed and would give new content when matters move with super-light-speed. The paper also discusses the observation principle for the motions with the super-light-speed. (author). 2 refs, 1 fig

BAYESIAN ANALYSIS TO IDENTIFY NEW STAR CANDIDATES IN NEARBY YOUNG STELLAR KINEMATIC GROUPS

International Nuclear Information System (INIS)

Malo, Lison; Doyon, René; Lafrenière, David; Artigau, Étienne; Gagné, Jonathan; Baron, Frédérique; Riedel, Adric

2013-01-01

We present a new method based on a Bayesian analysis to identify new members of nearby young kinematic groups. The analysis minimally takes into account the position, proper motion, magnitude, and color of a star, but other observables can be readily added (e.g., radial velocity, distance). We use this method to find new young low-mass stars in the β Pictoris and AB Doradus moving groups and in the TW Hydrae, Tucana-Horologium, Columba, Carina, and Argus associations. Starting from a sample of 758 mid-K to mid-M (K5V-M5V) stars showing youth indicators such as Hα and X-ray emission, our analysis yields 214 new highly probable low-mass members of the kinematic groups analyzed. One is in TW Hydrae, 37 in β Pictoris, 17 in Tucana-Horologium, 20 in Columba, 6 in Carina, 50 in Argus, 32 in AB Doradus, and the remaining 51 candidates are likely young but have an ambiguous membership to more than one association. The false alarm rate for new candidates is estimated to be 5% for β Pictoris and TW Hydrae, 10% for Tucana-Horologium, Columba, Carina, and Argus, and 14% for AB Doradus. Our analysis confirms the membership of 58 stars proposed in the literature. Firm membership confirmation of our new candidates will require measurement of their radial velocity (predicted by our analysis), parallax, and lithium 6708 Å equivalent width. We have initiated these follow-up observations for a number of candidates, and we have identified two stars (2MASSJ01112542+1526214, 2MASSJ05241914-1601153) as very strong candidate members of the β Pictoris moving group and one strong candidate member (2MASSJ05332558-5117131) of the Tucana-Horologium association; these three stars have radial velocity measurements confirming their membership and lithium detections consistent with young age.

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.

Kinematic Optimization of Robot Trajectories for Thermal Spray Coating Application

Science.gov (United States)

Deng, Sihao; Liang, Hong; Cai, Zhenhua; Liao, Hanlin; Montavon, Ghislain

2014-12-01

Industrial robots are widely used in the field of thermal spray nowadays. Due to their characteristics of high-accuracy and programmable flexibility, spraying on complex geometrical workpieces can be realized in the equipped spray room. However, in some cases, the robots cannot guarantee the process parameters defined by the robot movement, such as the scanning trajectory, spray angle, relative speed between the torch and the substrate, etc., which have distinct influences on heat and mass transfer during the generation of any thermally sprayed coatings. In this study, an investigation on the robot kinematics was proposed to find the rules of motion in a common case. The results showed that the motion behavior of each axis of robot permits to identify the motion problems in the trajectory. This approach allows to optimize the robot trajectory generation in a limited working envelop. It also minimizes the influence of robot performance to achieve a more constant relative scanning speed which is represented as a key parameter in thermal spraying.

Coordinated Resolved Motion Control of Dual-Arm Manipulators with Closed Chain

Directory of Open Access Journals (Sweden)

Tianliang Liu

2016-05-01

Full Text Available When applied to some tasks, such as payload handling, assembling, repairing and so on, the two arms of a humanoid robot will form a closed kinematic chain. It makes the motion planning and control for dual-arm coordination very complex and difficult. In this paper, we present three types of resolved motion control methods for a humanoid robot during coordinated manipulation. They are, respectively, position-level, velocity-level and acceleration-level resolved motion control methods. The desired pose, velocity and acceleration of each end-effector are then resolved according to the desired motion of the payload and the constraints on the closed-chain system without consideration of the internal force. Corresponding to the three cases above, the joint variables of each arm are then calculated using the inverse kinematic equations, at position-level, velocity-level or acceleration-level. Finally, a dynamic modelling and simulation platform is established based on ADAMS and Matlab software. The proposed methods are verified by typical cases. The simulation results show that the proposed control strategy can realize the dual-arm coordinated operation and the internal force of the closed chain during the operation is controlled in a reasonable range at the same time.

System analysis of sagittal plane human motion wearing an exoskeleton using marker technology

Directory of Open Access Journals (Sweden)

Jatsun Sergey

2016-01-01

Full Text Available This paper discusses various methods of obtaining time functions for joint angle that describe a exoskeleton’s motion during sit-to-stand motion. This article demonstrates that functions obtained by solving the inverse kinematics problem can be effectively used as inputs to the control system of the robot. Comparison with experimentally data obtained using marker technology is done.

Exoskeleton Motion Control for Children Walking Rehabilitation

Directory of Open Access Journals (Sweden)

Cristina Ploscaru

2016-06-01

Full Text Available This paper introduces a quick method for motion control of an exoskeleton used on children walking rehabilitation with ages between four to seven years old. The exoskeleton used on this purpose has six servomotors which work independently and actuates each human lower limb joints (hips, knees and ankles. For obtaining the desired motion laws, a high-speed motion analysis equipment was used. The experimental rough data were mathematically modeled in order to obtain the proper motion equations for controlling the exoskeleton servomotors.

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.

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.

PERFORMANCE AND KINEMATICS OF VARIOUS THROWING TECHNIQUES IN TEAM-HANDBALL

Directory of Open Access Journals (Sweden)

Herbert Wagner

2011-03-01

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

Lower-limb kinematics of single-leg squat performance in young adults.

Science.gov (United States)