WorldWideScience

Sample records for railroad locomotives volume

  1. Railroad and locomotive technology roadmap.

    Energy Technology Data Exchange (ETDEWEB)

    Stodolsky, F.; Gaines, L.; Energy Systems

    2003-02-24

    Railroads are important to the U.S. economy. They transport freight efficiently, requiring less energy and emitting fewer pollutants than other modes of surface transportation. While the railroad industry has steadily improved its fuel efficiency--by 16% over the last decade--more can, and needs to, be done. The ability of locomotive manufacturers to conduct research into fuel efficiency and emissions reduction is limited by the small number of locomotives manufactured annually. Each year for the last five years, the two North American locomotive manufacturers--General Electric Transportation Systems and the Electro-Motive Division of General Motors--have together sold about 800 locomotives in the United States. With such a small number of units over which research costs can be spread, outside help is needed to investigate all possible ways to reduce fuel usage and emissions. Because fuel costs represent a significant portion of the total operating costs of a railroad, fuel efficiency has always been an important factor in the design of locomotives and in the operations of a railroad. However, fuel efficiency has recently become even more critical with the introduction of strict emission standards by the U.S. Environmental Protection Agency, to be implemented in stages (Tiers 0, 1, and 2) between 2000 and 2005. Some of the technologies that could be employed to meet the emission standards may negatively affect fuel economy--by as much as 10-15% when emissions are reduced to Tier 1 levels. Lowering fuel economy by that magnitude would have a serious impact on the cost to the consumer of goods shipped by rail, on the competitiveness of the railroad industry, and on this country's dependence on foreign oil. Clearly, a joint government/industry R&D program is needed to help catalyze the development of advanced technologies that will substantially reduce locomotive engine emissions while also improving train system energy efficiency. DOE convened an industry

  2. Energy study of railroad freight transportation. Volume 2. Industry description

    Energy Technology Data Exchange (ETDEWEB)

    None

    1979-08-01

    The United States railroad industry plays a key role in transporting materials to support our industrial economy. One of the oldest industries in the US, the railroads have developed over 150 years into their present physical and operational configuration. Energy conservation proposals to change industry facilities, equipment, or operating practices must be evaluated in terms of their cost impact. A current, comprehensive and accurate data baseline of railroad economic activity and energy consumption is presented. Descriptions of the history of railroad construction in the US and current equipment, facilities, and operation practices follow. Economic models that relate cost and energy of railroad service to the volume of railroad output and to physical and operational parameters are provided. The analyses and descriptions should provide not only an analytical baseline for evaluating the impact of proposed conservation measures, but they should also provide a measure of understanding of the system and its operations to analysts and policy makers who are involved in proposing, analyzing, and implementing such changes.

  3. Locomotion

    DEFF Research Database (Denmark)

    Kiehn, Ole; Dougherty, Kimberly

    2016-01-01

    Locomotion is a complex motor behavior needed by animals and humans to move through the environment. All forms of locomotion, including swimming, flying, walking, running, and hopping, are repetitive motor activities that require the activation of the limb and body muscles in an organized rhythm ...

  4. Operating a locomotive on liquid methane fuel

    International Nuclear Information System (INIS)

    Stolz, J.L.

    1992-01-01

    This paper reports that several years ago, Burlington Northern Railroad looked into the feasibility of operating a diesel railroad locomotive to also run on compressed natural gas in a dual-fuel mode. Recognizing the large volume of on-board storage required and other limitations of CNG in the application, a program was begun to fuel a locomotive with liquefied natural gas. Because natural gas composition can vary with source and processing, it was considered desirable to use essentially pure liquid methane as the engine fuel. Initial testing results show the locomotive system achieved full diesel-rated power when operating on liquid methane and with equivalent fuel efficiency. Extended testing, including an American Association of Railroad 500-hour durability test, was undertaken to obtain information on engine life, wear rate and lubrication oil life

  5. Evaluation of occupant volume strength in conventional passenger railroad equipment : a thesis submitted by Michael E. Carolan

    Science.gov (United States)

    2008-05-31

    To ensure a level of occupant volume protection, passenger railway : equipment operating on mainline railroads in the United States must currently be : designed to resist an 800,000 pound compressive load applied statically to the : underframe. An al...

  6. Blunt impact tests of retired passenger locomotive fuel tanks

    Science.gov (United States)

    2017-08-01

    The Transportation Technology Center, Inc. conducted impact tests on three locomotive fuel tanks as part of the Federal Railroad Administrations locomotive fuel tank crashworthiness improvement program. Three fuel tanks, two from EMD F40PH locomot...

  7. 49 CFR 236.1006 - Equipping locomotives operating in PTC territory.

    Science.gov (United States)

    2010-10-01

    ... 31, 2015, a train controlled by a locomotive with an onboard PTC apparatus that has failed en route... III railroad, including a tourist or excursion railroad, and controlled by a locomotive not equipped...

  8. 49 CFR 240.309 - Railroad oversight responsibilities.

    Science.gov (United States)

    2010-10-01

    ... ascribed which the controlling railroad certified for joint operations purposes. (c) Based on that review and analysis each railroad shall determine what action(s) it will take to improve the safety of train... safety device in the controlling locomotive; (9) Incidents involving noncompliance with the railroad's...

  9. 49 CFR 230.108 - Steam locomotive leading and trailing trucks.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive leading and trailing trucks. 230... RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION STEAM LOCOMOTIVE INSPECTION AND MAINTENANCE STANDARDS Steam Locomotives and Tenders Trucks, Frames and Equalizing System § 230.108 Steam locomotive leading...

  10. Test requirements of locomotive fuel tank blunt impact tests

    Science.gov (United States)

    2013-10-15

    The Federal Railroad Administrations Office of Research : and Development is conducting research into passenger : locomotive fuel tank crashworthiness. A series of impact tests : are planned to measure fuel tank deformation under two types : of dy...

  11. 49 CFR 231.15 - Steam locomotives used in road service.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotives used in road service. 231.15 Section 231.15 Transportation Other Regulations Relating to Transportation (Continued) FEDERAL RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD SAFETY APPLIANCE STANDARDS § 231.15 Steam locomotives used...

  12. Full-scale locomotive dynamic collision testing and correlations : offset collisions between a locomotive and a covered hopper car (test 4).

    Science.gov (United States)

    2011-09-01

    This report presents the test results and finite element correlations of a full-scale dynamic collision test with rail vehicles as part of the Federal Railroad Administrations research program on improved crashworthiness of locomotive structures. ...

  13. Railroad signal color and orientation : effects of color blindness and criteria for color vision field tests

    Science.gov (United States)

    2015-03-01

    This report concerns two issues: 1) whether color vision is necessary for locomotive crews who work on railroads where the signal system is either completely redundant with regard to signal color and signal orientation or the signal system only uses ...

  14. Using cognitive task analysis to inform issues in human systems integration in railroad operations

    Science.gov (United States)

    2013-05-23

    U.S. Railroad operations are undergoing rapid changes involving the introduction of new technologies such as positive train control (PTC), energy management systems (EMS), and electronically controlled pneumatic (ECP) brakes in the locomotive cab. To...

  15. Locomotive emissions test stand with particulate matter measurement integration : final report.

    Science.gov (United States)

    2015-10-01

    This project builds upon previous research efforts, in which a complete instruction manual and bill of materials was developed for : a blueprint that allows any organization in the railroad industry to build their own locomotive emissions measurement...

  16. 49 CFR 231.16 - Steam locomotives used in switching service.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotives used in switching service. 231... RAILROAD ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD SAFETY APPLIANCE STANDARDS § 231.16 Steam..., buffer block, footboard, brake pipe, signal pipe, steam-heat pipe or arms of uncoupling lever shall...

  17. 49 CFR 229.9 - Movement of non-complying locomotives.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of non-complying locomotives. 229.9... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION RAILROAD LOCOMOTIVE SAFETY STANDARDS General § 229.9 Movement of non... restrictions necessary for safely conducting the movement; (2)(i) The engineer in charge of the movement of the...

  18. Historische Technikakzeptanz – als kontextualisierende Technikzukunftsforschung am Fallbeispiel der T1-Duplexklasse der Pennsylvania Railroad, 1942–1951

    Directory of Open Access Journals (Sweden)

    Kunze, Rolf-Ulrich

    2015-01-01

    Full Text Available The essay presents the brief history of the last technological development of the steam age on US railroad tracks: the T1 duplex class of the Pennsylvania Railroad, 1942–1951. Referring to the methods of today’s technological assessment, the article is questioning a teleological interpretation of the last US passenger tratin steam locomotive as a failing innovation.

  19. Railroad Lines, US, 2015, NAVTEQ

    Data.gov (United States)

    U.S. Environmental Protection Agency — NAVTEQ Railroads for the United States. The Railroads layer contains Railroad features published as lines and polylines. Attributes for this layer include the name...

  20. Energy Conservation Projects to Benefit the Railroad Industry

    Energy Technology Data Exchange (ETDEWEB)

    Clifford Mirman; Promod Vohra

    2009-12-31

    The Energy Conservation Projects to benefit the railroad industry using the Norfolk Southern Company as a model for the railroad industry has five unique tasks which are in areas of importance within the rail industry, and specifically in the area of energy conservation. The NIU Engineering and Technology research team looked at five significant areas in which research and development work can provide unique solutions to the railroad industry in energy the conservation. (1) Alternate Fuels - An examination of various blends of bio-based diesel fuels for the railroad industry, using Norfolk Southern as a model for the industry. The team determined that bio-diesel fuel is a suitable alternative to using straight diesel fuel, however, the cost and availability across the country varies to a great extent. (2) Utilization of fuel cells for locomotive power systems - While the application of the fuel cell has been successfully demonstrated in the passenger car, this is a very advanced topic for the railroad industry. There are many safety and power issues that the research team examined. (3) Thermal and emission reduction for current large scale diesel engines - The current locomotive system generates large amount of heat through engine cooling and heat dissipation when the traction motors are used to decelerate the train. The research team evaluated thermal management systems to efficiently deal with large thermal loads developed by the operating engines. (4) Use of Composite and Exotic Replacement Materials - Research team redesigned various components using new materials, coatings, and processes to provide the needed protection. Through design, analysis, and testing, new parts that can withstand the hostile environments were developed. (5) Tribology Applications - Identification of tribology issues in the Railroad industry which play a significant role in the improvement of energy usage. Research team analyzed and developed solutions which resulted in friction

  1. Railroad Lines, Hawaii, 2007, TANA

    Data.gov (United States)

    U.S. Environmental Protection Agency — The Railroad layer in Dynamap(R)/2000 represents the railroad network within the U.S. and Puerto Rico. At a minimum, linear representation is consistent with the...

  2. VT Digital Line Graph Railroads

    Data.gov (United States)

    Vermont Center for Geographic Information — (Link to Metadata) This datalayer is comprised of major railroad lines for the state of Vermont. These railroad lines line up well along quadrangle boundaries, but...

  3. Global Pursuits: The Underground Railroad

    Science.gov (United States)

    School Arts: The Art Education Magazine for Teachers, 2004

    2004-01-01

    This brief article describes Charles T. Webber's oil on canvas painting, "The Underground Railroad, 1893." The subject of this painting is the Underground Railroad, which today has become an American legend. The Underground Railroad was not a systematic means of transportation, but rather a secretive process that allowed fugitive slaves…

  4. An evaluation of the use of mobile source emissions trading: Locomotive case study

    International Nuclear Information System (INIS)

    West, W.R.; Brazell, M.M.

    1993-01-01

    There are many proposals for generating mobil source credits for use by stationary and other sources. This paper examines the benefits and practicality of including locomotive rail emissions in proposed emissions trading programs in california. In particular, this paper examines (1) if trading of locomotive rail emissions will result in lower compliance costs for railroads than traditional open-quotes command and controlclose quotes approaches, and (2) if emissions trading programs provide large enough incentives to entice railroads to seek to meet or exceed expected emissions reduction open-quotes command and controlclose quotes targets. The paper also examines under what circumstances stationary sources would be willing to purchase mobile source credits from railroads, in order to offset some of the stationary source's emissions reductions requirements. Stated simply, this analysis examines whether proposed trading programs offer enough benefits to both trading partners to warrant their use

  5. Locomotion through Morphosis

    DEFF Research Database (Denmark)

    Larsen, Jørgen Christian

    , this is still not the case. One of the reasons for this is that science does still not fully understand the principles of dynamic locomotion which is a requirement for them to move around in our environment with stairs, obstacles etc. In this thesis the focus will be on the creation of the modular robotic...... it have been build. This will hopefully help to identify which parameters that are affecting the locomotive abilities of a legged robot the most. Experiments shows that the system in its current state is able for form legged robots of various kinds, and perform walking gaits where phenomenon’s also seen...

  6. Analysis of fuel cell hybrid locomotives

    Energy Technology Data Exchange (ETDEWEB)

    Miller, Arnold R. [Vehicle Projects LLC, 621, 17th Street, Suite 2131, Denver, CO 80293 (United States); Peters, John; Smith, Brian E. [Transportation Technology Center Inc., 55500 DOT Road, Pueblo, CO 81007 (United States); Velev, Omourtag A. [AeroVironment Inc., 232 West Maple Avenue, Monrovia, CA 91016 (United States)

    2006-07-03

    Led by Vehicle Projects LLC, an international industry-government consortium is developing a 109t, 1.2MW road-switcher locomotive for commercial and military railway applications. As part of the feasibility and conceptual-design analysis, a study has been made of the potential benefits of a hybrid power plant in which fuel cells comprise the prime mover and a battery or flywheel provides auxiliary power. The potential benefits of a hybrid power plant are: (i) enhancement of transient power and hence tractive effort; (ii) regenerative braking; (iii) reduction of capital cost. Generally, the tractive effort of a locomotive at low speed is limited by wheel adhesion and not by available power. Enhanced transient power is therefore unlikely to benefit a switcher locomotive, but could assist applications that require high acceleration, e.g. subway trains with all axles powered. In most cases, the value of regeneration in locomotives is minimal. For low-speed applications such as switchers, the available kinetic energy and the effectiveness of traction motors as generators are both minimal. For high-speed heavy applications such as freight, the ability of the auxiliary power device to absorb a significant portion of the available kinetic energy is low. Moreover, the hybrid power plant suffers a double efficiency penalty, namely, losses occur in both absorbing and then releasing energy from the auxiliary device, which result in a net storage efficiency of no more than 50% for present battery technology. Capital cost in some applications may be reduced. Based on an observed locomotive duty cycle, a cost model shows that a hybrid power plant for a switcher may indeed reduce capital cost. Offsetting this potential benefit are the increased complexity, weight and volume of the power plant, as well as 20-40% increased fuel consumption that results from lower efficiency. Based on this analysis, the consortium has decided to develop a pure fuel cell road-switcher locomotive, that

  7. Biodiesel fuel costs and environmental issues when powering railway locomotives

    Energy Technology Data Exchange (ETDEWEB)

    Mirza, Abdul; Ziemer, Norbert; Tatara, Robert; Moraga, Reinaldo; Mirman, Clifford; Vohra, Promod

    2010-09-15

    Issues for adopting biodiesel fuel, instead of petrodiesel, to power railroad locomotives are engine performance and emissions, fuel infrastructure, and fuel cost. These are evaluated for B2 through B100 blends. Biodiesel's solvent action on fuel systems is addressed. With biodiesel, hydrocarbon, carbon monoxide, and particulate emissions are unchanged or reduced. Nitrogen oxides are elevated but it is believed that engine alterations can minimize these emissions. A Transportation Model, using data from a major railway, has demonstrated that refueling depots can be fully supplied with biodiesel at a pricing premium of 1% to 26%, depending on blend and geographical location.

  8. Development of human locomotion.

    Science.gov (United States)

    Lacquaniti, Francesco; Ivanenko, Yuri P; Zago, Myrka

    2012-10-01

    Neural control of locomotion in human adults involves the generation of a small set of basic patterned commands directed to the leg muscles. The commands are generated sequentially in time during each step by neural networks located in the spinal cord, called Central Pattern Generators. This review outlines recent advances in understanding how motor commands are expressed at different stages of human development. Similar commands are found in several other vertebrates, indicating that locomotion development follows common principles of organization of the control networks. Movements show a high degree of flexibility at all stages of development, which is instrumental for learning and exploration of variable interactions with the environment. Copyright © 2012 Elsevier Ltd. All rights reserved.

  9. 49 CFR 1242.67 - Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power...

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 9 2010-10-01 2010-10-01 false Switch crews; controlling operations; yard and terminal clerical; locomotive fuel; electric power purchased/produced for motive power; operating switches... SERVICE FOR RAILROADS 1 Operating Expenses-Transportation § 1242.67 Switch crews; controlling operations...

  10. 40 CFR 201.27 - Procedures for: (1) Determining applicability of the locomotive load cell test stand standard and...

    Science.gov (United States)

    2010-07-01

    ... localizing its apparent source(s). If the observer is clearly convinced by this localization process that the... is observed to change by 10 dB, coincident with evidence of a change in operation of the locomotive... microphone position on a diagram of the particular railroad facility, and the distances between the...

  11. Dynamically Stable Legged Locomotion

    Science.gov (United States)

    1989-09-01

    length during overground locomotion: task-specific modulation of the locomotor synergy. Journal of Experimental Psychology, 15(3). Raibert, M. I. 1986...energy conversions that intermediates between combus- tion of a fluid fuel such as gasoline , and the controlled delivery of force and power to the...question of this study: Can the extremely high energy density and rapid response of combustible fluid fuels such as gasoline be harnessed to produce

  12. The Cost of Railroad Regulation

    DEFF Research Database (Denmark)

    Federico, Giovanni; Sharp, Paul R.

    commodities until the First World War. We demonstrate that this reflected changes in transportation costs which in turn in the long run depended on productivity growth in railroads. 1920 marked a change in this relationship, however, and between the First and Second World Wars we find considerable...... disintegration of agricultural markets, ultimately as a consequence of the 1920 Transportation Act. We argue that this benefited railroad companies in the 1920s and workers in the 1930s, and we put forward an estimate of the welfare losses for the consumers of railroad services (i.e. agricultural producers...

  13. Advanced robot locomotion.

    Energy Technology Data Exchange (ETDEWEB)

    Neely, Jason C.; Sturgis, Beverly Rainwater; Byrne, Raymond Harry; Feddema, John Todd; Spletzer, Barry Louis; Rose, Scott E.; Novick, David Keith; Wilson, David Gerald; Buerger, Stephen P.

    2007-01-01

    This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.

  14. Locomotive energy savings possibilities

    Directory of Open Access Journals (Sweden)

    Leonas Povilas LINGAITIS

    2009-01-01

    Full Text Available Economic indicators of electrodynamic braking have not been properly estimated. Vehicles with alternative power trains are transitional stage between development of pollution- free vehicles. According to these aspects the investigation on conventional hybrids drives and their control system is carried out in the article. The equation that allows evaluating effectiveness of regenerative braking for different variants of hybrid drive are given. Presenting different types of locomotive energy savings power systems, which are using regenerative braking energy any form of hybrid traction vehicles systems, circuit diagrams, electrical parameters curves.

  15. Steam Locomotives: a forgotten era

    African Journals Online (AJOL)

    The boiler was not armoured as the idea was that it was bullet proof. The locomotives were arranged into groups of five and for each group there was an engine as standby. As far as can be ascertained, locomotive No 537 was never armoured, but did work draw trains and freight trains during the Anglo-Boer War too.

  16. A population-based case-control study of mesothelioma deaths among U.S. railroad workers.

    Science.gov (United States)

    Schenker, M B; Garshick, E; Muñoz, A; Woskie, S R; Speizer, F E

    1986-09-01

    We have completed a case-control analysis of mesothelioma deaths among current and retired U.S. railroad employees. Cause-specific death certificates were obtained for 87% of 15,059 deaths reported by the railroad retirement board, and 20 mesotheliomas were identified according to death certificate diagnosis. A 10:1 matched analysis with railroad workers dying of nonmalignant, nonaccidental causes yielded a very strong association with prior railroad work in jobs with potential asbestos exposure (odds ratio = 7.2, 95% lower confidence limit = 3.3). Consideration of railroad occupations with regular asbestos exposures (e.g., skilled trades, steam locomotive repair) yielded an odds ratio of 21.4 (95% lower confidence limit = 8.7), but the occupations with potential intermittent exposure (e.g., engineers, firemen, carmen) yielded a nonsignificant odds ratio of 2.3 (95% lower confidence limit = 0.5). Applying mesothelioma mortality rates from this study to the population of U.S. railroad workers at risk yields an estimate of 416 cases of mesothelioma occurring among U.S. railroad workers between 1981 and 2000.

  17. Synthesis of digital locomotive receiver of automatic locomotive signaling

    Directory of Open Access Journals (Sweden)

    K. V. Goncharov

    2013-02-01

    Full Text Available Purpose. Automatic locomotive signaling of continuous type with a numeric coding (ALSN has several disadvantages: a small number of signal indications, low noise stability, high inertia and low functional flexibility. Search for new and more advanced methods of signal processing for automatic locomotive signaling, synthesis of the noise proof digital locomotive receiver are essential. Methodology. The proposed algorithm of detection and identification locomotive signaling codes is based on the definition of mutual correlations of received oscillation and reference signals. For selecting threshold levels of decision element the following criterion has been formulated: the locomotive receiver should maximum set the correct solution for a given probability of dangerous errors. Findings. It has been found that the random nature of the ALSN signal amplitude does not affect the detection algorithm. However, the distribution law and numeric characteristics of signal amplitude affect the probability of errors, and should be considered when selecting a threshold levels According to obtained algorithm of detection and identification ALSN signals the digital locomotive receiver has been synthesized. It contains band pass filter, peak limiter, normalizing amplifier with automatic gain control circuit, analog to digital converter and digital signal processor. Originality. The ALSN system is improved by the way of the transfer of technical means to modern microelectronic element base, more perfect methods of detection and identification codes of locomotive signaling are applied. Practical value. Use of digital technology in the construction of the locomotive receiver ALSN will expand its functionality, will increase the noise immunity and operation stability of the locomotive signal system in conditions of various destabilizing factors.

  18. 76 FR 41555 - Tupelo, Mississippi Railroad Relocation Project

    Science.gov (United States)

    2011-07-14

    ... Relocation Project AGENCY: Federal Railroad Administration (FRA), U.S. Department of Transportation (DOT... Tupelo, Mississippi Railroad Relocation Project (Project). SUMMARY: The Federal Railroad Administration announces the availability of the Tupelo, Mississippi Railroad Relocation Project Draft Environmental Impact...

  19. Artificial locomotion control

    DEFF Research Database (Denmark)

    Azevedo, Christine; Poignet, Philippe; Espiau, Bernard

    2004-01-01

    of postural and walking control; use of evolutive optimization objectives; on-line event handling and environment adaptation and anticipation. This leads to the synthesis of an original control scheme based on non-linear model predictive control: Trajectory Free NMPC. The movement is specified implicitly......This paper concerns the simultaneous synthesis and control of walking gaits for biped robots. The goal is to propose an adaptable and reactive control law for two-legged machines. The problem is addressed with human locomotion as a reference. The starting point of our work is an analysis of human...... walking from descriptive (biomechanics) as well as explicative (neuroscience and physiology) points of view, the objective being to stress the relevant elements for the approach of robot control. The adopted principles are then: no joint trajectory tracking; explicit distinction and integration...

  20. Economic impact analysis of short line railroads.

    Science.gov (United States)

    2014-10-01

    This research project assesses the economic role and impact of short line railroads in the state of Louisiana. While relatively small in : scope, with 11 operators and approximately 500 miles of track, short line railroads play a significant role in ...

  1. 30 CFR 57.9104 - Railroad crossings.

    Science.gov (United States)

    2010-07-01

    ... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Railroad crossings. 57.9104 Section 57.9104... SAFETY AND HEALTH SAFETY AND HEALTH STANDARDS-UNDERGROUND METAL AND NONMETAL MINES Loading, Hauling, and Dumping Traffic Safety § 57.9104 Railroad crossings. Designated railroad crossings shall be posted with...

  2. 25 CFR 169.23 - Railroads.

    Science.gov (United States)

    2010-04-01

    ..., individually owned and Government-owned land, except in the State of Oklahoma, for railroads, station buildings... proposed railroad is parallel to, and within 10 miles of, a railroad already built or in course of..., to construct and maintain passenger and freight stations for each Government townsite, and to permit...

  3. Slavery and the Underground Railroad.

    Science.gov (United States)

    Anderson, Nancy Comfort

    2000-01-01

    Presents a bibliography of sources to help children understand slavery and the Underground Railroad and recommends a combination of fiction and nonfiction for a better understanding. Includes picture books, biographies of people who played prominent roles during the time of slavery, nonfiction books for older readers, and videotape. (LRW)

  4. Ground Attenuation of Railroad Noise

    DEFF Research Database (Denmark)

    Makarewicz, R.; Rasmussen, Karsten Bo; Kokowski, P.

    1996-01-01

    The influence of ground effect on railroad noise is described using the concept of the peak A-weighted sound exposure level, and A-weighted sound exposure level. The train is modelled by a continuous line of incoherent point sources that have a cosine directivity. The ground effect is included...

  5. Animal Locomotion in Different Mediums

    Indian Academy of Sciences (India)

    IAS Admin

    examine only self-powered animal locomotion. ... At different phases of their life cycle both animals and plants are highly mobile but their ... wind driven transport (Figure C). ..... fins which serve the function of rudimentary limbs, particularly.

  6. Locomotion of bluefish.

    Science.gov (United States)

    DuBois, A B; Cavagna, G A; Fox, R S

    1976-02-01

    1. Pressure previously measured on the body surface of swimming bluefish were resolved into their backward vectorial components to allow calculation of profile drag. It was 0.18 kg at a speed of 1.8 m/sec. Tangential drag was calculated as if for a thin plate of an area equal to that of the fish. It was 0.08 kg at 1.8 m/sec. Net drag, 0.26 kg, was the sum of profile and tangential drag. 2. Thrust and drag also were calculated from the changes of acceleration measured during steady swimming, assuming that thrust took place only during the acceleration phase, whereas drag occurred during both acceleration and deceleration. This drag was 0.08 kg at a speed of 1.1 m/sec. It is compatible with the drag of 0.26 at 1.8 m/sec calculated from profile and tangential drag provided drag varies as the square of velocity. 3. The force required to produced maximal acceleration was measured during a scare. It was calculated to be 6.9 kg at a peak acceleration of 3 g. 4. The compression strength of th vertebrae was found to be approximately 20 kg per cm2, or roughly three times the force encountered during maximal acceleration. This safety factor of 3 would be reduced when the back was curved, or if opposing groups of muscles were under tension. 5. The finding that a bluefish can accelerate at 3 g and that the vertebral column is strongg enough to withstand this force indicates that the muscles and body structure of a bluefish would be able to withstand the force of gravity if the fish were otherwise equipped for terrestrial life. This fish may have evolved these strengths simultaneously with land animals. It is speculated that other fish may have evolved some degree of strength to overcome inertia and drag during aquatic locomotion, and this evolution may have been a prelude to terrestrial locomotion.

  7. Fundamentals of soft robot locomotion

    OpenAIRE

    Calisti, M.; Picardi, G.; Laschi, C.

    2017-01-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human���robot interaction and locomotion. Although field applications have emerged for soft manipulation and human���robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This p...

  8. Trading of locomotive NO(sub x) emissions : a potential success story

    International Nuclear Information System (INIS)

    Gaines, L. L.; Biess, L. J.; Diedrich, G. K.

    2002-01-01

    New US Environmental Protection Agency regulations are forcing locomotive manufacturers and railroads to reduce pollutant emissions from locomotive operation. All new locomotives must meet strict standards when they are built, and existing locomotives must comply when they are rebuilt. Emissions can be reduced either by adjusting combustion parameters, which incurs a fuel penalty, or by turning the diesel engine off when the train is not moving and would otherwise be idling. The latter reduces fuel consumption, but requires installation of a device-such as an auxiliary power unit (APU)-to ensure that the engine can be restarted in cold weather and to supply hotel loads for the crew. Without a financial incentive, capital-short railroads will opt to achieve compliance in the least costly way. However, if they have the option of selling emissions credits from reducing emissions below regulated levels, it would be in their best interest to install additional equipment to minimize emissions. These credits could be purchased by businesses with compliance costs greater than either the cost of the credits or the fines they would have had to pay for non-compliance. The result is a financial benefit for both parties, and a net reduction in emissions, because the seller is emitting below regulated levels, and the buyer is no longer non-compliant. This paper describes a railroad as the potential seller, unable to consummate trades because of uncertainty in the regulatory environment, and estimates financial benefits and reductions in emissions and energy use that could be achieved if the barrier could be removed

  9. Research on Standard and Automatic Judgment of Press-fit Curve of Locomotive Wheel-set Based on AAR Standard

    Science.gov (United States)

    Lu, Jun; Xiao, Jun; Gao, Dong Jun; Zong, Shu Yu; Li, Zhu

    2018-03-01

    In the production of the Association of American Railroads (AAR) locomotive wheel-set, the press-fit curve is the most important basis for the reliability of wheel-set assembly. In the past, Most of production enterprises mainly use artificial detection methods to determine the quality of assembly. There are cases of miscarriage of justice appear. For this reason, the research on the standard is carried out. And the automatic judgment of press-fit curve is analysed and designed, so as to provide guidance for the locomotive wheel-set production based on AAR standard.

  10. Fundamentals of soft robot locomotion.

    Science.gov (United States)

    Calisti, M; Picardi, G; Laschi, C

    2017-05-01

    Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human-robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics. © 2017 The Author(s).

  11. The mechanics of slithering locomotion.

    Science.gov (United States)

    Hu, David L; Nirody, Jasmine; Scott, Terri; Shelley, Michael J

    2009-06-23

    In this experimental and theoretical study, we investigate the slithering of snakes on flat surfaces. Previous studies of slithering have rested on the assumption that snakes slither by pushing laterally against rocks and branches. In this study, we develop a theoretical model for slithering locomotion by observing snake motion kinematics and experimentally measuring the friction coefficients of snakeskin. Our predictions of body speed show good agreement with observations, demonstrating that snake propulsion on flat ground, and possibly in general, relies critically on the frictional anisotropy of their scales. We have also highlighted the importance of weight distribution in lateral undulation, previously difficult to visualize and hence assumed uniform. The ability to redistribute weight, clearly of importance when appendages are airborne in limbed locomotion, has a much broader generality, as shown by its role in improving limbless locomotion.

  12. Relation between observed locomotion traits and locomotion score in dairy cows

    NARCIS (Netherlands)

    Schlageter Tello, A.A.; Bokkers, E.A.M.; Groot Koerkamp, P.W.G.; Hertem, van T.; Viazzi, S.; Lokhorst, Kees

    2015-01-01

    Lameness is still an important problem in modern dairy farming. Human observation of locomotion, by looking at different traits in one go, is used in practice to assess locomotion. The objectives of this article were to determine which individual locomotion traits are most related to locomotion

  13. 77 FR 23321 - Kiamichi Railroad L.L.C.-Trackage Rights Exemption-WFEC Railroad Company

    Science.gov (United States)

    2012-04-18

    ...)] Kiamichi Railroad L.L.C.--Trackage Rights Exemption--WFEC Railroad Company Pursuant to a written joint... nonexclusive overhead trackage rights to Kiamichi Railroad L.L.C. (KRR), over its entire line (the Line.... Campbell, Director, Office of Proceedings. Raina S. White, Clearance Clerk. [FR Doc. 2012-9326 Filed 4-17...

  14. In Pipe Robot with Hybrid Locomotion System

    Directory of Open Access Journals (Sweden)

    Cristian Miclauş

    2015-06-01

    Full Text Available The first part of the paper covers aspects concerning in pipe robots and their components, such as hybrid locomotion systems and the adapting mechanisms used. The second part describes the inspection robot that was developed, which combines tracked and wheeled locomotion (hybrid locomotion. The end of the paper presents the advantages and disadvantages of the proposed robot.

  15. Locomotive monitoring system using wireless sensor networks

    CSIR Research Space (South Africa)

    Croucamp, PL

    2014-07-01

    Full Text Available Theft of cables used for powering a locomotive not only stops the train from functioning but also paralyzes the signalling and monitoring system. This means that information on certain locomotive's cannot be passed onto other locomotives which may...

  16. 75 FR 61552 - Federal Railroad Administration

    Science.gov (United States)

    2010-10-05

    ... DEPARTMENT OF TRANSPORTATION Federal Railroad Administration Notice of Informational Filing In accordance with Section 236.913 of Title 49 of the Code of Federal Regulations (CFR), notice is hereby given that the Federal Railroad Administration (FRA) has received an informational filing from the Northeast...

  17. 29 CFR 1917.17 - Railroad facilities.

    Science.gov (United States)

    2010-07-01

    ... 29 Labor 7 2010-07-01 2010-07-01 false Railroad facilities. 1917.17 Section 1917.17 Labor Regulations Relating to Labor (Continued) OCCUPATIONAL SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR (CONTINUED) MARINE TERMINALS Marine Terminal Operations § 1917.17 Railroad facilities. (a) Work shall be...

  18. 20 CFR 404.1027 - Railroad work.

    Science.gov (United States)

    2010-04-01

    ...- ) Employment, Wages, Self-Employment, and Self-Employment Income Work Excluded from Employment § 404.1027 Railroad work. We exclude from employment any work you do as an employee or employee representative as... 20 Employees' Benefits 2 2010-04-01 2010-04-01 false Railroad work. 404.1027 Section 404.1027...

  19. Railroad Noise: Economic Valuation and Policy

    NARCIS (Netherlands)

    Brons, M.R.E.; Nijkamp, P.; Pels, E.; Rietveld, P.

    2003-01-01

    In developed countries noise annoyance is an important source of environmental concern. Research on noise annoyance caused by railroad traffic is relatively underdeveloped. Here, a causal chain model is presented in which railroad traffic density, noise emission, noise immission and noise annoyance

  20. Rolling towards a cleaner future: the development of Canadian locomotive emissions regulations

    International Nuclear Information System (INIS)

    2010-12-01

    In 2006, the Government of Canada published a notice of intent that it would develop regulations aimed at reducing anthropogenic criteria air contaminants and greenhouse gas emissions. The Government now intends to develop railway emissions regulations for criteria air contaminants under the Railway Safety Act. The Railway Safety Act not only provides the legislative basis for developing regulations governing railways, it also gives the authority for developing the rules governing federally regulated railroads to the Minister of Transport. For the future, Transport Canada will be responsible for developing regulations governing the rail sector. The transportation sector is a substantial emitter of criteria air contaminants, so rail transportation is a key element of the current work. This paper seeks to give a framework for consultations with stakeholders and facilitate dialogue. It collects feedback from stakeholders on the design of a Canadian regulatory regime for locomotive-generated criteria air contaminant emissions. Canadian railways have managed locomotive air contaminant emissions since 1995.

  1. Locomotion of Mexican jumping beans

    International Nuclear Information System (INIS)

    West, Daniel M; K Lal, Ishan; Leamy, Michael J; Hu, David L

    2012-01-01

    The Mexican jumping bean, Laspeyresia saltitans, consists of a hollow seed housing a moth larva. Heating by the sun induces movements by the larva which appear as rolls, jumps and flips by the bean. In this combined experimental, numerical and robotic study, we investigate this unique means of rolling locomotion. Time-lapse videography is used to record bean trajectories across a series of terrain types, including one-dimensional channels and planar surfaces of varying inclination. We find that the shell encumbers the larva's locomotion, decreasing its speed on flat surfaces by threefold. We also observe that the two-dimensional search algorithm of the bean resembles the run-and-tumble search of bacteria. We test this search algorithm using both an agent-based simulation and a wheeled Scribbler robot. The algorithm succeeds in propelling the robot away from regions of high temperature and may have application in biomimetic micro-scale navigation systems. (paper)

  2. Emotion through Locomotion: Gender Impact

    OpenAIRE

    Kr?ger, Samuel; Sokolov, Alexander N.; Enck, Paul; Kr?geloh-Mann, Ingeborg; Pavlova, Marina A.

    2013-01-01

    Body language reading is of significance for daily life social cognition and successful social interaction, and constitutes a core component of social competence. Yet it is unclear whether our ability for body language reading is gender specific. In the present work, female and male observers had to visually recognize emotions through point-light human locomotion performed by female and male actors with different emotional expressions. For subtle emotional expressions only, males surpass fema...

  3. Emotion through locomotion: gender impact.

    Directory of Open Access Journals (Sweden)

    Samuel Krüger

    Full Text Available Body language reading is of significance for daily life social cognition and successful social interaction, and constitutes a core component of social competence. Yet it is unclear whether our ability for body language reading is gender specific. In the present work, female and male observers had to visually recognize emotions through point-light human locomotion performed by female and male actors with different emotional expressions. For subtle emotional expressions only, males surpass females in recognition accuracy and readiness to respond to happy walking portrayed by female actors, whereas females exhibit a tendency to be better in recognition of hostile angry locomotion expressed by male actors. In contrast to widespread beliefs about female superiority in social cognition, the findings suggest that gender effects in recognition of emotions from human locomotion are modulated by emotional content of actions and opposite actor gender. In a nutshell, the study makes a further step in elucidation of gender impact on body language reading and on neurodevelopmental and psychiatric deficits in visual social cognition.

  4. Development of university-industry partnerships in railroad engineering education

    Science.gov (United States)

    Lautala, Pasi T.

    Rail transportation has been an important part of the North American transportation network since the 19th century and it continues to be a major contributor to the economic well-being and the global competitiveness of the U.S. The recent expansion in freight rail volumes and forecasts for continuous growth, together with more favorable attitudes for urban passenger rail present several challenges for the rail industry. One of the challenges is the availability of a well educated engineering workforce. The rail industry has recognized a need to attract new railroad professionals from various disciplines for management and technical positions, but most universities eliminated railroad engineering from their curricula after the recruitment levels faded several decades ago. Today, railroad expertise and related engineering courses exist at only a few universities and most students graduate without any exposure to rail topics. While industry representatives have expressed their concern about a future workforce, little data is available on the extent of the demand, on the characteristics and skills of preferred candidates, and on the role that universities can play. A benchmarking study was undertaken to investigate the demand for university engineering graduates and assess whether current methods are sufficient to attract, educate, recruit, train and retain engineering students in the railroad profession. Data was collected from industry human resources and training managers to define the quantitative and qualitative needs for railroad engineers. In addition, recently hired engineers working in the rail industry were surveyed to determine the extent of their university exposure in rail topics and how it affected their career choice. The surveys indicated an increase of over 300 percent in the annual recruitment for railroad engineers by the participating companies between 2002 and 2005. Recruitment levels are expected to remain high for the next five to ten years due

  5. Dakota, Minnesota and Eastern Railroad: 1997

    OpenAIRE

    Paul R. Reed; Carol J. Cumber

    1998-01-01

    Approximately twenty-five years ago, a majority of the railroads in the industry were either in or near bankruptcy. As a partial cure, a series of federal and state legislation was enacted which freed the industry from archaic laws passed in the days railroads enjoyed a virtual monopoly in U.S. transportation. One of the outcomes of this new legislation was the freedom granted major railroads to abandon or sell off excess trackage to entrepreneurs. The Dakota Minnesota & Eastern (DM&E) is a r...

  6. 49 CFR 840.3 - Notification of railroad accidents.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 7 2010-10-01 2010-10-01 false Notification of railroad accidents. 840.3 Section... SAFETY BOARD RULES PERTAINING TO NOTIFICATION OF RAILROAD ACCIDENTS § 840.3 Notification of railroad accidents. The operator of a railroad shall notify the Board by telephoning the National Response Center at...

  7. The noise factor in railway locomotives.

    Science.gov (United States)

    Rotter, T

    1982-09-01

    This article concerns the problem of acoustic work conditions on railway locomotives. The objective results of sonometric surveys in locomotive cabins are compared with subject data received from locomotive crews obtained by means of a specific questionnaire 'The Subjective Estimation of Noise'. The analysis touched 9 type of locomotives; steam, diesel and electric engines. We asked drivers of different age groups and with varying lengths of professional service for their opinions The aim of the investigation was to determine the following points: 1. to analyse the drivers' subjective estimation of the noise in the locomotive cabins; 2. to define length of time for which the driver remains under the influence of the noise after finishing work; 3. to investigate the question of perception and understanding of sounds and vocal signals used in the locomotive. These problems are a small part of the general plan to improve work conditions on the Polish National Railways.

  8. 76 FR 39155 - R.J. Corman Railroad Property, LLC-Acquisition Exemption-NC Railroad, Inc

    Science.gov (United States)

    2011-07-05

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35363] R.J. Corman Railroad Property, LLC--Acquisition Exemption--NC Railroad, Inc R. J. Corman Railroad Property, LLC (RJC... is related to the notice of exemption in Docket No. FD 35364, R. J. Corman Railroad Company/Bardstown...

  9. 75 FR 18253 - R.J. Corman Railroad Property, LLC-Acquisition Exemption-NC Railroad, Inc.

    Science.gov (United States)

    2010-04-09

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [STB Finance Docket No. 35363] R.J. Corman Railroad Property, LLC--Acquisition Exemption--NC Railroad, Inc. R.J. Corman Railroad Property... exemption in STB Finance Docket No. 35364, R.J. Corman Railroad Company/Bardstown Line--Lease and Operation...

  10. The First Great Migration: The Underground Railroad.

    Science.gov (United States)

    Goodstein, Carol

    1990-01-01

    Describes the Underground Railroad, a loosely organized system used by runaway Southern slaves to reach freedom in the North. Discusses the role of "conductors," who acted as guides and offered shelter along the route. (FMW)

  11. Machine vision inspection of railroad track

    Science.gov (United States)

    2011-01-10

    North American Railways and the United States Department of Transportation : (US DOT) Federal Railroad Administration (FRA) require periodic inspection of railway : infrastructure to ensure the safety of railway operation. This inspection is a critic...

  12. Macro scale models for freight railroad terminals.

    Science.gov (United States)

    2016-03-02

    The project has developed a yard capacity model for macro-level analysis. The study considers the detailed sequence and scheduling in classification yards and their impacts on yard capacities simulate typical freight railroad terminals, and statistic...

  13. Le Shuttle, the locomotive from Eurotunnel

    OpenAIRE

    Gabriel MOISA

    2002-01-01

    This paper present some performances of locomotive ‘Le Shuttle’, so-called locomotive from ‘Eurotunnel’, techniques characteristics of traction motors 6 FHA 7079 and converters witch use it, the principal electric scheme and its function principle and no at last rind the principle scheme of command-control equipment MICAS-S2 with detailed description of its operation mode.

  14. Locomotive Crash Energy Management Coupling Tests

    Science.gov (United States)

    2018-04-18

    This paper describes the results of the CEM equipped locomotive coupling tests. In this set of tests, a moving CEM locomotive was coupled to a standing cab car. The primary objective was to demonstrate the robustness of the PBC design and determine t...

  15. The investigation of the locomotive boiler material

    International Nuclear Information System (INIS)

    Tucholski, Z.; Wasiak, J.; Bilous, W.; Hajewska, E.

    2006-01-01

    In the paper, the history of narrow-gauge railway system is described. The other information about the steam locomotive construction, as well as the technical regulations of its construction and exploitation are also done. The results of the studies of the locomotive boiler material are presented. (authors)

  16. 77 FR 21311 - Locomotive Safety Standards

    Science.gov (United States)

    2012-04-09

    ... preparedness, alcohol and drug testing, locomotive engineer certification, and workplace safety. In 1980, FRA... Association (ATDA) Amtrak AAR Association of Railway Museums (ARM) Association of State Rail Safety Managers... Administration 49 CFR Parts 229 and 238 Locomotive Safety Standards; Final Rule #0;#0;Federal Register / Vol. 77...

  17. 76 FR 2199 - Locomotive Safety Standards

    Science.gov (United States)

    2011-01-12

    ..., alcohol and drug testing, locomotive engineer certification, and workplace safety. In 1980, FRA issued the...) Association of State Rail Safety Managers (ASRSM) Brotherhood of Locomotive Engineers and Trainmen (BLET... desirable to minimize the health and safety effects of temperature extremes. Depending upon the workplace...

  18. Authorized Limits for the Release of a 25 Ton Locomotive, Serial Number 21547, at the Area 25 Engine Maintenance, Assembly, and Disassembly Facility, Nevada Test Site, Nevada

    International Nuclear Information System (INIS)

    Gwin, Jeremy; Frenette, Douglas

    2010-01-01

    This document contains process knowledge and radiological data and analysis to support approval for release of the 25-ton locomotive, Serial Number 21547, at the Area 25 Engine Maintenance, Assembly, and Disassembly (EMAD) Facility, located on the Nevada Test Site (NTS). The 25-ton locomotive is a small, one-of-a-kind locomotive used to move railcars in support of the Nuclear Engine for Rocket Vehicle Application project. This locomotive was identified as having significant historical value by the Nevada State Railroad Museum in Boulder City, Nevada, where it will be used as a display piece. A substantial effort to characterize the radiological conditions of the locomotive was undertaken by the NTS Management and Operations Contractor, National Security Technologies, LLC (NSTec). During this characterization process, seven small areas on the locomotive had contamination levels that exceeded the NTS release criteria (limits consistent with U.S. Department of Energy (DOE) Order DOE O 5400.5, 'Radiation Protection of the Public and the Environment'). The decision was made to perform radiological decontamination of these known accessible impacted areas to further the release process. On February 9, 2010, NSTec personnel completed decontamination of these seven areas to within the NTS release criteria. Although all accessible areas of the locomotive had been successfully decontaminated to within NTS release criteria, it was plausible that inaccessible areas of the locomotive (i.e., those areas on the locomotive where it was not possible to perform radiological surveys) could potentially have contamination above unrestricted release limits. To access the majority of these inaccessible areas, the locomotive would have to be disassembled. A complete disassembly for a full radiological survey could have permanently destroyed parts and would have ruined the historical value of the locomotive. Complete disassembly would also add an unreasonable financial burden for the

  19. Continuum limbed robots for locomotion

    Science.gov (United States)

    Mutlu, Alper

    This thesis focuses on continuum robots based on pneumatic muscle technology. We introduce a novel approach to use these muscles as limbs of lightweight legged robots. The flexibility of the continuum legs of these robots offers the potential to perform some duties that are not possible with classical rigid-link robots. Potential applications are as space robots in low gravity, and as cave explorer robots. The thesis covers the fabrication process of continuum pneumatic muscles and limbs. It also provides some new experimental data on this technology. Afterwards, the designs of two different novel continuum robots - one tripod, one quadruped - are introduced. Experimental data from tests using the robots is provided. The experimental results are the first published example of locomotion with tripod and quadruped continuum legged robots. Finally, discussion of the results and how far this technology can go forward is presented.

  20. Unifying Rules for Aquatic Locomotion

    Science.gov (United States)

    Saadat, Mehdi; Domel, August; di Santo, Valentina; Lauder, George; Haj-Hariri, Hossein

    2016-11-01

    Strouhal number, St (=fA/U) , a scaling parameter that relates speed, U, to the tail-beat frequency, f, and tail-beat amplitude, A, has been used many times to describe animal locomotion. It has been observed that swimming animals cruise at 0.2 fish-like swimmer, we show that when cruising at minimum hydrodynamic input power, St is predetermined, and is only a function of the shape, i.e. drag coefficient and area. The narrow range for St, 0.2-0.4, has been previously associated with optimal propulsive efficiency. However, St alone is insufficient for deciding optimal motion. We show that hydrodynamic input power (energy usage to propel over a unit distance) in fish locomotion is minimized at all cruising speeds when A* (= A/L), a scaling parameter that relates tail-beat amplitude, A, to the length of the swimmer, L, is constrained to a narrow range of 0.15-0.25. Our analysis proposes a constraint on A*, in addition to the previously found constraint on St, to fully describe the optimal swimming gait for fast swimmers. A survey of kinematics for dolphin, as well as new data for trout, show that the range of St and A* for fast swimmers indeed are constrained to 0.2-0.4 and 0.15-0.25, respectively. Our findings provide physical explanation as to why fast aquatic swimmers cruise with relatively constant tail-beat amplitude at approximately 20 percent of body length, while their swimming speed is linearly correlated with their tail-beat frequency.

  1. SELECTION OF RATIONAL PARAMETERS OF THE NOMINAL MODE OF ELECTRIC LOCOMOTIVES

    Directory of Open Access Journals (Sweden)

    H. K. Hetman

    2017-02-01

    Full Text Available Purpose.The railways of Ukraine have been operated the locomotives, which are both morally and physically obsolete. Therefore, to ensure the competitiveness of rail transport it is necessary to update the locomotive fleet, and first of all the fleet of electric locomotives, because electrified railways provide the greater part of passenger and freight traffic. In this connection it is of special importance to determine the optimum parameters of the nominal mode of electric rolling stock. The purpose of the work is to examine the features of solution of these problems with respect to electric locomotives. Methodology. Assuming that the limit values of traction force are determined by the conditions of wheel-rail grip, then the power of the nominal mode can be represented as the product of rated speed, estimated friction coefficient, train weight and the coefficients that represent the ratio of the estimated (starting value of traction force to value of traction force the nominal mode and the ratio of the mass of the locomotive to the train weight. Since the mass of the train is not a constant value, there is always a surplus power of the locomotive fleet required for the mastering of a predetermined volume of transportations. Reduced overcapacity of the locomotive fleet can be achieved by introduction of the locomotives of different power, designed for driving trains of different weight that will result in increased completeness of the power use but also in difficulty in selecting of locomotives for trains in operation. The paper shows the method of calculating the optimum values of power, speed and traction force of the nominal mode. It presents the mathematical model of the relationship of traction rate, excessive capacity and power of the traction unit. Findings.It is proved that the power of the traction unit, the total fleet power requirement and the excess of power in absolute units are proportional to the speed of the nominal mode. To

  2. 78 FR 62940 - Railroad Revenue Adequacy-2012 Determination

    Science.gov (United States)

    2013-10-22

    ... determinations for the Nation's Class I railroads. Two carriers, Norfolk Southern Combined Railroad Subsidiaries..., 2011, and 2012 by October 23, 2013, in compliance with the Board's order in Western Coal Traffic League...

  3. Railroad Lines, US EPA Region 9, 2007, TANA

    Data.gov (United States)

    U.S. Environmental Protection Agency — The Railroad layer in Dynamap(R)/2000 represents the railroad network within the U.S. and Puerto Rico. At a minimum, linear representation is consistent with the...

  4. ECONOMIC IMPACT ANALYSIS OF GDOT’S SHORT LINE RAILROADS

    Science.gov (United States)

    2018-04-01

    Short line railroads are critical to Georgias transportation infrastructure and support the efficient movement of goods into and out of the State. Twenty-nine short line railroads operate in Georgia, six of which operate either partially or totall...

  5. Railroad Engineering Education Symposium (REES) 2012 and 2014.

    Science.gov (United States)

    2016-01-25

    Since its initial offering in 2008, the objective of the Railroad Engineering Education Symposium (REES) has been to develop interest among university faculty in railroad transportation engineering, with the goal of facilitating and supporting their ...

  6. Locomotive Assignment Problem with Heterogeneous Vehicle Fleet and Hiring External Locomotives

    Directory of Open Access Journals (Sweden)

    Dušan Teichmann

    2015-01-01

    Full Text Available This paper focuses on solving the problem of how to assign locomotives to assembled trains optimally. To solve the problem, linear programming is applied. The situation we model in the paper occurs in the conditions of a transport operator that provides rail transport in the Czech Republic. In the paper, an extended locomotive assignment problem is modeled; the transport operator can use different classes of the locomotives to serve individual connections, some connections must be served by a predefined locomotive class, and the locomotives can be allocated to several depots at the beginning. The proposed model also takes into consideration the fact that some connections can be served by the locomotives of external transport companies or operators. The presented model is applied to a real example in order to test its functionality.

  7. 49 CFR 229.121 - Locomotive cab noise.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Locomotive cab noise. 229.121 Section 229.121... § 229.121 Locomotive cab noise. (a) Performance standards for locomotives. (1) When tested for static noise in accordance with paragraph (a)(3) of this section, all locomotives of each design or model that...

  8. 49 CFR 238.223 - Locomotive fuel tanks.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Locomotive fuel tanks. 238.223 Section 238.223... Equipment § 238.223 Locomotive fuel tanks. Locomotive fuel tanks shall comply with either the following or....21: (a) External fuel tanks. External locomotive fuel tanks shall comply with the requirements...

  9. Fuel Loss and Jams due to Pausing Railroad Crossings

    OpenAIRE

    Tomoeda, Akiyasu; Nishinari, Katsuhiro; Harada, Yoshiaki

    2008-01-01

    In Japan, all cars must pause before crossing the railroad for avoiding the accidents. This rule was established by a law in 1960. In fact, however, railroad crossings come to the serious bottlenecks because of this pausing rule and this bottleneck causes heavy jams. In this study, by using cellular automaton model we have investigated the traffic flow at railroad crossings in two cases: with pausing and without pausing. Moreover, the lost time due to pausing at railroad crossings have been a...

  10. 75 FR 5170 - Railroad Cost Recovery Procedures-Productivity Adjustment

    Science.gov (United States)

    2010-02-01

    ...)] Railroad Cost Recovery Procedures--Productivity Adjustment AGENCY: Surface Transportation Board, DOT. ACTION: Proposed Railroad Cost Recovery Procedures Productivity Adjustment. SUMMARY: In a decision served... railroad productivity for the 2004-2008 (5-year) averaging period. This is a decline of 0.5 of a percentage...

  11. TIGER Railroads for South Louisiana, UTM 15N NAD83, Louisiana Recovery Authority (2007), [TIGER_LA_Railroads_2000

    Data.gov (United States)

    Louisiana Geographic Information Center — This is a line data set for 'Railroads' of Louisiana extracted from 1997 TIGER/Line source data. Railroad Mainlines, Spurs, Yards, and specialized rail lines have...

  12. Modeling limbless locomotion using ADAMS software

    Data.gov (United States)

    National Aeronautics and Space Administration — Until now, the methods used by probes or humans for locomotion on planetary surfaces have typically been restricted to variations of wheeled motion. As human...

  13. Railroad Bridges in Louisiana, Geographic NAD83, FEMA (1997) [railroad_bridges_FEMA_1997

    Data.gov (United States)

    Louisiana Geographic Information Center — This is is a point dataset for the locations and attributes of 32 Louisiana railroad bridges. The attributes include city (nearest?), county (sic), routefrom (city),...

  14. Harriet Tubman and the Underground Railroad.

    Science.gov (United States)

    Crawford, Mary; Ruthsdotter, Mary

    Suitable for elementary level students, this study unit helps increase students' comprehension of the risks involved in a black person's flight from slavery and of Harriet Tubman's success in leading more than 300 slaves to freedom via the Underground Railroad. Five activity suggestions are followed by a reading on the life of Harriet Tubman.…

  15. Freedom Train: Building an Underground Railroad.

    Science.gov (United States)

    Hickman, Wayne

    1999-01-01

    Describes an activity called the "Freedom Train": a simulation for eighth grade students that enables them to gain an understanding of the importance and dangers of the Underground Railroad. Explains that the project encourages students to work cooperatively while also reinforcing their research and map skills. Provides follow-up…

  16. A Walk on the Underground Railroad.

    Science.gov (United States)

    Cohen, Anthony

    2001-01-01

    Describes one historian's search for information on the Underground Railroad, retracing on foot one of the routes formerly traveled by fugitives, seeking historical societies and libraries in each town, and interviewing descendants of slaves. He also had himself boxed up and smuggled onto a train to simulate the situation of one fugitive. A…

  17. Development of interdisciplinary undergraduate railroad engineering course.

    Science.gov (United States)

    2016-02-29

    Professor James McKinney was a participant in the AREMA 2008 Railroad Engineering Education Symposium (REES) held at the University of Illinois at Urbana-Champaign, as well as the AREMA 2010 REES held at the Johnson County Community College/BNSF's Tr...

  18. 49 CFR 219.23 - Railroad policies.

    Science.gov (United States)

    2010-10-01

    ... approved forms for mandatory post-accident toxicological testing under subpart C of this part provides the... start of alcohol testing under the railroad's alcohol misuse prevention program and to each person... the work day the covered employee is required to be in compliance with this part is that period when...

  19. Le Shuttle, the locomotive from Eurotunnel

    Directory of Open Access Journals (Sweden)

    Gabriel MOISA

    2002-12-01

    Full Text Available This paper present some performances of locomotive ‘Le Shuttle’, so-called locomotive from ‘Eurotunnel’, techniques characteristics of traction motors 6 FHA 7079 and converters witch use it, the principal electric scheme and its function principle and no at last rind the principle scheme of command-control equipment MICAS-S2 with detailed description of its operation mode.

  20. 77 FR 14058 - Santa Teresa Southern Railroad, LLC-Operation Exemption-Rail Line of Verde Logistics Railroad...

    Science.gov (United States)

    2012-03-08

    ... Southern Railroad, LLC--Operation Exemption--Rail Line of Verde Logistics Railroad, LLC at Santa Teresa... notice of exemption under 49 CFR 1150.31 to operate approximately 12,000 feet of rail line owned by Verde Logistics Railroad, LLC (Verde). The rail line extends between a point of connection with Union Pacific...

  1. The PS locomotive runs again

    CERN Multimedia

    2001-01-01

    Over forty years ago, the PS train entered service to steer the magnets of the accelerator into place... ... a service that was resumed last Tuesday. Left to right: Raymond Brown (CERN), Claude Tholomier (D.B.S.), Marcel Genolin (CERN), Gérard Saumade (D.B.S.), Ingo Ruehl (CERN), Olivier Carlier (D.B.S.), Patrick Poisot (D.B.S.), Christian Recour (D.B.S.). It is more than ten years since people at CERN heard the rumbling of the old PS train's steel wheels. Last Tuesday, the locomotive came back into service to be tested. It is nothing like the monstrous steel engines still running on conventional railways -just a small electric battery-driven vehicle employed on installing the magnets for the PS accelerator more than 40 years ago. To do so, it used the tracks that run round the accelerator. In fact, it is the grandfather of the LEP monorail. After PS was commissioned in 1959, the little train was used more and more rarely. This is because magnets never break down, or hardly ever! In fact, the loc...

  2. Patterned control of human locomotion

    Science.gov (United States)

    Lacquaniti, Francesco; Ivanenko, Yuri P; Zago, Myrka

    2012-01-01

    There is much experimental evidence for the existence of biomechanical constraints which simplify the problem of control of multi-segment movements. In addition, it has been hypothesized that movements are controlled using a small set of basic temporal components or activation patterns, shared by several different muscles and reflecting global kinematic and kinetic goals. Here we review recent studies on human locomotion showing that muscle activity is accounted for by a combination of few basic patterns, each one timed at a different phase of the gait cycle. Similar patterns are involved in walking and running at different speeds, walking forwards or backwards, and walking under different loading conditions. The corresponding weights of distribution to different muscles may change as a function of the condition, allowing highly flexible control. Biomechanical correlates of each activation pattern have been described, leading to the hypothesis that the co-ordination of limb and body segments arises from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle activations need only intervene during limited time epochs to force intrinsic oscillations of the system when energy is lost. PMID:22411012

  3. Patterned control of human locomotion.

    Science.gov (United States)

    Lacquaniti, Francesco; Ivanenko, Yuri P; Zago, Myrka

    2012-05-15

    There is much experimental evidence for the existence of biomechanical constraints which simplify the problem of control of multi-segment movements. In addition, it has been hypothesized that movements are controlled using a small set of basic temporal components or activation patterns, shared by several different muscles and reflecting global kinematic and kinetic goals. Here we review recent studies on human locomotion showing that muscle activity is accounted for by a combination of few basic patterns, each one timed at a different phase of the gait cycle. Similar patterns are involved in walking and running at different speeds, walking forwards or backwards, and walking under different loading conditions. The corresponding weights of distribution to different muscles may change as a function of the condition, allowing highly flexible control. Biomechanical correlates of each activation pattern have been described, leading to the hypothesis that the co-ordination of limb and body segments arises from the coupling of neural oscillators between each other and with limb mechanical oscillators. Muscle activations need only intervene during limited time epochs to force intrinsic oscillations of the system when energy is lost.

  4. CONCENTRATION OF HARMFUL SUBSTANCES REDUCING IN SURFACE LAYER OF ATMOSPHERE AT RHEOSTAT LOCOMOTIVE TESTS

    Directory of Open Access Journals (Sweden)

    E. A. Bondar

    2010-06-01

    Full Text Available It is shown that at present an acceptable way of reducing the concentration of harmful substances in the surface layer of the atmosphere at rheostat tests of locomotives is their dispersion in a large volume of air. Channels, installed above an exhaust pipe of diesel locomotive with a break at the gas flow, work as ejectors. We have solved jointly the equation of aerodynamic characteristics of the ejector device and the equation of diffusion of gases; as a result the calculated dependence for determining the necessary height of ejector device has been obtained.

  5. Animal Locomotion in Different Mediums

    Indian Academy of Sciences (India)

    Resonance – Journal of Science Education. Current Issue : Vol. 23, Issue 3. Current Issue Volume 23 | Issue 3. March 2018. Home · Volumes & Issues · Categories · Special Issues · Search · Editorial Board · Information for Authors · Subscription ...

  6. 76 FR 23714 - Railroad Safety Appliance Standards

    Science.gov (United States)

    2011-04-28

    ..., locomotives, tenders, and other rail vehicles. New technologies such as power brakes and automatic couplers... interstate commerce to be equipped with automatic couplers, drawbars, and handholds. In 1903, Congress passed... approval of alternative standards for braking systems or passenger equipment. Given these factors, FRA has...

  7. 40 CFR 92.707 - Notification to locomotive or locomotive engine owners.

    Science.gov (United States)

    2010-07-01

    ... the nonconformity of any such locomotives or locomotive engines which have been, if required by the... affected by the remedy and a general statement of the measures to be taken to correct the nonconformity. (5) A description of the adverse effects, if any, that an uncorrected nonconformity would have on the...

  8. Locomotive fuel tank structural safety testing program : passenger locomotive fuel tank jackknife derailment load test.

    Science.gov (United States)

    2010-08-01

    This report presents the results of a passenger locomotive fuel tank load test simulating jackknife derailment (JD) load. The test is based on FRA requirements for locomotive fuel tanks in the Title 49, Code of Federal Regulations (CFR), Part 238, Ap...

  9. The Human Central Pattern Generator for Locomotion.

    Science.gov (United States)

    Minassian, Karen; Hofstoetter, Ursula S; Dzeladini, Florin; Guertin, Pierre A; Ijspeert, Auke

    2017-03-01

    The ability of dedicated spinal circuits, referred to as central pattern generators (CPGs), to produce the basic rhythm and neural activation patterns underlying locomotion can be demonstrated under specific experimental conditions in reduced animal preparations. The existence of CPGs in humans is a matter of debate. Equally elusive is the contribution of CPGs to normal bipedal locomotion. To address these points, we focus on human studies that utilized spinal cord stimulation or pharmacological neuromodulation to generate rhythmic activity in individuals with spinal cord injury, and on neuromechanical modeling of human locomotion. In the absence of volitional motor control and step-specific sensory feedback, the human lumbar spinal cord can produce rhythmic muscle activation patterns that closely resemble CPG-induced neural activity of the isolated animal spinal cord. In this sense, CPGs in humans can be defined by the activity they produce. During normal locomotion, CPGs could contribute to the activation patterns during specific phases of the step cycle and simplify supraspinal control of step cycle frequency as a feedforward component to achieve a targeted speed. Determining how the human CPGs operate will be essential to advance the theory of neural control of locomotion and develop new locomotor neurorehabilitation paradigms.

  10. Passive appendages aid locomotion through symmetry breaking

    Science.gov (United States)

    Bagheri, Shervin; Lacis, Ugis; Mazzino, Andrea; Kellay, Hamid; Brosse, Nicolas; Lundell, Fredrik; Ingremeau, Francois

    2014-11-01

    Plants and animals use plumes, barbs, tails, feathers, hairs, fins, and other types of appendages to aid locomotion. Despite their enormous variation, passive appendages may contribute to locomotion by exploiting the same physical mechanism. We present a new mechanism that applies to body appendages surrounded by a separated flow, which often develops behind moving bodies larger than a few millimeters. We use theory, experiments, and numerical simulations to show that bodies with protrusions turn and drift by exploiting a symmetry-breaking instability similar to the instability of an inverted pendulum. Our model explains why the straight position of an appendage in flowing fluid is unstable and how it stabilizes either to the left or right of the incoming fluid flow direction. The discovery suggests a new mechanism of locomotion that may be relevant for certain organisms; for example, how plumed seeds may drift without wind and how motile animals may passively reorient themselves.

  11. Numerical simulation of human biped locomotion

    International Nuclear Information System (INIS)

    Ishiguro, Misako; Fujisaki, Masahide

    1988-04-01

    This report describes the numerical simulation of the motion of human-like robot which is one of the research theme of human acts simulation program (HASP) begun at the Computing Center of JAERI in 1987. The purpose of the theme is to model the human motion using robotics kinematic/kinetic equations and to get the joint angles as the solution. As the first trial, we treat the biped locomotion (walking) which is the most fundamental human motion. We implemented a computer program on FACOM M-780 computer, where the program is originated from the book of M. Vukobratovic in Yugoslavia, and made a graphic program to draw a walking shot sequence. Mainly described here are the mathematical model of the biped locomotion, implementation method of the computer program, input data for basic walking pattern, computed results and its validation, and graphic representation of human walking image. Literature survey on robotics equation and biped locomotion is also included. (author)

  12. Muscle Coordination and Locomotion in Humans.

    Science.gov (United States)

    Sylos-Labini, Francesca; Zago, Myrka; Guertin, Pierre A; Lacquaniti, Francesco; Ivanenko, Yury P

    2017-01-01

    Locomotion is a semi-automatic daily task. Several studies show that muscle activity is fairly stereotyped during normal walking. Nevertheless, each human leg contains over 50 muscles and locomotion requires flexibility in order to adapt to different conditions as, for instance, different speeds, gaits, turning, obstacle avoidance, altered gravity levels, etc. Therefore, locomotor control has to deal with a certain level of flexibility and non-linearity. In this review, we describe and discuss different findings dealing with both simplicity and variability of the muscular control, as well as with its maturation during development. Despite complexity and redundancy, muscle activity patterns and spatiotemporal maps of spinal motoneuron output during human locomotion show both stereotypical features as well as functional re-organization. Flexibility and different solutions to adjust motor patterns should be considered when considering new rehabilitation strategies to treat disorders involving deficits in gait. Copyright© Bentham Science Publishers; For any queries, please email at epub@benthamscience.org.

  13. DESIGN IMPROVEMENT OF THE LOCOMOTIVE RUNNING GEARS

    Directory of Open Access Journals (Sweden)

    S. V. Myamlin

    2013-09-01

    Full Text Available Purpose. To determine the dynamic qualities of the mainline freight locomotives characterizing the safe motion in tangent and curved track sections at all operational speeds, one needs a whole set of studies, which includes a selection of the design scheme, development of the corresponding mathematical model of the locomotive spatial fluctuations, construction of the computer calculation program, conducting of the theoretical and then experimental studies of the new designs. In this case, one should compare the results with existing designs. One of the necessary conditions for the qualitative improvement of the traction rolling stock is to define the parameters of its running gears. Among the issues related to this problem, an important place is occupied by the task of determining the locomotive dynamic properties on the stage of projection, taking into account the selected technical solutions in the running gear design. Methodology. The mathematical modeling studies are carried out by the numerical integration method of the dynamic loading for the mainline locomotive using the software package «Dynamics of Rail Vehicles » («DYNRAIL». Findings. As a result of research for the improvement of locomotive running gear design it can be seen that the creation of the modern locomotive requires from engineers and scientists the realization of scientific and technical solutions. The solutions enhancing design speed with simultaneous improvement of the traction, braking and dynamic qualities to provide a simple and reliable design, especially the running gear, reducing the costs for maintenance and repair, low initial cost and operating costs for the whole service life, high traction force when starting, which is as close as possible to the ultimate force of adhesion, the ability to work in multiple traction mode and sufficient design speed. Practical Value. The generalization of theoretical, scientific and methodological, experimental studies aimed

  14. Locomotion of Paramecium in patterned environments

    Science.gov (United States)

    Park, Eun-Jik; Eddins, Aja; Kim, Junil; Yang, Sung; Jana, Saikat; Jung, Sunghwan

    2011-10-01

    Ciliary organisms like Paramecium Multimicronucleatum locomote by synchronized beating of cilia that produce metachronal waves over their body. In their natural environments they navigate through a variety of environments especially surfaces with different topology. We study the effects of wavy surfaces patterned on the PDMS channels on the locomotive abilities of Paramecium by characterizing different quantities like velocity amplitude and wavelength of the trajectories traced. We compare this result with the swimming characteristics in straight channels and draw conclusions about the effects of various patterned surfaces.

  15. Impact of Railroad Contracts on Grain Bids to Farmers

    OpenAIRE

    Steven D. Hanson; C. Phillip Baumel; Daniel Schnell

    1989-01-01

    The deregulation of railroads by the Staggers Rail Act of 1980 reversed nearly a century of prohibition of contracts between railroads shippers/receivers. This paper presents an analysis of the impact that railroad contracts have on grain bids to corn, wheat, and soybean farmers. The empirical results indicate that destination contracts had significant impacts on prices bid to corn and soybean farmers, while origin contracts had significant and large impacts on prices bid to wheat farmers.

  16. Boldness and intermittent locomotion in the bluegill sunfish, Lepomis macrochirus

    OpenAIRE

    Alexander D.M. Wilson; Jean-Guy J. Godin

    2009-01-01

    Intermittent locomotion, characterized by moves interspersed with pauses, is a common pattern of locomotion in animals, but its ecological and evolutionary significance relative to continuous locomotion remains poorly understood. Although many studies have examined individual differences in both intermittent locomotion and boldness separately, to our knowledge, no study to date has investigated the relationship between these 2 traits. Characterizing and understanding this relationship is impo...

  17. Bioinspired template-based control of legged locomotion

    OpenAIRE

    Ahmad Sharbafi, Maziar

    2018-01-01

    cient and robust locomotion is a crucial condition for the more extensive use of legged robots in real world applications. In that respect, robots can learn from animals, if the principles underlying locomotion in biological legged systems can be transferred to their artificial counterparts. However, legged locomotion in biological systems is a complex and not fully understood problem. A great progress to simplify understanding locomotion dynamics and control was made by introducing simple mo...

  18. 49 CFR 230.101 - Steam locomotive driving journal boxes.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive driving journal boxes. 230.101... Locomotives and Tenders Running Gear § 230.101 Steam locomotive driving journal boxes. (a) Driving journal boxes. Driving journal boxes shall be maintained in a safe and suitable condition for service. Not more...

  19. Lizard locomotion in heterogeneous granular media

    Science.gov (United States)

    Schiebel, Perrin; Goldman, Daniel

    2014-03-01

    Locomotion strategies in heterogeneous granular environments (common substrates in deserts), are relatively unexplored. The zebra-tailed lizard (C. draconoides) is a useful model organism for such studies owing to its exceptional ability to navigate a variety of desert habitats at impressive speed (up to 50 body-lengths per second) using both quadrapedal and bidepal gaits. In laboratory experiments, we challenge the lizards to run across a field of boulders (2.54 cm diameter glass spheres or 3.8 cm 3D printed spheres) placed in a lattice pattern and embedded in a loosely packed granular medium of 0.3 mm diameter glass particles. Locomotion kinematics of the lizard are recorded using high speed cameras, with and without the scatterers. The data reveals that unlike the lizard's typical quadrupedal locomotion using a diagonal gait, when scatterers are present the lizard is most successful when using a bipedal gait, with a raised center of mass (CoM). We propose that the kinematics of bipedal running in conjunction with the lizard's long toes and compliant hind foot are the keys to this lizard's successful locomotion in the presence of such obstacles. NSF PoLS

  20. 49 CFR 229.129 - Locomotive horn.

    Science.gov (United States)

    2010-10-01

    .... The locomotive shall be positioned on straight, level track. (6) Measurements shall be taken only when... between 20 percent and 95 percent inclusively; wind velocity is not more than 12 miles per hour and there..., at an angle no greater than 20 degrees from the center line of the track, and oriented with respect...

  1. 77 FR 75045 - Locomotive Safety Standards

    Science.gov (United States)

    2012-12-19

    ...; and, locomotive diesel exhaust. In addition to the issues raised in the petitions, FRA has determined... flow method (AFM) indicator calibration date on the Form 6180-49A; the duration of the remote control... in the context of its use. For example, fuel injectors might possibly be considered as providing...

  2. 75 FR 7152 - Stillwater Central Railroad, Inc.-Lease and Operation Exemption-Hollis & Eastern Railroad L.L.C.

    Science.gov (United States)

    2010-02-17

    ...] Stillwater Central Railroad, Inc.--Lease and Operation Exemption--Hollis & Eastern Railroad L.L.C. Stillwater... & Eastern Railroad L.L.C. (H&E), 14 miles of H&E's rail line between milepost 0.0 at Duke, OK and milepost... available on our Web site at http://www.stb.dot.gov . Decided: By the Board, Rachel D. Campbell, Director...

  3. Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion

    OpenAIRE

    Chevallereau , Christine; Boyer , Frédéric; Porez , Mathieu; Mauny , Johan; Aoustin , Yannick

    2017-01-01

    International audience; — To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with thei...

  4. Motivations for Healthy Lifestyle in Railroad Employees

    Directory of Open Access Journals (Sweden)

    Iztok Ostan

    2012-01-01

    Full Text Available The aim of the paper is to present the results of a survey of railroad employees’ motivation for a healthy lifestyle. For this purpose a specific questionnaire was developed. The study was performed on 245 Slovene railroad workers (168 of them blue-collar ones. The great majority (66.9% were found to be overweight or obese (BMI 25 or more, with no significant difference between blue- and white-collar workers. The great majority of them were in general aware of having unhealthy nutrition and an unhealthy lifestyle. Most of the employees felt the need to improve (at least in part their nutrition (74.7% and lifestyle (78.0%; the majority (67.8% also declared that they could adopt a healthier lifestyle despite the constraints of everyday life and work conditions; however, 57.6% said that they had been already putting considerable effort into a healthier nutrition and lifestyle. Thus the effort needed to overcome constraints toward a healthier lifestyle seems to be the key problem: the majority (54.3% would rather choose walking than running or other intensive forms of exercise; they are not ready to do it for more than one hour per day (60%, and they are not ready to give up permanently food that they like and that is considered unhealthy. The differences in motivations for a healthy lifestyle between blue- and white-collar workers were not significant at the 0.05 level. Further research in this field is needed; however, it seems that the methods of efficient marginal modifications of lifestyle are required. KEYWORDS human resources management, railroad, blue-collar workers, white-collar workers, healthy lifestyle, motivations

  5. 78 FR 13747 - Railroad Safety: Advisory Notice Related to Railroad Accidents in Vicinity of Underground Pipelines

    Science.gov (United States)

    2013-02-28

    ... underground natural gas transmission pipeline operated by Nicor Gas. The pipeline well exceeded Federal... had the gas pipeline been installed at the railroad crossing with only the minimum level of ground... resumption of service.'' On July 31, 2012, the Pipeline and Hazardous Materials Safety Administration (PHMSA...

  6. Railroad mergers and acquisitions take shape

    Energy Technology Data Exchange (ETDEWEB)

    Fiscor, S.

    1995-12-01

    This year has been one of the most exciting years in recent history concerning US railroads and coal transportation, as mergers and acquisitions narrow the field for Western coal carriers. The views on the mergers and how they will affect coal transportation are mixed. The coal industry`s growth in the West and its stability in the East is the basis for the most recent changes in the rail industry. Restructuring US coal markets to confirm to environmental policy has had a profound effect on much more than the coal industry itself. Deregulation of rail transport has also been an important factor. 1 fig., 3 tabs.

  7. 49 CFR 210.9 - Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of a noise defective locomotive, rail car, or consist of a locomotive and rail cars. 210.9 Section 210.9 Transportation Other Regulations... locomotive, rail car, or consist of a locomotive and rail cars. A locomotive, rail car, or consist of a...

  8. 76 FR 39156 - R. J. Corman Railroad Company/Bardstown Line-Lease and Operation Exemption-R. J. Corman Railroad...

    Science.gov (United States)

    2011-07-05

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35364] R. J. Corman Railroad Company/Bardstown Line--Lease and Operation Exemption--R. J. Corman Railroad Property, LLC R. J... notice of exemption under 49 CFR 1150.41 to lease from R. J. Corman Railroad Property, LLC (RJC Railroad...

  9. 75 FR 18254 - R.J. Corman Railroad Company/Bardstown Line-Lease and Operation Exemption-R.J. Corman Railroad...

    Science.gov (United States)

    2010-04-09

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [STB Finance Docket No. 35364] R.J. Corman Railroad Company/Bardstown Line--Lease and Operation Exemption--R.J. Corman Railroad Property, LLC R.J. Corman Railroad Company/Bardstown Line (RJC Railroad Company), a Class III rail carrier, has...

  10. 75 FR 34213 - Solicitation of Applications and Notice of Funding Availability for the FRA Railroad System...

    Science.gov (United States)

    2010-06-16

    ... DEPARTMENT OF TRANSPORTATION Federal Railroad Administration Solicitation of Applications and Notice of Funding Availability for the FRA Railroad System Issues Research and Development Program AGENCY: Federal Railroad Administration (FRA), Department of Transportation (DOT). ACTION: Notice of funding...

  11. Locomotive Schedule Optimization for Da-qin Heavy Haul Railway

    Directory of Open Access Journals (Sweden)

    Ruiye Su

    2015-01-01

    Full Text Available The main difference between locomotive schedule of heavy haul railways and that of regular rail transportation is the number of locomotives utilized for one train. One heavy-loaded train usually has more than one locomotive, but a regular train only has one. This paper develops an optimization model for the multilocomotive scheduling problem (MLSP through analyzing the current locomotive schedule of Da-qin Railway. The objective function of our paper is to minimize the total number of utilized locomotives. The MLSP is nondeterministic polynomial (NP hard. Therefore, we convert the multilocomotive traction problem into a single-locomotive traction problem. Then, the single-locomotive traction problem (SLTP can be converted into an assignment problem. The Hungarian algorithm is applied to solve the model and obtain the optimal locomotive schedule. We use the variance of detention time of locomotives at stations to evaluate the stability of locomotive schedule. In order to evaluate the effectiveness of the proposed optimization model, case studies for 20 kt and 30 kt heavy-loaded combined trains on Da-qin Railway are both conducted. Compared to the current schedules, the optimal schedules from the proposed models can save 62 and 47 locomotives for 20 kt and 30 kt heavy-loaded combined trains, respectively. Therefore, the effectiveness of the proposed model and its solution algorithm are both valid.

  12. Development of a Novel Locomotion Algorithm for Snake Robot

    International Nuclear Information System (INIS)

    Khan, Raisuddin; Billah, Md Masum; Watanabe, Mitsuru; Shafie, A A

    2013-01-01

    A novel algorithm for snake robot locomotion is developed and analyzed in this paper. Serpentine is one of the renowned locomotion for snake robot in disaster recovery mission to overcome narrow space navigation. Several locomotion for snake navigation, such as concertina or rectilinear may be suitable for narrow spaces, but is highly inefficient if the same type of locomotion is used even in open spaces resulting friction reduction which make difficulties for snake movement. A novel locomotion algorithm has been proposed based on the modification of the multi-link snake robot, the modifications include alterations to the snake segments as well elements that mimic scales on the underside of the snake body. Snake robot can be able to navigate in the narrow space using this developed locomotion algorithm. The developed algorithm surmount the others locomotion limitation in narrow space navigation

  13. Indiana Underground Railroad Folklore: Western Route and Daviess County.

    Science.gov (United States)

    Shelton, Lois G.

    Materials for teaching a unit about the Underground Railroad (the system set up to assist fleeing, runaway slaves heading north) in Indiana are presented. Specifically, the Western Route that passed through Daviess County in Indiana is examined. The materials provide background on the Underground Railroad and the Western Route, plans for teaching…

  14. Railroad right-of-way incident analysis research.

    Science.gov (United States)

    2011-04-01

    Locations of railroad right-of-way incidents in this research were identified as hotspots. These can be defined as highway-rail grade crossings or locations along the railroad right-of-way where collision or trespassing risk is unacceptably high and ...

  15. 75 FR 16575 - Railroad Cost Recovery Procedures-Productivity Adjustment

    Science.gov (United States)

    2010-04-01

    ...)] Railroad Cost Recovery Procedures--Productivity Adjustment AGENCY: Surface Transportation Board. ACTION: Adoption of a railroad cost recovery procedures productivity adjustment. SUMMARY: By decision served on February 1, 2010, the Board proposed to adopt 1.010 (1.0% per year) as the 2008 productivity adjustment, as...

  16. [Job stress in locomotive attendants in a locomotive depot and related influencing factors].

    Science.gov (United States)

    Kang, L; Jia, X C; Lu, F; Zhou, W H; Chen, R

    2017-10-20

    Objective: To investigate the current status of job stress in locomotive attendants in a locomotive depot and related influencing factors. Methods: From 2012 to 2013, cluster sampling was used to select 1500 locomotive attendants in a locomotive depot in Zhengzhou Railway Bureau as respondents.The contents of the investigation included general data and occupational information.A job satisfaction questionnaire was used to investigate the degree of satisfaction, a depression scale was used to investigate the frequency of symptoms, and a daily stress scale was used to investigate the frequency of fatigue and stress. Results: There was a significant difference in depression score between locomotive attendants with different ages, working years, degrees of education, working situations of spouse, total monthly family incomes, numbers of times of attendanceat night, monthly numbers of times of attendance,ormonthly attendance times( P job satisfaction score between locomotive attendants with different ages,working years, degrees of education, working situations of spouse, total monthly family incomes, numbers of times of attendance at night, monthly attendance times,or ways to work( P job satisfaction( β =1.546)and monthly number of times of attendance,working years,attendance time at night,and degree of education were negatively correlated with job satisfaction( β =-0.185,-0.097,-0.020,and -1.106); monthly number of times of attendance andcommute time were positively correlated with depression( β =0.243 and 0.029); attendance time at night,working situation of spouse,commute time,monthly number of times of attendance,degree of education,and working years were positively correlated with daily stress( β =0.006,0.473,0.010,0.043,0.585, and 0.028). Conclusion: Number of times of attendance, attendance time,working years,and spouse are influencing factors for job stress in locomotive attendants. Improvement in work process and care for their personal life help to reduce

  17. Railroad infrastructure adequacy for safe transportation of spent nuclear fuel

    International Nuclear Information System (INIS)

    Fisher, A.C.; Furber, C.P.

    1992-01-01

    The purpose of this paper is to discuss the railroad industry's concerns on the movement of spent nuclear fuel including the magnitude of thermal and mechanical forces in train accidents, emergency response capability, railroad's liability for non-breach-of-cask accidents, and the importance of using dedicated trains to improve public perception of these movements; summarize the current status of the condition of the American railroads' equipment, facilities, track structure, and right-of-way; outline the continuing efforts of the railroad industry to improve customer service and profitability through downsizing and shifting of branch lines to more customer-oriented and efficient short-line carriers; and discuss potential problems of government subsidization of private railroads to enable upgrading of tracks and structures to handle rights-of-way in the future

  18. 77 FR 66216 - Union Railroad Company-Corporate Family Merger Exemption-McKeesport Connecting Railroad Company

    Science.gov (United States)

    2012-11-02

    ..., accounting, reporting, and related burdens associated with the maintenance of the two separate corporate... Company--Corporate Family Merger Exemption-- McKeesport Connecting Railroad Company Union Railroad Company... verified notice of exemption under 49 CFR 1180.2(d)(3) for a corporate family transaction pursuant to which...

  19. 76 FR 28850 - Northern Plains Railroad, Inc.-Intra-Corporate Family Operation Exemption-Mohall Central Railroad...

    Science.gov (United States)

    2011-05-18

    ... Railroad, Inc. (NPR), a Class III rail common carrier, has filed a verified notice of exemption under 49... to operate the rail line of Mohall Central Railroad, Inc. (MHC), also a Class III rail carrier.\\1...\\ however, since MHC became a Class III rail carrier, it has abandoned 2 segments of its rail line.\\3\\ This...

  20. 76 FR 1666 - Susquehanna Union Railroad Company-Control Exemption-North Shore Railroad Company, Nittany & Bald...

    Science.gov (United States)

    2011-01-11

    ... rail transportation system that will continue to meet the needs of the shipping public. 49 U.S.C. 10101... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [STB FD 35343] Susquehanna Union... 49 U.S.C. 11323(a)(4) to acquire 100% stock control of 6 Class III railroads: North Shore Railroad...

  1. Using entropy measures to characterize human locomotion.

    Science.gov (United States)

    Leverick, Graham; Szturm, Tony; Wu, Christine Q

    2014-12-01

    Entropy measures have been widely used to quantify the complexity of theoretical and experimental dynamical systems. In this paper, the value of using entropy measures to characterize human locomotion is demonstrated based on their construct validity, predictive validity in a simple model of human walking and convergent validity in an experimental study. Results show that four of the five considered entropy measures increase meaningfully with the increased probability of falling in a simple passive bipedal walker model. The same four entropy measures also experienced statistically significant increases in response to increasing age and gait impairment caused by cognitive interference in an experimental study. Of the considered entropy measures, the proposed quantized dynamical entropy (QDE) and quantization-based approximation of sample entropy (QASE) offered the best combination of sensitivity to changes in gait dynamics and computational efficiency. Based on these results, entropy appears to be a viable candidate for assessing the stability of human locomotion.

  2. Exotendons for assistance of human locomotion

    Directory of Open Access Journals (Sweden)

    van den Bogert Antonie J

    2003-10-01

    Full Text Available Abstract Background Powered robotic exoskeletons for assistance of human locomotion are currently under development for military and medical applications. The energy requirements for such devices are excessive, and this has become a major obstacle for practical applications. Legged locomotion in many animals, however, is very energy efficient. We propose that poly-articular elastic mechanisms are a major contributor to the economy of locomotion in such specialized animals. Consequently, it should be possible to design unpowered assistive devices that make effective use of similar mechanisms. Methods A passive assistive technology is presented, based on long elastic cords attached to an exoskeleton and guided by pulleys placed at the joints. A general optimization procedure is described for finding the best geometrical arrangement of such "exotendons" for assisting a specific movement. Optimality is defined either as minimal residual joint moment or as minimal residual joint power. Four specific exotendon systems with increasing complexity are considered. Representative human gait data were used to optimize each of these four systems to achieve maximal assistance for normal walking. Results The most complex exotendon system, with twelve pulleys per limb, was able to reduce the joint moments required for normal walking by 71% and joint power by 74%. A simpler system, with only three pulleys per limb, could reduce joint moments by 46% and joint power by 47%. Conclusion It is concluded that unpowered passive elastic devices can substantially reduce the muscle forces and the metabolic energy needed for walking, without requiring a change in movement. When optimally designed, such devices may allow independent locomotion in patients with large deficits in muscle function.

  3. Chaotic exploration and learning of locomotion behaviors.

    Science.gov (United States)

    Shim, Yoonsik; Husbands, Phil

    2012-08-01

    We present a general and fully dynamic neural system, which exploits intrinsic chaotic dynamics, for the real-time goal-directed exploration and learning of the possible locomotion patterns of an articulated robot of an arbitrary morphology in an unknown environment. The controller is modeled as a network of neural oscillators that are initially coupled only through physical embodiment, and goal-directed exploration of coordinated motor patterns is achieved by chaotic search using adaptive bifurcation. The phase space of the indirectly coupled neural-body-environment system contains multiple transient or permanent self-organized dynamics, each of which is a candidate for a locomotion behavior. The adaptive bifurcation enables the system orbit to wander through various phase-coordinated states, using its intrinsic chaotic dynamics as a driving force, and stabilizes on to one of the states matching the given goal criteria. In order to improve the sustainability of useful transient patterns, sensory homeostasis has been introduced, which results in an increased diversity of motor outputs, thus achieving multiscale exploration. A rhythmic pattern discovered by this process is memorized and sustained by changing the wiring between initially disconnected oscillators using an adaptive synchronization method. Our results show that the novel neurorobotic system is able to create and learn multiple locomotion behaviors for a wide range of body configurations and physical environments and can readapt in realtime after sustaining damage.

  4. On the rules for aquatic locomotion

    Science.gov (United States)

    Saadat, M.; Fish, F. E.; Domel, A. G.; Di Santo, V.; Lauder, G. V.; Haj-Hariri, H.

    2017-08-01

    We present unifying rules governing the efficient locomotion of swimming fish and marine mammals. Using scaling and dimensional analysis, supported by new experimental data, we show that efficient locomotion occurs when the values of the Strouhal (St) number St (=f A /U ) and A*(=A /L ) , two nondimensional numbers that relate forward speed U , tail-beat amplitude A , tail-beat frequency f , and the length of the swimmer L are bound to the tight ranges of 0.2-0.4 and 0.1-0.3, respectively. The tight range of 0.2-0.4 for the St number has previously been associated with optimal thrust generation. We show that the St number alone is insufficient to achieve optimal aquatic locomotion, and an additional condition on A* is needed. More importantly, we show that when swimming at minimal power consumption, the Strouhal number of a cruising swimmer is predetermined solely by the shape and drag characteristics of the swimmer. We show that diverse species of fish and cetaceans cruise indeed with the St number and A* predicted by our theory. Our findings provide a physical explanation as to why fast aquatic swimmers cruise with a relatively constant tail-beat amplitude of approximately 20% of the body length, and their swimming speed is nearly proportional to their tail-beat frequency.

  5. Predicting routes of radioactive wastes moved on the U.S. railroad system

    International Nuclear Information System (INIS)

    Hillsman, E.L.; Johnson, P.E.; Peterson, B.E.

    1980-01-01

    Relative to the use of public roads, railroads offer several advantages for the movement of radioactive wastes. These include the ability to accommodate large, heavy containers, the ability to transfer large volumes in a single movement, and the safety of a dedicated, centrally controlled right-of-way. The principal disadvantage of railroads is that the shipper has considerably less freedom to specify the route a shipment will take. The lower density of the railroad network, the need to coordinate waste shipments with other traffic in the system, and the private ownership of the US network all reduce the shippers routing power. Although the shipper can dictate an exact route, this could require the use of a special train at an increased cost. Before considering the general use of special trains to move radioactive wastes, it is first desirable to determine how these materials would move as general rail traffic. This paper describes the development of a system to predict routes of general rail traffic at Oak Ridge National Laboratory

  6. Axial dynamics during locomotion in vertebrates: lesson from the salamander

    OpenAIRE

    GOSSARD, JEAN-PIERRE; DUBUC, RÉJEAN; KOLTA, ARLETTE; Cabelguen, Jean-Marie; Ijspeert, Auke; Lamarque, Stéphanie; Ryczko, Dimitri

    2010-01-01

    Much of what we know about the flexibility of the locomotor networks in vertebrates is derived from studies examining the adaptation of limb movements during stepping in various conditions. However, the body movements play important roles during locomotion: they produce the thrust during undulatory locomotion and they help to increase the stride length during legged locomotion. In this chapter, we review our current knowledge about the flexibility in the neuronal circuits controlling the body...

  7. The Need for Speed in Rodent Locomotion Analyses

    OpenAIRE

    Batka, Richard J.; Brown, Todd J.; Mcmillan, Kathryn P.; Meadows, Rena M.; Jones, Kathryn J.; Haulcomb, Melissa M.

    2014-01-01

    Locomotion analysis is now widely used across many animal species to understand the motor defects in disease, functional recovery following neural injury, and the effectiveness of various treatments. More recently, rodent locomotion analysis has become an increasingly popular method in a diverse range of research. Speed is an inseparable aspect of locomotion that is still not fully understood, and its effects are often not properly incorporated while analyzing data. In this hybrid manuscript,...

  8. Advanced aftertreatment systems for locomotive applications; Moderne Abgasnachbehandlungssysteme fuer Lokomotiven

    Energy Technology Data Exchange (ETDEWEB)

    Park, Paul [Caterpillar Inc., Peoria, IL (United States); Bruestle, Claus [Emitec Inc., Rochester Hill, MI (United States)

    2013-07-15

    Tier 4 legislation for locomotives, starting in 2015, will require significant reductions in particulate matter and nitrogen oxide tail pipe emissions. To reduce nitrogen oxide emissions of line-haul locomotives at least to the level of Tier 4, Caterpillar has developed an aftertreatment system. Here, for the first time an SCR system was used for diesel locomotive engines with an urea dosing system. (orig.)

  9. Highway/Railroad Accident Report: Collision Of Northeast Illinois Regional Commuter Railroad Corporation (METRA) Train And Transportation Joint Agreement School District 47/155 School Bus At Railroad/Highway Grade Crossing In Fox River Grove, Illinois, On

    Science.gov (United States)

    1996-10-29

    This report explains the collision of a Northeast Illinois Regional Commuter Railroad Corporation commuter train with a Transportation Joint Agreement School District 47/155 school bus that was stopped at a railroad/highway grade crossing in Fox Rive...

  10. 77 FR 6411 - Training, Qualification, and Oversight for Safety-Related Railroad Employees

    Science.gov (United States)

    2012-02-07

    ... Oversight for Safety-Related Railroad Employees AGENCY: Federal Railroad Administration (FRA), Department of... establishing minimum training standards for each category and subcategory of safety-related railroad employee... or contractor that employs one or more safety-related railroad employee to develop and submit a...

  11. 75 FR 68398 - Texas, Oklahoma & Eastern Railroad, LLC-Acquisition and Operation Exemption-Texas, Oklahoma...

    Science.gov (United States)

    2010-11-05

    ... & Eastern Railroad, LLC--Acquisition and Operation Exemption--Texas, Oklahoma & Eastern Railroad Company Texas, Oklahoma & Eastern Railroad, LLC (TOE), a noncarrier, has filed a verified notice of exemption under 49 CFR 1150.31 to acquire from Texas, Oklahoma & Eastern Railroad Company and to operate...

  12. Heavy Metal Pollution in Soils on Railroad Side of Zhengzhou-Putian Section of Longxi-Haizhou Railroad, China

    Institute of Scientific and Technical Information of China (English)

    MA Jian-Hua; CHU Chun-Jie; LI Jian; SONG Bo

    2009-01-01

    The pollution status and horizontal distribution of heavy metals (Ni, Pb, Cr, Zn, Cu, and Cd) in the soil on railroad side along the Zhengzhou-Putian section of Longxi-Haizhou Railroad were studied by collecting soil samples along a sampling section perpendicular to the railroad at the distances of 0, 10, 20, 30, 50, 100, 200, 300, and 500 m from the railroad edge. The concentrations of heavy metals in the sampling soils were higher than those of the control site. The concentrations of Pb, Zn, and Cd were found to be the highest in the soils at the railroad edge, and then decreased with increasing distance from the railroad. The highest concentrations of Ni, Cr, and Cu in soils were located at about 10-30 m from the railroad. Compared with the single factor pollution index (SFPI) of heavy metals calculated for the control site, the average SFPI from the sampling sites decreased in the order of Cr > Cd > Pb > Zn > Ni > Cu. There were notable negative correlations between the integral pollution index (IPI) of soil heavy metals at all sampling sites and the distances from the railroad. According to three IPIs calculated from the background values of heavy metals in och-aquic Cambisols, the heavy metal concentrations in the control soil, and the 2nd levels for soil heavy metals in GB15618-1995, the study area could be divided, based on the distances from the railroad, into four pollution zones: heavy pollution zone (0-10 m), medium pollution zone (10-50 m), slight pollution zone (50-100 m), and warning zone (100-500 m), respectively.

  13. The Need for Speed in Rodent Locomotion Analyses

    Science.gov (United States)

    Batka, Richard J.; Brown, Todd J.; Mcmillan, Kathryn P.; Meadows, Rena M.; Jones, Kathryn J.; Haulcomb, Melissa M.

    2016-01-01

    Locomotion analysis is now widely used across many animal species to understand the motor defects in disease, functional recovery following neural injury, and the effectiveness of various treatments. More recently, rodent locomotion analysis has become an increasingly popular method in a diverse range of research. Speed is an inseparable aspect of locomotion that is still not fully understood, and its effects are often not properly incorporated while analyzing data. In this hybrid manuscript, we accomplish three things: (1) review the interaction between speed and locomotion variables in rodent studies, (2) comprehensively analyze the relationship between speed and 162 locomotion variables in a group of 16 wild-type mice using the CatWalk gait analysis system, and (3) develop and test a statistical method in which locomotion variables are analyzed and reported in the context of speed. Notable results include the following: (1) over 90% of variables, reported by CatWalk, were dependent on speed with an average R2 value of 0.624, (2) most variables were related to speed in a nonlinear manner, (3) current methods of controlling for speed are insufficient, and (4) the linear mixed model is an appropriate and effective statistical method for locomotion analyses that is inclusive of speed-dependent relationships. Given the pervasive dependency of locomotion variables on speed, we maintain that valid conclusions from locomotion analyses cannot be made unless they are analyzed and reported within the context of speed. PMID:24890845

  14. Combining Bio-inspired Sensing with Bio-inspired Locomotion

    DEFF Research Database (Denmark)

    Shaikh, Danish; Hallam, John; Christensen-Dalsgaard, Jakob

    In this paper we present a preliminary Braitenberg vehicle–like approach to combine bio-inspired audition with bio-inspired quadruped locomotion in simulation. Locomotion gaits of the salamander–like robot Salamandra robotica are modified by a lizard’s peripheral auditory system model that modula......In this paper we present a preliminary Braitenberg vehicle–like approach to combine bio-inspired audition with bio-inspired quadruped locomotion in simulation. Locomotion gaits of the salamander–like robot Salamandra robotica are modified by a lizard’s peripheral auditory system model...

  15. Liquid filtration properties in gravel foundation of railroad tracks

    International Nuclear Information System (INIS)

    Strelkov, A; Teplykh, S; Bukhman, N

    2016-01-01

    Railway bed gravel foundation has a constant permanent impact on urban ecology and ground surface. It is only natural that larger objects, such as railway stations, make broader impact. Surface run-off waters polluted by harmful substances existing in railroad track body (ballast section) flow along railroad tracks and within macadam, go down into subterranean ground flow and then enter neighbouring rivers and water basins. This paper presents analytic calculations and characteristics of surface run-off liquid filtration which flows through gravel multiple layers (railroad track ballast section). The authors analyse liquids with various density and viscosity flowing in multi-layer porous medium. The paper also describes liquid stationary and non-stationary weepage into gravel foundation of railroad tracks. (paper)

  16. Performance evaluation of concrete railroad ties on the northeast corridor.

    Science.gov (United States)

    2014-03-01

    Simpson Gumpertz & Heger Inc. conducted an investigation into the factors that caused widespread failure in prestressed concrete : railroad ties on the Northeast Corridor. The problem was apparent in ties manufactured and installed circa 19941998....

  17. Condition assessment of short-line railroad bridges in Pennsylvania.

    Science.gov (United States)

    2010-02-01

    Current levels of available resources to maintain and preserve the Pennsylvania short-line railroad (SLRR) bridge infrastructure require that important priority decisions be made on an annual basis. The primary objective of this study was to establis...

  18. Methodology for evaluation of railroad technology research projects

    Science.gov (United States)

    1981-04-01

    This Project memorandum presents a methodology for evaluating railroad research projects. The methodology includes consideration of industry and societal benefits, with special attention given to technical risks, implementation considerations, and po...

  19. 77 FR 34125 - Indexing the Annual Operating Revenues of Railroads

    Science.gov (United States)

    2012-06-08

    ... (1992), raised the revenue classification level for Class I railroads from $50 million (1978 dollars) to..., William F. Huneke, Director, Office of Economics. Jeffrey Herzig, Clearance Clerk. [FR Doc. 2012-13938...

  20. 75 FR 57553 - Indexing the Annual Operating Revenues of Railroads

    Science.gov (United States)

    2010-09-21

    ... (1992) raised the revenue classification level for Class I railroads from $50 million (1978 dollars) to... the Board, William F. Huneke, Director, Office of Economics. Jeffrey Herzig, Clearance Clerk. [FR Doc...

  1. 76 FR 52384 - Indexing the Annual Operating Revenues of Railroads

    Science.gov (United States)

    2011-08-22

    ... level for Class I railroads from $50 million (1978 dollars) to $250 million (1991 dollars), effective... Board, William F. Huneke, Director, Office of Economics. Jeffrey Herzig, Clearance Clerk. [FR Doc. 2011...

  2. Refurbishment of Railroad Crossties : A Technical and Economic Analysis

    Science.gov (United States)

    1977-12-01

    An analysis of the principal modes of failure for wooden railroad crossties was conducted and an evaluation of the technical and economic feasibility of refurbishing these ties was conducted. Among the principal modes of structural deterioration, onl...

  3. Analysis of railroad energy efficiency in the United States.

    Science.gov (United States)

    2013-05-01

    The purpose of this study is to provide information about railroad fuel efficiency that may be useful in evaluating transportation energy policies and assessing the sustainability of potential projects. The specific objectives are to (1) develop rail...

  4. Morphological self stabilization of locomotion gaits: illustration on a few examples from bio-inspired locomotion.

    Science.gov (United States)

    Chevallereau, Christine; Boyer, Frédéric; Porez, Mathieu; Mauny, Johan; Aoustin, Yannick

    2017-06-20

    To a large extent, robotics locomotion can be viewed as cyclic motions, named gaits. Due to the high complexity of the locomotion dynamics, to find the control laws that ensure an expected gait and its stability with respect to external perturbations, is a challenging issue for feedback control. To address this issue, a promising way is to take inspiration from animals that intensively exploit the interactions of the passive degrees of freedom of their body with their physical surroundings, to outsource the high-level exteroceptive feedback control to low-level proprioceptive ones. In this case, passive interactions can ensure most of the expected control goals. In this article, we propose a methodological framework to study the role of morphology in the design of locomotion gaits and their stability. This framework ranges from modelling to control aspects, and is illustrated through three examples from bio-inspired locomotion: a three-dimensional micro air vehicle in hovering flight, a pendular planar climber and a bipedal planar walker. In these three cases, we will see how simple considerations based on the morphology of the body can ensure the existence of passive stable gaits without requiring any high-level control.

  5. Performance requirements for locomotive braking systems

    CSIR Research Space (South Africa)

    Vermaak, P

    2000-02-01

    Full Text Available operated “Neutral Brake”. This brake may become active immediately or after a certain time delay when the controller is placed in the neutral position or moved into the neutral position by the “dead-man’s device”. Because this brake will interfere... in testing emergency brake systems due to the inherent braking action of the service brakes and/or locomotive controllers; • Potential problems limitations to braking effort associated with the prime movers and/or hydraulic systems on hydrostatically...

  6. Coupling of cytoskeleton functions for fibroblast locomotion

    DEFF Research Database (Denmark)

    Couchman, J R; Lenn, M; Rees, D A

    1985-01-01

    caused visible protrusions in projected positions at the leading edge. We conclude that fibroblast locomotion may be driven coordinately by a common set of motility mechanisms and that this coordination may be lost as a result of physical or pharmacological disturbance. Taking our evidence with results...... from other Laboratories, we propose the following cytoskeleton functions. (i) Protrusive activity, probably based on solation--gelation cycles of the actin based cytoskeleton and membrane recycling which provides cellular and membrane components for streaming through the cell body to the leading edge...

  7. Weighing in motion and characterization of the railroad traffic with using the B-WIM technique

    Directory of Open Access Journals (Sweden)

    J. A. DE CARVALHO NETO

    Full Text Available AbstractThe knowledge on the active moving load of a bridge is crucial for the achievement of the information on the behavior of the structure, and thus foresee maintenance, repairs and better definition of the logistics of its active vehicles. This paper presents the development of the algorithms for the application of the Bridge-Weigh In Motion (B-WIM method created by Moses for the weighing of trains during motion and also for the characterization of the rail traffic, allowing the obtainment of information like passage's train velocity and number and spacing of axles, eliminating the dynamic effect. There were implemented algorithms for the determination of the data referring to the geometry of the train and its loads, which were evaluated using a theoretical example, in which it was simulated the passage of the train over a bridge and the loads of its axles were determined with one hundred percent of precision. In addition, it was made a numerical example in finite elements of a reinforced concrete viaduct from the Carajás' Railroad, in which the developed system reached great results on the characterization and weighing of the locomotive when the constitutive equation of the Brazilian Standards was substituted by the one proposed by Collins and Mitchell.

  8. Proprioceptive Actuation Design for Dynamic Legged locomotion

    Science.gov (United States)

    Kim, Sangbae; Wensing, Patrick; Biomimetic Robotics Lab Team

    Designing an actuator system for highly-dynamic legged locomotion exhibited by animals has been one of the grand challenges in robotics research. Conventional actuators designed for manufacturing applications have difficulty satisfying challenging requirements for high-speed locomotion, such as the need for high torque density and the ability to manage dynamic physical interactions. It is critical to introduce a new actuator design paradigm and provide guidelines for its incorporation in future mobile robots for research and industry. To this end, we suggest a paradigm called proprioceptive actuation, which enables highly- dynamic operation in legged machines. Proprioceptive actuation uses collocated force control at the joints to effectively control contact interactions at the feet under dynamic conditions. In the realm of legged machines, this paradigm provides a unique combination of high torque density, high-bandwidth force control, and the ability to mitigate impacts through backdrivability. Results show that the proposed design provides an impact mitigation factor that is comparable to other quadruped designs with series springs to handle impact. The paradigm is shown to enable the MIT Cheetah to manage the application of contact forces during dynamic bounding, with results given down to contact times of 85ms and peak forces over 450N. As a result, the MIT Cheetah achieves high-speed 3D running up to 13mph and jumping over an 18-inch high obstacle. The project is sponsored by DARPA M3 program.

  9. 49 CFR 232.105 - General requirements for locomotives.

    Science.gov (United States)

    2010-10-01

    ... locomotives. (a) The air brake equipment on a locomotive shall be in safe and suitable condition for service... set pressure at any service application with the brakes control valve in the freight position. If such... ADMINISTRATION, DEPARTMENT OF TRANSPORTATION BRAKE SYSTEM SAFETY STANDARDS FOR FREIGHT AND OTHER NON-PASSENGER...

  10. 49 CFR 230.106 - Steam locomotive frame.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Steam locomotive frame. 230.106 Section 230.106... Tenders Trucks, Frames and Equalizing System § 230.106 Steam locomotive frame. (a) Maintenance and inspection. Frames, decks, plates, tailpieces, pedestals, and braces shall be maintained in a safe and...

  11. Locomotive emissions measurements for various blends of biodiesel fuel.

    Science.gov (United States)

    2014-12-01

    The objective of this project was to assess the effects of various blends of biodiesel on locomotive engine exhaust emissions. The : emission tests were conducted on two locomotive models, a Tier 2 EMD SD70ACe and a Tier 1 Plus GE Dash9-44CW, using t...

  12. THE DYNAMICS AND TRACTION ENERGY METRICS LOCOMOTIVE VL40

    Directory of Open Access Journals (Sweden)

    S. V. Pylypenko

    2008-03-01

    Full Text Available In the article the results of dynamic running and traction-energy tests of the electric locomotive VL40U are presented. In accordance with the test results a conclusion about the suitability of electric locomotive of such a type for operation with trains containing up to 15 passenger coaches inclusive is made.

  13. Architectures of soft robotic locomotion enabled by simple mechanical principles.

    Science.gov (United States)

    Zhu, Liangliang; Cao, Yunteng; Liu, Yilun; Yang, Zhe; Chen, Xi

    2017-06-28

    In nature, a variety of limbless locomotion patterns flourish, from the small or basic life forms (Escherichia coli, amoebae, etc.) to the large or intelligent creatures (e.g., slugs, starfishes, earthworms, octopuses, jellyfishes, and snakes). Many bioinspired soft robots based on locomotion have been developed in the past few decades. In this work, based on the kinematics and dynamics of two representative locomotion modes (i.e., worm-like crawling and snake-like slithering), we propose a broad set of innovative designs for soft mobile robots through simple mechanical principles. Inspired by and going beyond the existing biological systems, these designs include 1-D (dimensional), 2-D, and 3-D robotic locomotion patterns enabled by the simple actuation of continuous beams. We report herein over 20 locomotion modes achieving various locomotion functions, including crawling, rising, running, creeping, squirming, slithering, swimming, jumping, turning, turning over, helix rolling, wheeling, etc. Some are able to reach high speed, high efficiency, and overcome obstacles. All these locomotion strategies and functions can be integrated into a simple beam model. The proposed simple and robust models are adaptive for severe and complex environments. These elegant designs for diverse robotic locomotion patterns are expected to underpin future deployments of soft robots and to inspire a series of advanced designs.

  14. Modular control of limb movements during human locomotion

    NARCIS (Netherlands)

    Ivanenko, Yuri P; Cappellini, Germana; Dominici, Nadia; Poppele, Richard E; Lacquaniti, Francesco

    2007-01-01

    The idea that the CNS may control complex interactions by modular decomposition has received considerable attention. We explored this idea for human locomotion by examining limb kinematics. The coordination of limb segments during human locomotion has been shown to follow a planar law for walking at

  15. The Determination of the Asynchronous Traction Motor Characteristics of Locomotive

    Directory of Open Access Journals (Sweden)

    Pavel Grigorievich Kolpakhchyan

    2017-01-01

    Full Text Available The article deals with the problem of the locomotive asynchronous traction motor control with the AC diesel-electric transmission. The limitations of the torque of the traction motor when powered by the inverter are determined. The recommendations to improve the use of asynchronous traction motor of locomotives with the AC diesel-electric transmission are given.

  16. Locomotion Gait Planning of Climber Snake-Like Robot

    Directory of Open Access Journals (Sweden)

    Mohammad Nezaminia

    2013-04-01

    Full Text Available In this article a novel breed of snake-like climber robots has been introduced. Structure and operation of the first generation of snake-like climber robot "Marak I" has been discussed. The gait planning for two dimensional locomotion of a novel snake-like climber robot "Marak I" is presented. The types of locomotion investigated were rectilinear and wheeling gaits. The gaits of locomotion were experimented and their suitability for various applications has been mentioned. Some encountered practical problems plus solutions were addressed. Finally we found out that: the vertical motion was producing more fault than horizontal locomotion, and notably the fastest gait of locomotion was the wheeling gait

  17. 40 CFR 1033.515 - Discrete-mode steady-state emission tests of locomotives and locomotive engines.

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 32 2010-07-01 2010-07-01 false Discrete-mode steady-state emission... Procedures § 1033.515 Discrete-mode steady-state emission tests of locomotives and locomotive engines. This... a warm-up followed by a sequence of nominally steady-state discrete test modes, as described in...

  18. GIS for Nevada railroads: 1993 report

    International Nuclear Information System (INIS)

    Carr, J.R.

    1993-12-01

    This is an interim report on a task within a large, ongoing study by the University of Nevada, Reno to examine the safety of Nevada railroads. The overall goal, of which this year's research is a middle stage, is to develop models based on the use of geographic information systems (GIS). These models are to enable the selection of the best and safest railway routes for the transport of high-level nuclear waste across Nevada to the proposed repository at Yucca Mountain. Last year's research concluded that the databases are adequate and that GIS are feasible and desirable for displaying the multi-layered data required to reach decisions about safety. It developed several database layers. This report deals with work during 1993 on the use of geographic information systems (GIS) for rail-route selection. The goal was to identify and assemble many of the databases necessary for the models. In particular, the research aimed to identify (a) any problems with developing database layers; and (b) the level of effort required. This year's effort developed database layers for two Nevada counties: Clark and Lincoln. The layers dealt with: topographic information, geologic information, and land ownership. These are among the most important database layers. The database layers were successfully created. No significant problems arose in developing them. The level of effort did not exceed the expected level. The most effective approach is by means of digital, shaded relief maps. (Sample maps appear in plates.) Therefore, future database development will be straightforward. Research may proceed on the full development of shaded relief elevation maps for Elko, White Pine, Nye and Eureka counties and with actual modeling for the selection of a route or routes between the UP/SP line in northern Nevada and Yucca Mountain

  19. Characterization of Hop-and-Sink Locomotion of Water Fleas

    Science.gov (United States)

    Skipper, A. N.; Murphy, D. W.; Webster, D. R.

    2017-11-01

    The freshwater crustacean Daphnia magna is a widely studied zooplankton in relation to food webs, predator-prey interactions, and other biological/ecological considerations; however, their locomotion is poorly quantified and understood. These water fleas utilize a hop-and-sink mechanism that consists of making quick, impulsive jumps by beating their antennae to propel themselves forward (roughly 1 body length). The animals then sink for a period, during which they stretch out their antennae to increase drag and thereby reduce their sinking velocity. Time-resolved three-dimensional flow fields surrounding the animals were quantified with a unique infrared tomographic particle image velocimetry (tomo-PIV) system. Three-dimensional kinematics data were also extracted from the image sequences. In the current work, we compared body kinematics and flow disturbance among organisms of size in the range of 1.3 to 2.8 mm. The stroke cycle averaged 150 +/- 20 ms, with each stroke cycle split nearly evenly between power and recovery strokes. The kinematics data collapsed onto a self-similar curve when properly nondimensionalized, and a general trend was shown to exist between the nondimensionalized peak body speed and body length. The fluid flow induced by each antennae consisted of a viscous vortex ring that demonstrated a slow decay in the wake. The viscous dissipation showed no clear dependence on body size, whereas the volume of fluid exceeding 5 mm/s (the speed near the sinking speed of the animal) decayed more slowly with increasing body size.

  20. Cerebellar contribution to feedforward control of locomotion.

    Science.gov (United States)

    Pisotta, Iolanda; Molinari, Marco

    2014-01-01

    The cerebellum is an important contributor to feedforward control mechanisms of the central nervous system, and sequencing-the process that allows spatial and temporal relationships between events to be recognized-has been implicated as the fundamental cerebellar mode of operation. By adopting such a mode and because cerebellar activity patterns are sensitive to a variety of sensorimotor-related tasks, the cerebellum is believed to support motor and cognitive functions that are encoded in the frontal and parietal lobes of the cerebral cortex. In this model, the cerebellum is hypothesized to make predictions about the consequences of a motor or cognitive command that originates from the cortex to prepare the entire system to cope with ongoing changes. In this framework, cerebellar predictive mechanisms for locomotion are addressed, focusing on sensorial and motoric sequencing. The hypothesis that sequence recognition is the mechanism by which the cerebellum functions in gait control is presented and discussed.

  1. Slipping slender bodies and enhanced flagellar locomotion

    Science.gov (United States)

    Man, Yi; Lauga, Eric

    2017-11-01

    In the biological world, many cells exploit slender appendages to swim, include numerous species of bacteria, algae and spermatozoa. A classical method to describe the flow field around such appendages is slender-body theory (SBT), which is often used to study flagellar motility in Newtonian fluids. However, biology environments are often rheologically complex due to the presence of polymers. These polymers generically phase-separate near rigid boundaries where low-viscosity fluid layers lead to effective slip on the surface. In this talk, we present an analytical derivation of SBT in the case where the no-slip boundary condition on the appendage is replaced by a Navier slip boundary condition. Our results demonstrate in particular a systematic reduction of the resistance coefficient of the slender filaments in their tangential direction, which leads to enhanced flagellar locomotion.

  2. Dynamic legged locomotion in robots and animals

    Science.gov (United States)

    Raibert, Marc; Playter, Robert; Ringrose, Robert; Bailey, Dave; Leeser, Karl

    1995-01-01

    This report documents our study of active legged systems that balance actively and move dynamically. The purpose of this research is to build a foundation of knowledge that can lead both to the construction of useful legged vehicles and to a better understanding of how animal locomotion works. In this report we provide an update on progress during the past year. Here are the topics covered in this report: (1) Is cockroach locomotion dynamic? To address this question we created three models of cockroaches, each abstracted at a different level. We provided each model with a control system and computer simulation. One set of results suggests that 'Groucho Running,' a type of dynamic walking, seems feasible at cockroach scale. (2) How do bipeds shift weight between the legs? We built a simple planar biped robot specifically to explore this question. It shifts its weight from one curved foot to the other, using a toe-off and toe-on strategy, in conjunction with dynamic tipping. (3) 3D biped gymnastics: The 3D biped robot has done front somersaults in the laboratory. The robot changes its leg length in flight to control rotation rate. This in turn provides a mechanism for controlling the landing attitude of the robot once airborne. (4) Passively stabilized layout somersault: We have found that the passive structure of a gymnast, the configuration of masses and compliances, can stabilize inherently unstable maneuvers. This means that body biomechanics could play a larger role in controlling behavior than is generally thought. We used a physical 'doll' model and computer simulation to illustrate the point. (5) Twisting: Some gymnastic maneuvers require twisting. We are studying how to couple the biomechanics of the system to its control to produce efficient, stable twisting maneuvers.

  3. Doses to railroad workers from shipments of radioactive materials

    International Nuclear Information System (INIS)

    Fields, D.E.; Cottrell, W.D.

    1988-01-01

    Fissile and high-level radioactive wastes are currently transported over long distances by truck and by rail transportation systems. The primary form of fissile material is spent reactor fuel. Transportation operations within DOE are controlled through the Transportation Operations and Management System. DOE projected increases in the rate of shipments have generated concern by railroad companies that railroad workers may be exposed to levels of radiation sufficiently high that a radiation protection program may need to be implemented. To address railroad company concerns, the Health and Safety Research Division at Oak Ridge National Laboratory has estimated doses to railroad workers for two exposure scenarios that were constructed using worker activity data obtained from CSX Transportation for crew and maintenance workers. This characterization of railroad worker activity patterns includes a quantitative evaluation of the duration and rate of exposure. These duration and exposure rate values were evaluated using each of three exposure rate vs. distance models to generate exposure estimates. 14 refs., 1 tab

  4. Full-Scale Dynamic Testing of Locomotive Crashworthy Components.

    Science.gov (United States)

    2015-10-01

    The Office of Research, Development, and Technology of the Federal Railroad Administration (FRA) and the Volpe Center are evaluating new occupant protection technologies to increase the safety of passengers and operators in rail equipment. In view of...

  5. A survey report for the turning of biped locomotion robot

    International Nuclear Information System (INIS)

    Kato, Ichiro; Takanishi, Atsuo; Kume, Etsuo.

    1992-12-01

    A mechanical design study of biped locomotion robots is going on at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report for the turning of biped locomotion robot: the WL-10R designed and developed at Waseda University. This report includes the control method of turning, machine model and control system. (author)

  6. Distribution of spinal neuronal networks controlling forward and backward locomotion.

    Science.gov (United States)

    Merkulyeva, Natalia; Veshchitskii, Aleksandr; Gorsky, Oleg; Pavlova, Natalia; Zelenin, Pavel V; Gerasimenko, Yury; Deliagina, Tatiana G; Musienko, Pavel

    2018-04-20

    Higher vertebrates, including humans, are capable not only of forward (FW) locomotion but also of walking in other directions relative to the body axis [backward (BW), sideways, etc.]. While the neural mechanisms responsible for controlling FW locomotion have been studied in considerable detail, the mechanisms controlling steps in other directions are mostly unknown. The aim of the present study was to investigate the distribution of spinal neuronal networks controlling FW and BW locomotion. First, we applied electrical epidural stimulation (ES) to different segments of the spinal cord from L2 to S2 to reveal zones triggering FW and BW locomotion in decerebrate cats of either sex. Second, to determine the location of spinal neurons activated during FW and BW locomotion, we used c-fos immunostaining. We found that the neuronal networks responsible for FW locomotion were distributed broadly in the lumbosacral spinal cord and could be activated by ES of any segment from L3 to S2. By contrast, networks generating BW locomotion were activated by ES of a limited zone from the caudal part of L5 to the caudal part of L7. In the intermediate part of the gray matter within this zone, a significantly higher number of c- fos -positive interneurons was revealed in BW-stepping cats compared with FW-stepping cats. We suggest that this region of the spinal cord contains the network that determines the BW direction of locomotion. Significance Statement Sequential and single steps in various directions relative to the body axis [forward (FW), backward (BW), sideways, etc.] are used during locomotion and to correct for perturbations, respectively. The mechanisms controlling step direction are unknown. In the present study, for the first time we compared the distributions of spinal neuronal networks controlling FW and BW locomotion. Using a marker to visualize active neurons, we demonstrated that in the intermediate part of the gray matter within L6 and L7 spinal segments

  7. Handbook for preservation of local railroad service. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Patton, E.P.; Langley, C.J. Jr.

    1977-01-01

    Throughout the United States, there is an accelerating abandonment of redundant and/or unprofitable light-density railroad lines. This abandonment can be economically harmful to both the shippers and the communities that were previously served. Although greater dependence upon truck transportation is a viable alternative in many cases, other situations indicate that the greatest priority should be attached to preserving some form of local railroad service. The objective of this research was to develop a handbook to assist shippers, local and state governments, and rail planners when their Class I rail service is scheduled for abandonment. Two major options are detailed in the handbook. The first regards innovative procedures which may be used by local groups in attempting to preserve service by the existing Class I carrier. The second approach considers the alternative of operating the particular line as an independent railroad.

  8. INTERLINE, a railroad routing model: program description and user's manual

    International Nuclear Information System (INIS)

    Peterson, B.E.

    1985-11-01

    INTERLINE is an interactive computer program that finds likely routes for shipments over the US railroad system. It is based on a shortest path algorithm modified both to reflect the nature of railroad company operations and to accommodate computer resource limitations in dealing with a large transportation network. The first section of the report discusses the nature of railroad operations and routing practices in the United States, including the tendency to concentrate traffic on a limited number of mainlines, the competition for traffic by different companies operating in the same corridors, and the tendency of originating carriers to retain traffic on their systems before transferring it to terminating carriers. The theoretical foundation and operation of shortest path algorithms are described, as well as the techniques used to simulate actual operating practices within this framework. The second section is a user's guide that describes the program operation and data structures, program features, and user access. 11 refs., 11 figs

  9. 49 CFR 230.90 - Draw gear between steam locomotive and tender.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Draw gear between steam locomotive and tender. 230... Steam Locomotives and Tenders Draw Gear and Draft Systems § 230.90 Draw gear between steam locomotive and tender. (a) Maintenance and testing. The draw gear between the steam locomotive and tender...

  10. The perspective of the railroads on the NWPA

    International Nuclear Information System (INIS)

    Brown, T.J.

    1986-01-01

    The author reviews the perspective on rail shipment of nuclear materials from the standpoint of Burlington Northern Railroad. It is discussed that transportation demands of the high-level nuclear waste business are similar to those of any other business that is dependent to some degree on transportation: safety, efficiency and economy in roughly that order. The authors reviews some of the actions the railroad industry and BN are taking to achieve the objectives of safety, efficiency and economy in the movement of all shipments, radioactive and other

  11. Density determination of railroad ballast by means of gamma radiation

    International Nuclear Information System (INIS)

    Mundt, M.

    1983-01-01

    Proceeding from the requirements of a measuring method for determining the degrees of densification and of soiling of railroad beds, conclusions are drawn for the use of a radiometric technique, considering measuring geometry, radiation energy, and instrumentation. Results obtained from laboratory experiments with a ballast pressure unit are presented. It is pointed out that the application of radiometric density measurements has to be linked with investigations of the behaviour of the rock species used, in order to obtain a valid interpretation of the measured density with regard to the properties and the composition of the railroad bed. (author)

  12. An Acquisition Approach to Adopting Human Systems Integration in the Railroad Industry

    Science.gov (United States)

    2018-02-01

    This report provides guidance on how the railroad industry can develop safer systems by acquiring new equipment based on human-centered design practices, or Human Systems Integration (HSI). If a railroads system design approach is focused on prope...

  13. Development of a Short Line Railroad Safety Institute : phase I - job analysis.

    Science.gov (United States)

    2014-04-01

    The Federal Railroad Administrations (FRA) : Office of Research and Development (R&D) is : supporting the American Short Line and : Regional Railroad Association (ASLRRA) in the : development, implementation, and evaluation of : a proposed Short L...

  14. 77 FR 24233 - Actuarial Advisory Committee With Respect to the Railroad Retirement Account; Notice of Public...

    Science.gov (United States)

    2012-04-23

    ... Actuary of the U.S. Railroad Retirement Board, 844 North Rush Street, Chicago, Illinois, on the conduct of... Actuary, U.S. Railroad Retirement Board, 844 North Rush Street, Chicago, Illinois 60611-2092. Dated: April...

  15. Dynamic Locomotion With Four and Six-Legged Robots

    National Research Council Canada - National Science Library

    Buehler, M; Saranli, U; Papadopoulos, D; Koditschek, D

    2000-01-01

    .... The Scout II quadruped runs on flat ground in a bounding gait, and was motivated by an effort to understand the minimal mechanical design and control complexity for dynamically stable locomotion...

  16. Hybrid Locomotive for Energy Savings and Reduced Emissions

    Science.gov (United States)

    2017-08-01

    Norfolk Southern Corporation (NS) and Pennsylvania State University tested several different battery systems in hybrid locomotives. Advanced lithium-ion battery technology was the only kind that displayed the capacity to perform in heavy switching or...

  17. Review of codes, standards, and regulations for natural gas locomotives.

    Science.gov (United States)

    2014-06-01

    This report identified, collected, and summarized relevant international codes, standards, and regulations with potential : applicability to the use of natural gas as a locomotive fuel. Few international or country-specific codes, standards, and regu...

  18. Neurobiology of Caenorhabditis elegans Locomotion: Where Do We Stand?

    OpenAIRE

    Gjorgjieva, Julijana; Biron, David; Haspel, Gal

    2014-01-01

    Animals use a nervous system for locomotion in some stage of their life cycle. The nematode Caenorhabditis elegans, a major animal model for almost all fields of experimental biology, has long been used for detailed studies of genetic and physiological locomotion mechanisms. Of its 959 somatic cells, 302 are neurons that are identifiable by lineage, location, morphology, and neurochemistry in every adult hermaphrodite. Of those, 75 motoneurons innervate body wall muscles that provide the thru...

  19. Expression of emotion in the kinematics of locomotion.

    Science.gov (United States)

    Barliya, Avi; Omlor, Lars; Giese, Martin A; Berthoz, Alain; Flash, Tamar

    2013-03-01

    Here, we examine how different emotions-happiness, fear, sadness and anger-affect the kinematics of locomotion. We focus on a compact representation of locomotion properties using the intersegmental law of coordination (Borghese et al. in J Physiol 494(3):863-879, 1996), which states that, during the gait cycle of human locomotion, the elevation angles of the thigh, shank and foot do not evolve independently of each other but form a planar pattern of co-variation. This phenomenon is highly robust and has been extensively studied. The orientation of the plane has been correlated with changes in the speed of locomotion and with reduction in energy expenditure as speed increases. An analytical model explaining the conditions underlying the emergence of this plane and predicting its orientation reveals that it suffices to examine the amplitudes of the elevation angles of the different segments along with the phase shifts between them (Barliya et al. in Exp Brain Res 193:371-385, 2009). We thus investigated the influence of different emotions on the parameters directly determining the orientation of the intersegmental plane and on the angular rotation profiles of the leg segments, examining both the effect of changes in walking speed and effects independent of speed. Subjects were professional actors and naïve subjects with no training in acting. As expected, emotions were found to strongly affect the kinematics of locomotion, particularly walking speed. The intersegmental coordination patterns revealed that emotional expression caused additional modifications to the locomotion patterns that could not be explained solely by a change in speed. For all emotions except sadness, the amplitude of thigh elevation angles changed from those in neutral locomotion. The intersegmental plane was also differently oriented, especially during anger. We suggest that, while speed is the dominant variable allowing discrimination between different emotional gaits, emotion can be

  20. Fluid Mechanics of Aquatic Locomotion at Large Reynolds Numbers

    OpenAIRE

    Govardhan, RN; Arakeri, JH

    2011-01-01

    Abstract | There exist a huge range of fish species besides other aquatic organisms like squids and salps that locomote in water at large Reynolds numbers, a regime of flow where inertial forces dominate viscous forces. In the present review, we discuss the fluid mechanics governing the locomotion of such organisms. Most fishes propel themselves by periodic undulatory motions of the body and tail, and the typical classification of their swimming modes is based on the fraction of their body...

  1. 30 CFR 57.9307 - Design, installation, and maintenance of railroads.

    Science.gov (United States)

    2010-07-01

    ... railroads. 57.9307 Section 57.9307 Mineral Resources MINE SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR METAL AND NONMETAL MINE SAFETY AND HEALTH SAFETY AND HEALTH STANDARDS-UNDERGROUND METAL AND..., Railroads, and Loading and Dumping Sites § 57.9307 Design, installation, and maintenance of railroads...

  2. 77 FR 33560 - Southwest Pennsylvania Railroad Company-Acquisition Exemption-Laurel Hill Development Corporation

    Science.gov (United States)

    2012-06-06

    ... Pennsylvania Railroad Company--Acquisition Exemption-- Laurel Hill Development Corporation Southwest... 49 CFR 1150.41 to acquire a 0.66-mile line of railroad owned by Laurel Hill Development Corporation... rail line. Most recently, in Southwest Pennsylvania Railroad Company--Acquisition Exemption--Laurel...

  3. 30 CFR 57.9302 - Protection against moving or runaway railroad equipment.

    Science.gov (United States)

    2010-07-01

    ... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Protection against moving or runaway railroad..., Railroads, and Loading and Dumping Sites § 57.9302 Protection against moving or runaway railroad equipment. Stopblocks, derail devices, or other devices that protect against moving or runaway rail equipment shall be...

  4. 20 CFR 216.16 - What is regular non-railroad employment.

    Science.gov (United States)

    2010-04-01

    ... 20 Employees' Benefits 1 2010-04-01 2010-04-01 false What is regular non-railroad employment. 216.16 Section 216.16 Employees' Benefits RAILROAD RETIREMENT BOARD REGULATIONS UNDER THE RAILROAD... the United States Government: (i) Department of Transportation; (ii) Interstate Commerce Commission...

  5. 49 CFR 216.11 - Special notice for repairs-railroad freight car.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Special notice for repairs-railroad freight car...—railroad freight car. (a) When an FRA Motive Power and Equipment Inspector or a State Equipment Inspector determines that a railroad freight car is not in conformity with the requirements of the FRA Freight Car...

  6. ENERGY EFFICIENCY OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSION TESTS AT LOCOMOTIVE REPAIR PLANT

    Directory of Open Access Journals (Sweden)

    B. E. Bodnar

    2015-10-01

    Full Text Available Purpose. In difficult economic conditions, cost reduction of electricity consumption for the needs of production is an urgent task for the country’s industrial enterprises. Technical specifications of enterprises, which repair diesel locomotive hydraulic transmission, recommend conducting a certain amount of evaluation and regulatory tests to monitor their condition after repair. Experience shows that a significant portion of hydraulic transmission defects is revealed by bench tests. The advantages of bench tests include the ability to detect defects after repair, ease of maintenance of the hydraulic transmission and relatively low labour intensity for eliminating defects. The quality of these tests results in the transmission resource and its efficiency. Improvement of the technology of plant post-repairs hydraulic tests in order to reduce electricity consumption while testing. Methodology. The possible options for hydraulic transmission test bench improvement were analysed. There was proposed an energy efficiency method for diesel locomotive hydraulic transmission testing in locomotive repair plant environment. This is achieved by installing additional drive motor which receives power from the load generator. Findings. Based on the conducted analysis the necessity of improving the plant stand testing of hydraulic transmission was proved. The variants of the stand modernization were examined. The test stand modernization analysis was conducted. Originality. The possibility of using electric power load generator to power the stand electric drive motor or the additional drive motor was theoretically substantiated. Practical value. A variant of hydraulic transmission test stand based on the mutual load method was proposed. Using this method increases the hydraulic transmission load range and power consumption by stand remains unchanged. The additional drive motor will increase the speed of the input shaft that in its turn wil allow testing in

  7. How animals move: comparative lessons on animal locomotion.

    Science.gov (United States)

    Schaeffer, Paul J; Lindstedt, Stan L

    2013-01-01

    Comparative physiology often provides unique insights in animal structure and function. It is specifically through this lens that we discuss the fundamental properties of skeletal muscle and animal locomotion, incorporating variation in body size and evolved difference among species. For example, muscle frequencies in vivo are highly constrained by body size, which apparently tunes muscle use to maximize recovery of elastic recoil potential energy. Secondary to this constraint, there is an expected linking of skeletal muscle structural and functional properties. Muscle is relatively simple structurally, but by changing proportions of the few muscle components, a diverse range of functional outputs is possible. Thus, there is a consistent and predictable relation between muscle function and myocyte composition that illuminates animal locomotion. When animals move, the mechanical properties of muscle diverge from the static textbook force-velocity relations described by A. V. Hill, as recovery of elastic potential energy together with force and power enhancement with activation during stretch combine to modulate performance. These relations are best understood through the tool of work loops. Also, when animals move, locomotion is often conveniently categorized energetically. Burst locomotion is typified by high-power outputs and short durations while sustained, cyclic, locomotion engages a smaller fraction of the muscle tissue, yielding lower force and power. However, closer examination reveals that rather than a dichotomy, energetics of locomotion is a continuum. There is a remarkably predictable relationship between duration of activity and peak sustainable performance.

  8. Multi-modal locomotion: from animal to application

    International Nuclear Information System (INIS)

    Lock, R J; Burgess, S C; Vaidyanathan, R

    2014-01-01

    The majority of robotic vehicles that can be found today are bound to operations within a single media (i.e. land, air or water). This is very rarely the case when considering locomotive capabilities in natural systems. Utility for small robots often reflects the exact same problem domain as small animals, hence providing numerous avenues for biological inspiration. This paper begins to investigate the various modes of locomotion adopted by different genus groups in multiple media as an initial attempt to determine the compromise in ability adopted by the animals when achieving multi-modal locomotion. A review of current biologically inspired multi-modal robots is also presented. The primary aim of this research is to lay the foundation for a generation of vehicles capable of multi-modal locomotion, allowing ambulatory abilities in more than one media, surpassing current capabilities. By identifying and understanding when natural systems use specific locomotion mechanisms, when they opt for disparate mechanisms for each mode of locomotion rather than using a synergized singular mechanism, and how this affects their capability in each medium, similar combinations can be used as inspiration for future multi-modal biologically inspired robotic platforms. (topical review)

  9. Sensory modulation of movement, posture and locomotion.

    Science.gov (United States)

    Saradjian, A H

    2015-11-01

    During voluntary movement, there exists a well known functional sensory attenuation of afferent inputs, which allows us to discriminate between information related to our own movements and those arising from the external environment. This attenuation or 'gating' prevents some signals from interfering with movement elaboration and production. However, there are situations in which certain task-relevant sensory inputs may not be gated. This review begins by identifying the prevalent findings in the literature with specific regard to the somatosensory modality, and reviews the many cases of classical sensory gating phenomenon accompanying voluntary movement and their neural basis. This review also focuses on the newer axes of research that demonstrate that task-specific sensory information may be disinhibited or even facilitated during engagement in voluntary actions. Finally, a particular emphasis will be placed on postural and/or locomotor tasks involving strong somatosensory demands, especially for the setting of the anticipatory postural adjustments observed prior the initiation of locomotion. Copyright © 2015 Elsevier Masson SAS. All rights reserved.

  10. Linking pedestrian flow characteristics with stepping locomotion

    Science.gov (United States)

    Wang, Jiayue; Boltes, Maik; Seyfried, Armin; Zhang, Jun; Ziemer, Verena; Weng, Wenguo

    2018-06-01

    While properties of human traffic flow are described by speed, density and flow, the locomotion of pedestrian is based on steps. To relate characteristics of human locomotor system with properties of human traffic flow, this paper aims to connect gait characteristics like step length, step frequency, swaying amplitude and synchronization with speed and density and thus to build a ground for advanced pedestrian models. For this aim, observational and experimental study on the single-file movement of pedestrians at different densities is conducted. Methods to measure step length, step frequency, swaying amplitude and step synchronization are proposed by means of trajectories of the head. Mathematical models for the relations of step length or frequency and speed are evaluated. The problem how step length and step duration are influenced by factors like body height and density is investigated. It is shown that the effect of body height on step length and step duration changes with density. Furthermore, two different types of step in-phase synchronization between two successive pedestrians are observed and the influence of step synchronization on step length is examined.

  11. Advanced underground Vehicle Power and Control: The locomotive Research Platform

    Energy Technology Data Exchange (ETDEWEB)

    Vehicle Projects LLC

    2003-01-28

    Develop a fuelcell mine locomotive with metal-hydride hydrogen storage. Test the locomotive for fundamental limitations preventing successful commercialization of hydride fuelcells in underground mining. During Phase 1 of the DOE-EERE sponsored project, FPI and its partner SNL, completed work on the development of a 14.4 kW fuelcell power plant and metal-hydride energy storage. An existing battery-electric locomotive with similar power requirements, minus the battery module, was used as the base vehicle. In March 2001, Atlas Copco Wagner of Portland, OR, installed the fuelcell power plant into the base vehicle and initiated integration of the system into the vehicle. The entire vehicle returned to Sandia in May 2001 for further development and integration. Initial system power-up took place in December 2001. A revision to the original contract, Phase 2, at the request of DOE Golden Field Office, established Vehicle Projects LLC as the new prime contractor,. Phase 2 allowed industry partners to conduct surface tests, incorporate enhancements to the original design by SNL, perform an extensive risk and safety analysis, and test the fuelcell locomotive underground under representative production mine conditions. During the surface tests one of the fuelcell stacks exhibited reduced power output resulting in having to replace both fuelcell stacks. The new stacks were manufactured with new and improved technology resulting in an increase of the gross power output from 14.4 kW to 17 kW. Further work by CANMET and Hatch Associates, an engineering consulting firm specializing in safety analysis for the mining industry, both under subcontract to Vehicle Projects LLC, established minimum requirements for underground testing. CANMET upgraded the Programmable Logic Control (PLC) software used to monitor and control the fuelcell power plant, taking into account locomotive operator's needs. Battery Electric, a South Africa manufacturer, designed and manufactured (at no cost

  12. 76 FR 2748 - Competition in the Railroad Industry

    Science.gov (United States)

    2011-01-14

    ... this determination? \\8\\ \\8\\ A basis for the Board's historic pricing policy under Staggers and ICCTA... railroad industry and possible policy alternatives to facilitate more competition, where appropriate. The Board is seeking written comments prior to the hearing addressing the legal, factual, and policy matters...

  13. An Innovative Summer Institute for Teachers: Examining the Underground Railroad

    Science.gov (United States)

    Dallmer, Denise

    2002-01-01

    In this article, the author describes the summer institute which she planned through her involvement with the Institute for Freedom Studies at Northern Kentucky University, whose purpose is to promote interdisciplinary research, teaching and community outreach grounded in the study of the Underground Railroad. The purpose of the institute was to…

  14. The Underground Railroad: Developing a Literary Track to Slave Narrative.

    Science.gov (United States)

    Goncalves, Wande Knox

    This paper offers a method of bringing to third-grade students an understanding of African-American contributions to the United States, the experience of slavery, and the struggle for freedom on the secretive Underground Railroad. The paper contains a list of eight primary sources to be used. Its lessons focus specifically on the skills necessary…

  15. Exploring a Common Past: Researching and Interpreting the Underground Railroad.

    Science.gov (United States)

    National Park Service (Dept. of Interior), Washington, DC.

    Although the Underground Railroad has been an integral part of U.S. history and folklore for well over 150 years, the recent past has seen an increased public interest in the identification of historic sites associated with the experiences of fugitive slaves. This booklet is part of a National Park Service initiative to design research methods…

  16. Second-Grade Journeys on the Underground Railroad.

    Science.gov (United States)

    Crump-Stenberg, Linda; Beilke, Patricia F.

    1999-01-01

    Describes a curriculum used in a second grade classroom to expose the predominantly white students to the culture and experiences of African Americans through a study of slavery and the Underground Railroad. Includes a bibliography of African folk tales and literature related to the African American experience. (SLD)

  17. 77 FR 6625 - Railroad Cost of Capital-2011

    Science.gov (United States)

    2012-02-08

    ... railroads are due by May 9, 2012. ADDRESSES: Comments may be submitted either via the Board's e-filing system or in the traditional paper format. Any person using e-filing should comply with the instructions at the E-FILING link on the Board's Web site, at http://www.stb.dot.gov . Any person submitting a...

  18. 49 CFR 392.10 - Railroad grade crossings; stopping required.

    Science.gov (United States)

    2010-10-01

    ... controlled by a functioning highway traffic signal transmitting a green indication which, under local law... REGULATIONS DRIVING OF COMMERCIAL MOTOR VEHICLES Driving of Commercial Motor Vehicles § 392.10 Railroad grade... commercial motor vehicle specified in paragraphs (a) (1) through (6) of this section shall not cross a...

  19. 49 CFR 1.49 - Delegations to Federal Railroad Administrator.

    Science.gov (United States)

    2010-10-01

    ... Agency) and (c) of section 17 of the Noise Control Act of 1972 (Pub. L. 92-574). (p) Carry out the... consultations with the Administrator of the Environmental Protection Agency) of the Noise Control Act of 1972... train travel in communities without grade separation, capital grants to the Alaska Railroad, and a study...

  20. Technical metaphor of railroad switch and communicative action

    Directory of Open Access Journals (Sweden)

    José Luis Caballero Bono

    2016-02-01

    statements on the status of the human embryo. Taken seriously, the «railroad switch» metaphor allows us to talk about an emergent communicative action in terms of the call experienced by a rational agent as a base for his or her calling an unborn human being.

  1. 75 FR 15484 - Railroad Safety Technology Program Grant Program

    Science.gov (United States)

    2010-03-29

    ... governments for projects that have a public benefit of improved railroad safety and efficiency. The program... State and local governments for projects * * * that have a public benefit of improved safety and network... minimum 20 percent grantee cost share (cash or in-kind) match requirement. DATES: FRA will begin accepting...

  2. 78 FR 66987 - Railroad Safety Technology Program Grant Program

    Science.gov (United States)

    2013-11-07

    ... carriers, railroad suppliers, and State and local governments for projects that have a public benefit of... projects . . . that have a public benefit of improved safety and network efficiency.'' To be eligible for... million. This grant program has a maximum 80-percent Federal and minimum 20-percent grantee cost share...

  3. Allegheny Portage Railroad: Developing Transportation Technology. Teaching with Historic Places.

    Science.gov (United States)

    Eick, Brian; Wallner, Rick

    1999-01-01

    Presents a lesson that will help students discover the innovative technologies of the Allegheny Portage Railroad that can be used when teaching about early 19th-century expansion and industrialization. Expounds that students' skills in geography and history will be strengthened through map reading, examination of pictures, and analysis of…

  4. 21 CFR 1250.51 - Railroad conveyances; discharge of wastes.

    Science.gov (United States)

    2010-04-01

    ..., Center for Food Safety and Applied Nutrition, Manager, Interstate Travel Sanitation Sub-Program, HFF-312... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Railroad conveyances; discharge of wastes. 1250.51 Section 1250.51 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES...

  5. 77 FR 7237 - Railroad Cost Recovery Procedures-Productivity Adjustment

    Science.gov (United States)

    2012-02-10

    ... Cost Recovery Procedures--Productivity Adjustment AGENCY: Surface Transportation Board. ACTION: Proposed railroad cost recovery procedures productivity adjustment. SUMMARY: In a decision served on... productivity for the 2006-2010 (5-year) averaging period. This represents a 0.6% decrease over the average for...

  6. 78 FR 10262 - Railroad Cost Recovery Procedures-Productivity Adjustment

    Science.gov (United States)

    2013-02-13

    ... Cost Recovery Procedures--Productivity Adjustment AGENCY: Surface Transportation Board, DOT. ACTION: Proposed railroad cost recovery procedures productivity adjustment. SUMMARY: In a decision served on... productivity for the 2007-2011 (5-year) averaging period. This represents a 0.1% increase over the average for...

  7. On Railroad Tank Car Puncture Performance: Part I - Considering Metrics

    Science.gov (United States)

    2016-04-12

    This paper is the first in a two-part series on the puncture performance of railroad tank cars carrying hazardous materials in the event of an accident. Various metrics are often mentioned in the open literature to characterize the structural perform...

  8. On Railroad Tank Car Puncture Performance: Part II - Estimating Metrics

    Science.gov (United States)

    2016-04-12

    This paper is the second in a two-part series on the puncture performance of railroad tank cars carrying hazardous materials in the event of an accident. Various metrics are often mentioned in the open literature to characterize the structural perfor...

  9. 75 FR 38432 - Railroad Safety Appliance Standards, Miscellaneous Revisions

    Science.gov (United States)

    2010-07-02

    ...: Stephen J. Carullo, Railroad Safety Specialist, Office of Safety, FRA, 1200 New Jersey Avenue, SE..., Office of Chief Counsel, FRA, 1200 New Jersey Avenue, SE., Mail Stop 10, Washington, DC 20590 (telephone... government (FRA and Transport Canada participate as non-voting members), as well as ergonomics experts. The...

  10. Problems of locomotive wheel wear in fleet replacement

    Directory of Open Access Journals (Sweden)

    L.P. Lingaytis

    2013-08-01

    Full Text Available Purpose. To conduct a research and find out the causes of defects appearing on the wheel thread of freight locomotives 2М62 and SIEMENS ER20CF. Methodology. To find the ways to solve this problem comparing the locomotive designs and their operating conditions. Findings. After examining the nature of the wheel wear the main difference was found: in locomotives of the 2M62 line wears the wheel flange, and in the locomotives SIEMENS ER20CF – the tread surface. After installation on the 2M62 locomotive the lubrication system of flanges their wear rate significantly decreased. On the new freight locomotives SIEMENS ER20CF the flange lubrication systems of the wheel set have been already installed at the factory, however the wheel thread is wearing. As for locomotives 2M62, and on locomotives SIEMENS ER20CF most wear profile skating wheels of the first wheel set. On both locomotive lines the 2М62 and the SIEMENS ER20CF the tread profile of the first wheel set most of all is subject to the wear. After reaching the 170 000 km run, the tread surface of some wheels begins to crumble. There was a suspicion that the reason for crumb formation of the wheel surface may be insufficient or excessive wheel hardness or its chemical composition. In order to confirm or deny this suspicion the following studies were conducted: the examination of the rim surface, the study of the wheel metal hardness and the document analysis of the wheel production and their comparison with the results of wheel hardness measurement. Practical value. The technical condition of locomotives is one of the bases of safety and reliability of the rolling stock. The reduction of the wheel wear significantly reduces the operating costs of railway transport. After study completion it was found that there was no evidence to suggest that the ratio of the wheel-rail hardness could be the cause of the wheel surface crumbling.

  11. EVALUATION OF DYNAMIC INDICATORS OF SIX-AXLE LOCOMOTIVE

    Directory of Open Access Journals (Sweden)

    S. V. Myamlin

    2015-04-01

    Full Text Available Purpose. The paper is devoted to dynamic characteristics evaluation of the locomotive with prospective design and determination the feasibility of its use on the Ukrainian railways. Methodology. The methods of mathematical and computer modeling of the dynamics of railway vehicles, as well as methods for the numerical integration of systems of ordinary nonlinear differential equations were used to solve the problem. Findings. The calculated diagram of a locomotive on three-axle bogies was built to solve the problem, and it is a system of rigid bodies connected by various elements of rheology. The mathematical model of the locomotive movement, allowing studying its spatial vibrations at driving on straight and curved sections of the track with random irregularities in plan and profile was developed with use of this calculated diagram. At compiling the mathematical model took into account both geometric (nonlinearity profile of the wheel roll surface and physical nonlinearity of the system (the work forces of dry friction, nonlinearity characteristics of interaction forces between wheels and rails. The multivariate calculations, which allowed assessing the dynamic qualities of the locomotive at its movement along straight and curved sections of the track, were realized with the use of computer modeling. The smoothness movement indicators of the locomotive in horizontal and vertical planes, frame strength, coefficients of vertical dynamics in the first and second stages of the suspension, the load factor of resistance against the derailment of the wheel from the rail were determined at the period of research. In addition, a comparison of the obtained results with similar characteristics is widely used on the Ukrainian railways in six-axle locomotive TE 116. The influence of speed and technical state of the track on the locomotive traffic safety was determined.Originality. A mathematical model of the spatial movement of a six-axle locomotive with

  12. INFORMATION-MEASURING TEST SYSTEM OF DIESEL LOCOMOTIVE HYDRAULIC TRANSMISSIONS

    Directory of Open Access Journals (Sweden)

    I. V. Zhukovytskyy

    2015-08-01

    Full Text Available Purpose. The article describes the process of developing the information-measuring test system of diesel locomotives hydraulic transmission, which gives the possibility to obtain baseline data to conduct further studies for the determination of the technical condition of diesel locomotives hydraulic transmission. The improvement of factory technology of post-repair tests of hydraulic transmissions by automating the existing hydraulic transmission test stands according to the specifications of the diesel locomotive repair enterprises was analyzed. It is achieved based on a detailed review of existing foreign information-measuring test systems for hydraulic transmission of diesel locomotives, BelAZ earthmover, aircraft tug, slag car, truck, BelAZ wheel dozer, some brands of tractors, etc. The problem for creation the information-measuring test systems for diesel locomotive hydraulic transmission is being solved, starting in the first place from the possibility of automation of the existing test stand of diesel locomotives hydraulic transmission at Dnipropetrovsk Diesel Locomotive Repair Plant "Promteplovoz". Methodology. In the work the researchers proposed the method to create a microprocessor automated system of diesel locomotives hydraulic transmission stand testing in the locomotive plant conditions. It acts by justifying the selection of the necessary sensors, as well as the application of the necessary hardware and software for information-measuring systems. Findings. Based on the conducted analysis there was grounded the necessity of improvement the plant hydraulic transmission stand testing by creating a microprocessor testing system, supported by the experience of developing such systems abroad. Further research should be aimed to improve the accuracy and frequency of data collection by adopting the more modern and reliable sensors in tandem with the use of filtering software for electromagnetic and other interference. Originality. The

  13. Human Locomotion in Hypogravity: From Basic Research to Clinical Applications

    Directory of Open Access Journals (Sweden)

    Francesco Lacquaniti

    2017-11-01

    Full Text Available We have considerable knowledge about the mechanisms underlying compensation of Earth gravity during locomotion, a knowledge obtained from physiological, biomechanical, modeling, developmental, comparative, and paleoanthropological studies. By contrast, we know much less about locomotion and movement in general under sustained hypogravity. This lack of information poses a serious problem for human space exploration. In a near future humans will walk again on the Moon and for the first time on Mars. It would be important to predict how they will move around, since we know that locomotion and mobility in general may be jeopardized in hypogravity, especially when landing after a prolonged weightlessness of the space flight. The combination of muscle weakness, of wearing a cumbersome spacesuit, and of maladaptive patterns of locomotion in hypogravity significantly increase the risk of falls and injuries. Much of what we currently know about locomotion in hypogravity derives from the video archives of the Apollo missions on the Moon, the experiments performed with parabolic flight or with body weight support on Earth, and the theoretical models. These are the topics of our review, along with the issue of the application of simulated hypogravity in rehabilitation to help patients with deambulation problems. We consider several issues that are common to the field of space science and clinical rehabilitation: the general principles governing locomotion in hypogravity, the methods used to reduce gravity effects on locomotion, the extent to which the resulting behavior is comparable across different methods, the important non-linearities of several locomotor parameters as a function of the gravity reduction, the need to use multiple methods to obtain reliable results, and the need to tailor the methods individually based on the physiology and medical history of each person.

  14. Hybrid Locomotion Evaluation for a Novel Amphibious Spherical Robot

    Directory of Open Access Journals (Sweden)

    Huiming Xing

    2018-01-01

    Full Text Available We describe the novel, multiply gaited, vectored water-jet, hybrid locomotion-capable, amphibious spherical robot III (termed ASR-III featuring a wheel-legged, water-jet composite driving system incorporating a lifting and supporting wheel mechanism (LSWM and mechanical legs with a water-jet thruster. The LSWM allows the ASR-III to support the body and slide flexibly on smooth (flat terrain. The composite driving system facilitates two on-land locomotion modes (sliding and walking and underwater locomotion mode with vectored thrusters, improving adaptability to the amphibious environment. Sliding locomotion improves the stability and maneuverability of ASR-III on smooth flat terrain, whereas walking locomotion allows ASR-III to conquer rough terrain. We used both forward and reverse kinematic models to evaluate the walking and sliding gait efficiency. The robot can also realize underwater locomotion with four vectored water-jet thrusters, and is capable of forward motion, heading angle control and depth control. We evaluated LSWM efficiency and the sliding velocities associated with varying extensions of the LSWM. To explore gait stability and mobility, we performed on-land experiments on smooth flat terrain to define the optimal stride length and frequency. We also evaluated the efficacy of waypoint tracking when the sliding gait was employed, using a closed-loop proportional-integral-derivative (PID control mechanism. Moreover, experiments of forward locomotion, heading angle control and depth control were conducted to verify the underwater performance of ASR-III. Comparison of the previous robot and ASR-III demonstrated the ASR-III had better amphibious motion performance.

  15. Human Locomotion in Hypogravity: From Basic Research to Clinical Applications.

    Science.gov (United States)

    Lacquaniti, Francesco; Ivanenko, Yury P; Sylos-Labini, Francesca; La Scaleia, Valentina; La Scaleia, Barbara; Willems, Patrick A; Zago, Myrka

    2017-01-01

    We have considerable knowledge about the mechanisms underlying compensation of Earth gravity during locomotion, a knowledge obtained from physiological, biomechanical, modeling, developmental, comparative, and paleoanthropological studies. By contrast, we know much less about locomotion and movement in general under sustained hypogravity. This lack of information poses a serious problem for human space exploration. In a near future humans will walk again on the Moon and for the first time on Mars. It would be important to predict how they will move around, since we know that locomotion and mobility in general may be jeopardized in hypogravity, especially when landing after a prolonged weightlessness of the space flight. The combination of muscle weakness, of wearing a cumbersome spacesuit, and of maladaptive patterns of locomotion in hypogravity significantly increase the risk of falls and injuries. Much of what we currently know about locomotion in hypogravity derives from the video archives of the Apollo missions on the Moon, the experiments performed with parabolic flight or with body weight support on Earth, and the theoretical models. These are the topics of our review, along with the issue of the application of simulated hypogravity in rehabilitation to help patients with deambulation problems. We consider several issues that are common to the field of space science and clinical rehabilitation: the general principles governing locomotion in hypogravity, the methods used to reduce gravity effects on locomotion, the extent to which the resulting behavior is comparable across different methods, the important non-linearities of several locomotor parameters as a function of the gravity reduction, the need to use multiple methods to obtain reliable results, and the need to tailor the methods individually based on the physiology and medical history of each person.

  16. On Transport Service Selection in Intermodal Rail/Road Distribution Networks

    Directory of Open Access Journals (Sweden)

    Christian Bierwirth

    2012-11-01

    Full Text Available Intermodal rail/road freight transport constitutes an alternative to long-haul road transport for the distribution of large volumes of goods. The paper introduces the intermodal transportation problem for the tactical planning of mode and service selection. In rail mode, shippers either book train capacity on a per-unit basis or charter block trains completely. Road mode is used for short-distance haulage to intermodal terminals and for direct shipments to customers. We analyze the competition of road and intermodal transportation with regard to freight consolidation and service cost on a model basis. The approach is applied to a distribution system of an industrial company serving customers in eastern Europe. The case study investigates the impact of transport cost and consolidation on the optimal modal split.

  17. 75 FR 68397 - DeQueen and Eastern Railroad, LLC-Acquisition and Operation Exemption-DeQueen and Eastern...

    Science.gov (United States)

    2010-11-05

    ... Eastern Railroad, LLC--Acquisition and Operation Exemption--DeQueen and Eastern Railroad Company DeQueen and Eastern Railroad, LLC (DQE), a noncarrier, has filed a verified notice of exemption under 49 CFR 1150.31 to acquire from DeQueen and Eastern Railroad Company and to operate approximately 47 miles of...

  18. 76 FR 13271 - DeQueen and Eastern Railroad, LLC-Corporate Family Transaction Exemption-Texas, Oklahoma...

    Science.gov (United States)

    2011-03-10

    ... Eastern Railroad, LLC--Corporate Family Transaction Exemption--Texas, Oklahoma & Eastern Railroad, LLC DeQueen and Eastern Railroad, LLC (DQ&E) and Texas, Oklahoma & Eastern Railroad, LLC (TOE), have filed a... the competitive balance with carriers outside the corporate family. Under 49 U.S.C. 10502(g), the...

  19. System design of a large fuel cell hybrid locomotive

    Science.gov (United States)

    Miller, A. R.; Hess, K. S.; Barnes, D. L.; Erickson, T. L.

    Fuel cell power for locomotives combines the environmental benefits of a catenary-electric locomotive with the higher overall energy efficiency and lower infrastructure costs of a diesel-electric. A North American consortium, a public-private partnership, is developing a prototype hydrogen-fueled fuel cell-battery hybrid switcher locomotive for urban and military-base rail applications. Switcher locomotives are used in rail yards for assembling and disassembling trains and moving trains from one point to another. At 127 tonnes (280,000 lb), continuous power of 250 kW from its (proton exchange membrane) PEM fuel cell prime mover, and transient power well in excess of 1 MW, the hybrid locomotive will be the heaviest and most powerful fuel cell land vehicle yet. This fast-paced project calls for completion of the vehicle itself near the end of 2007. Several technical challenges not found in the development of smaller vehicles arise when designing and developing such a large fuel cell vehicle. Weight, center of gravity, packaging, and safety were design factors leading to, among other features, the roof location of the lightweight 350 bar compressed hydrogen storage system. Harsh operating conditions, especially shock loads during coupling to railcars, require component mounting systems capable of absorbing high energy. Vehicle scale-up by increasing mass, density, or power presents new challenges primarily related to issues of system layout, hydrogen storage, heat transfer, and shock loads.

  20. Two-fluid model for locomotion under self-confinement

    Science.gov (United States)

    Reigh, Shang Yik; Lauga, Eric

    2017-09-01

    The bacterium Helicobacter pylori causes ulcers in the stomach of humans by invading mucus layers protecting epithelial cells. It does so by chemically changing the rheological properties of the mucus from a high-viscosity gel to a low-viscosity solution in which it may self-propel. We develop a two-fluid model for this process of swimming under self-generated confinement. We solve exactly for the flow and the locomotion speed of a spherical swimmer located in a spherically symmetric system of two Newtonian fluids whose boundary moves with the swimmer. We also treat separately the special case of an immobile outer fluid. In all cases, we characterize the flow fields, their spatial decay, and the impact of both the viscosity ratio and the degree of confinement on the locomotion speed of the model swimmer. The spatial decay of the flow retains the same power-law decay as for locomotion in a single fluid but with a decreased magnitude. Independent of the assumption chosen to characterize the impact of confinement on the actuation applied by the swimmer, its locomotion speed always decreases with an increase in the degree of confinement. Our modeling results suggest that a low-viscosity region of at least six times the effective swimmer size is required to lead to swimming with speeds similar to locomotion in an infinite fluid, corresponding to a region of size above ≈25 μ m for Helicobacter pylori.

  1. Towards a general neural controller for quadrupedal locomotion.

    Science.gov (United States)

    Maufroy, Christophe; Kimura, Hiroshi; Takase, Kunikatsu

    2008-05-01

    Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits (i.e. from low speed walking to fast running). A general legged locomotion controller must integrate both posture control and rhythmic motion control and have the ability to shift continuously from one control method to the other according to locomotion speed. We are developing such a general quadrupedal locomotion controller by using a neural model involving a CPG (Central Pattern Generator) utilizing ground reaction force sensory feedback. We used a biologically faithful musculoskeletal model with a spine and hind legs, and computationally simulated stable stepping motion at various speeds using the neuro-mechanical system combining the neural controller and the musculoskeletal model. We compared the changes of the most important locomotion characteristics (stepping period, duty ratio and support length) according to speed in our simulations with the data on real cat walking. We found similar tendencies for all of them. In particular, the swing period was approximately constant while the stance period decreased with speed, resulting in a decreasing stepping period and duty ratio. Moreover, the support length increased with speed due to the posterior extreme position that shifted progressively caudally, while the anterior extreme position was approximately constant. This indicates that we succeeded in reproducing to some extent the motion of a cat from the kinematical point of view, even though we used a 2D bipedal model. We expect that such computational models will become essential tools for legged locomotion neuroscience in the future.

  2. Economic aspects of advanced coal-fired gas turbine locomotives

    Science.gov (United States)

    Liddle, S. G.; Bonzo, B. B.; Houser, B. C.

    1983-01-01

    Increases in the price of such conventional fuels as Diesel No. 2, as well as advancements in turbine technology, have prompted the present economic assessment of coal-fired gas turbine locomotive engines. A regenerative open cycle internal combustion gas turbine engine may be used, given the development of ceramic hot section components. Otherwise, an external combustion gas turbine engine appears attractive, since although its thermal efficiency is lower than that of a Diesel engine, its fuel is far less expensive. Attention is given to such a powerplant which will use a fluidized bed coal combustor. A life cycle cost analysis yields figures that are approximately half those typical of present locomotive engines.

  3. Dynamic processes during monorail locomotive rocking and their impact on draw gear characteristics

    Directory of Open Access Journals (Sweden)

    Viktor GUTAREVICH

    2011-01-01

    Full Text Available The article discusses the motion of the suspended monorail locomotive, interrelation between the parameters of irregularities false path and lateral rocking monorail locomotive, the values of lateral deviation for the different speeds on the monorail.

  4. Dynamic processes during monorail locomotive rocking and their impact on draw gear characteristics

    OpenAIRE

    Viktor GUTAREVICH

    2011-01-01

    The article discusses the motion of the suspended monorail locomotive, interrelation between the parameters of irregularities false path and lateral rocking monorail locomotive, the values of lateral deviation for the different speeds on the monorail.

  5. 49 CFR 230.12 - Movement of non-complying steam locomotives.

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Movement of non-complying steam locomotives. 230... General General Inspection Requirements § 230.12 Movement of non-complying steam locomotives. (a) General limitations on movement. A steam locomotive with one or more non-complying conditions may be moved only as a...

  6. 49 CFR 1242.25 - Locomotive servicing facilities (account XX-19-27).

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 9 2010-10-01 2010-10-01 false Locomotive servicing facilities (account XX-19-27... Structures § 1242.25 Locomotive servicing facilities (account XX-19-27). Separate common expenses according to distribution of common expenses in the following accounts: Locomotive Fuel (XX-51-67 and XX-52-67...

  7. 49 CFR 223.17 - Identification of equipped locomotives, passenger cars and cabooses.

    Science.gov (United States)

    2010-10-01

    ... cars and cabooses. 223.17 Section 223.17 Transportation Other Regulations Relating to Transportation...-LOCOMOTIVES, PASSENGER CARS AND CABOOSES Specific Requirements § 223.17 Identification of equipped locomotives, passenger cars and cabooses. Each locomotive, passenger car and caboose that is fully equipped with glazing...

  8. TECHNICAL AND ENERGY PARAMETERS IMPROVEMENT OF DIESEL LOCOMOTIVES THROUGH THE INTRODUCTION OF AUTOMATED CONTROL SYSTEMS OF A DIESEL

    Directory of Open Access Journals (Sweden)

    M. I. Kapitsa

    2015-04-01

    components of the diesel engine remain unchanged It allows installing the system on diesel engines of the existing fleet of locomotives and railroad industries. The system, considered in the modeling process, has demonstrated its desirability and feasibility of practical application for diesel engines.

  9. Energetic Extremes in Aquatic Locomotion by Coral Reef Fishes

    Science.gov (United States)

    Fulton, Christopher J.; Johansen, Jacob L.; Steffensen, John F.

    2013-01-01

    Underwater locomotion is challenging due to the high friction and resistance imposed on a body moving through water and energy lost in the wake during undulatory propulsion. While aquatic organisms have evolved streamlined shapes to overcome such resistance, underwater locomotion has long been considered a costly exercise. Recent evidence for a range of swimming vertebrates, however, has suggested that flapping paired appendages around a rigid body may be an extremely efficient means of aquatic locomotion. Using intermittent flow-through respirometry, we found exceptional energetic performance in the Bluelined wrasse Stethojulis bandanensis, which maintains tuna-like optimum cruising speeds (up to 1 metre s−1) while using 40% less energy than expected for their body size. Displaying an exceptional aerobic scope (22-fold above resting), streamlined rigid-body posture, and wing-like fins that generate lift-based thrust, S. bandanensis literally flies underwater to efficiently maintain high optimum swimming speeds. Extreme energetic performance may be key to the colonization of highly variable environments, such as the wave-swept habitats where S. bandanensis and other wing-finned species tend to occur. Challenging preconceived notions of how best to power aquatic locomotion, biomimicry of such lift-based fin movements could yield dramatic reductions in the power needed to propel underwater vehicles at high speed. PMID:23326566

  10. Energetic extremes in aquatic locomotion by coral reef fishes.

    Directory of Open Access Journals (Sweden)

    Christopher J Fulton

    Full Text Available Underwater locomotion is challenging due to the high friction and resistance imposed on a body moving through water and energy lost in the wake during undulatory propulsion. While aquatic organisms have evolved streamlined shapes to overcome such resistance, underwater locomotion has long been considered a costly exercise. Recent evidence for a range of swimming vertebrates, however, has suggested that flapping paired appendages around a rigid body may be an extremely efficient means of aquatic locomotion. Using intermittent flow-through respirometry, we found exceptional energetic performance in the Bluelined wrasse Stethojulis bandanensis, which maintains tuna-like optimum cruising speeds (up to 1 metre s(-1 while using 40% less energy than expected for their body size. Displaying an exceptional aerobic scope (22-fold above resting, streamlined rigid-body posture, and wing-like fins that generate lift-based thrust, S. bandanensis literally flies underwater to efficiently maintain high optimum swimming speeds. Extreme energetic performance may be key to the colonization of highly variable environments, such as the wave-swept habitats where S. bandanensis and other wing-finned species tend to occur. Challenging preconceived notions of how best to power aquatic locomotion, biomimicry of such lift-based fin movements could yield dramatic reductions in the power needed to propel underwater vehicles at high speed.

  11. Designing presence for real locomotion in immersive virtual environments

    DEFF Research Database (Denmark)

    Turchet, Luca

    2015-01-01

    This paper describes a framework for designing systems for real locomotion in virtual environments (VEs) in order to achieve an intense sense of presence. The main outcome of the present research is a list of design features that the virtual reality technology should have in order to achieve...

  12. A light-weight, yet powerful diesel locomotive from Vossloh

    Energy Technology Data Exchange (ETDEWEB)

    Marti, Mariano [Vossloh Rail Vehicles, Albuixech/Valencia (Spain)

    2013-05-15

    The EUROLIGHT is an eight-wheeled diesel-electric locomotive developed by Vossloh Rail Vehicles for interoperable rail traffic. With its low axle load of less than 20 tonnes, it can be deployed flexibly on both main lines and secondary ones.

  13. Using Computational and Mechanical Models to Study Animal Locomotion

    Science.gov (United States)

    Miller, Laura A.; Goldman, Daniel I.; Hedrick, Tyson L.; Tytell, Eric D.; Wang, Z. Jane; Yen, Jeannette; Alben, Silas

    2012-01-01

    Recent advances in computational methods have made realistic large-scale simulations of animal locomotion possible. This has resulted in numerous mathematical and computational studies of animal movement through fluids and over substrates with the purpose of better understanding organisms’ performance and improving the design of vehicles moving through air and water and on land. This work has also motivated the development of improved numerical methods and modeling techniques for animal locomotion that is characterized by the interactions of fluids, substrates, and structures. Despite the large body of recent work in this area, the application of mathematical and numerical methods to improve our understanding of organisms in the context of their environment and physiology has remained relatively unexplored. Nature has evolved a wide variety of fascinating mechanisms of locomotion that exploit the properties of complex materials and fluids, but only recently are the mathematical, computational, and robotic tools available to rigorously compare the relative advantages and disadvantages of different methods of locomotion in variable environments. Similarly, advances in computational physiology have only recently allowed investigators to explore how changes at the molecular, cellular, and tissue levels might lead to changes in performance at the organismal level. In this article, we highlight recent examples of how computational, mathematical, and experimental tools can be combined to ultimately answer the questions posed in one of the grand challenges in organismal biology: “Integrating living and physical systems.” PMID:22988026

  14. MTU locomotive drive systems for EU emissions stage IIIB

    Energy Technology Data Exchange (ETDEWEB)

    Wintruff, Ingo [MTU Friedrichshafen GmbH, Friedrichshafen (Germany)

    2011-05-15

    Emissions limits for diesel locomotives within the European Union are regulated by EU Non-road Directive 97/68/EC which places restrictions on the pollutants NOx, particulate, CO and HC. MTU has developed suitable diesel engines for EU Emissions stage IIIB. (orig.)

  15. Energy Efficiency of Robot Locomotion Increases Proportional to Weight

    DEFF Research Database (Denmark)

    Larsen, Jørgen Christian; Støy, Kasper

    2011-01-01

    The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in un- known terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et. la [3...

  16. Application of flywheel energy storage for heavy haul locomotives

    International Nuclear Information System (INIS)

    Spiryagin, Maksym; Wolfs, Peter; Szanto, Frank; Sun, Yan Quan; Cole, Colin; Nielsen, Dwayne

    2015-01-01

    Highlights: • A novel design for heavy haul locomotive equipped with a flywheel energy storage system is proposed. • The integrated intelligent traction control system was developed. • A flywheel energy storage system has been tested through a simulation process. • The developed hybrid system was verified using an existing heavy haul railway route. • Fuel efficiency analysis confirms advantages of the hybrid design. - Abstract: At the present time, trains in heavy haul operations are typically hauled by several diesel-electric locomotives coupled in a multiple unit. This paper studies the case of a typical consist of three Co–Co diesel-electric locomotives, and considers replacing one unit with an alternative version, with the same design parameters, except that the diesel-electric plant is replaced with flywheel energy storage equipment. The intelligent traction and energy control system installed in this unit is integrated into the multiple-unit control to allow redistribution of the power between all units. In order to verify the proposed design, a three-stage investigation has been performed as described in this paper. The initial stage studies a possible configuration of the flywheel energy storage system by detailed modelling of the proposed intelligent traction and energy control system. The second stage includes the investigation and estimation of possible energy flows using a longitudinal train dynamics simulation. The final stage compares the conventional and the proposed locomotive configurations considering two parameters: fuel efficiency and emissions reduction.

  17. Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion

    Science.gov (United States)

    Lee, Scott

    2015-01-01

    In our first article on scaling in theropod dinosaurs, the longitudinal stress in the leg bones due to supporting the weight of the animal was studied and found not to control the dimensions of the femur. As a continuation of our study of elasticity in dinosaur bones, we now examine the transverse stress in the femur due to locomotion and find…

  18. Scaling in Theropod Dinosaurs: Femoral Bone Strength and Locomotion II

    Science.gov (United States)

    Lee, Scott

    2015-01-01

    In the second paper of this series, the effect of transverse femoral stresses due to locomotion in theropod dinosaurs of different sizes was examined for the case of an unchanging leg geometry. Students are invariably thrilled to learn about theropod dinosaurs, and this activity applies the concepts of torque and stress to the issue of theropod…

  19. Energy Efficiency of Robot Locomotion Increases Proportional to Weight

    DEFF Research Database (Denmark)

    Larsen, J. C.; Stoy, K.

    2011-01-01

    The task of producing steady, stable and energy efficient locomotion in legged robots with the ability to walk in unknown terrain have for many years been a big challenge in robotics. This work is focusing on how different robots build from the modular robotic system, LocoKit by Larsen et al. [1...

  20. Small-scale soft-bodied robot with multimodal locomotion

    Science.gov (United States)

    Hu, Wenqi; Lum, Guo Zhan; Mastrangeli, Massimo; Sitti, Metin

    2018-02-01

    Untethered small-scale (from several millimetres down to a few micrometres in all dimensions) robots that can non-invasively access confined, enclosed spaces may enable applications in microfactories such as the construction of tissue scaffolds by robotic assembly, in bioengineering such as single-cell manipulation and biosensing, and in healthcare such as targeted drug delivery and minimally invasive surgery. Existing small-scale robots, however, have very limited mobility because they are unable to negotiate obstacles and changes in texture or material in unstructured environments. Of these small-scale robots, soft robots have greater potential to realize high mobility via multimodal locomotion, because such machines have higher degrees of freedom than their rigid counterparts. Here we demonstrate magneto-elastic soft millimetre-scale robots that can swim inside and on the surface of liquids, climb liquid menisci, roll and walk on solid surfaces, jump over obstacles, and crawl within narrow tunnels. These robots can transit reversibly between different liquid and solid terrains, as well as switch between locomotive modes. They can additionally execute pick-and-place and cargo-release tasks. We also present theoretical models to explain how the robots move. Like the large-scale robots that can be used to study locomotion, these soft small-scale robots could be used to study soft-bodied locomotion produced by small organisms.

  1. Locomotion and basicranial anatomy in primates and marsupials.

    Science.gov (United States)

    Villamil, Catalina I

    2017-10-01

    There is ongoing debate in paleoanthropology about whether and how the anatomy of the cranium, and especially the cranial base, is evolving in response to locomotor and postural changes. However, the majority of studies focus on two-dimensional data, which fails to capture the complexity of cranial anatomy. This study tests whether three-dimensional cranial base anatomy is linked to locomotion or to other factors in primates (n = 473) and marsupials (n = 231). Results indicate that although there is a small effect of locomotion on cranial base anatomy in primates, this is not the case in marsupials. Instead, facial anatomy likely drives variation in cranial base anatomy in both primates and marsupials, with additional roles for body size and brain size. Although some changes to foramen magnum position and orientation are phylogenetically useful among the hominoids, they do not necessarily reflect locomotion or positional behavior. The interplay between locomotion, posture, and facial anatomy in primates requires further investigation. Copyright © 2017 Elsevier Ltd. All rights reserved.

  2. Decoding bipedal locomotion from the rat sensorimotor cortex

    NARCIS (Netherlands)

    Rigosa, J.; Panarese, A.; Dominici, N.; Friedli, L.; van den Brand, R.; Carpaneto, J.; DiGiovanna, J.; Courtine, G.; Micera, S.

    2015-01-01

    Objective. Decoding forelimb movements from the firing activity of cortical neurons has been interfaced with robotic and prosthetic systems to replace lost upper limb functions in humans. Despite the potential of this approach to improve locomotion and facilitate gait rehabilitation, decoding lower

  3. Origami-based earthworm-like locomotion robots.

    Science.gov (United States)

    Fang, Hongbin; Zhang, Yetong; Wang, K W

    2017-10-16

    Inspired by the morphology characteristics of the earthworms and the excellent deformability of origami structures, this research creates a novel earthworm-like locomotion robot through exploiting the origami techniques. In this innovation, appropriate actuation mechanisms are incorporated with origami ball structures into the earthworm-like robot 'body', and the earthworm's locomotion mechanism is mimicked to develop a gait generator as the robot 'centralized controller'. The origami ball, which is a periodic repetition of waterbomb units, could output significant bidirectional (axial and radial) deformations in an antagonistic way similar to the earthworm's body segment. Such bidirectional deformability can be strategically programmed by designing the number of constituent units. Experiments also indicate that the origami ball possesses two outstanding mechanical properties that are beneficial to robot development: one is the structural multistability in the axil direction that could contribute to the robot control implementation; and the other is the structural compliance in the radial direction that would increase the robot robustness and applicability. To validate the origami-based innovation, this research designs and constructs three robot segments based on different axial actuators: DC-motor, shape-memory-alloy springs, and pneumatic balloon. Performance evaluations reveal their merits and limitations, and to prove the concept, the DC-motor actuation is selected for building a six-segment robot prototype. Learning from earthworms' fundamental locomotion mechanism-retrograde peristalsis wave, seven gaits are automatically generated; controlled by which, the robot could achieve effective locomotion with qualitatively different modes and a wide range of average speeds. The outcomes of this research could lead to the development of origami locomotion robots with low fabrication costs, high customizability, light weight, good scalability, and excellent re-configurability.

  4. Using a train drawn by a locomotive engine or a taking a railway-motor train?; Lokbespannung oder Triebzuege?

    Energy Technology Data Exchange (ETDEWEB)

    Mueller, V. [Siemens Verkehrstechnik Erlangen (Germany). ICE-Marketing

    2000-10-01

    In the field of passenger rail traffic extending from urban transport to long-distance railroad different requirements lead in the past to different developments with regard to forming a train. Using trains hauled by a locomotive. Using a push and pull train or a adistributed power train, and had to be decided with operational and economical considerations in mind. Nevertheless, besides factual and objective arguments there are also arguments to be attributed to the level of training and to emotions. Therefore, the author finally tries to arrive at an assessable conclusion by means of a comparison of the life cycle costs of two real trains running under comparable operational conditions. (orig.) [German] Zur Lokomotive eroeffnet die elektrische Traktion in Form eines Triebzuges oder Triebwagens eine Alternative mit verteilter Antriebstechnik. Fuer beide Varianten gibt es typische Anwendungsfaelle. Im Personenfernverkehr koennen beide Zugarten fallweise Vorteile fuer Betreiber und Fahrgaeste haben. Eine LCC-Betrachtung fuer beide Zugarten soll neben betrieblichen Argumenten eine Entscheidungshilfe geben. (orig.)

  5. The impact of reliability on the productivity of railroad companies

    DEFF Research Database (Denmark)

    Abate, Megersa Abera; Lijesen, Mark; Pels, Eric

    2013-01-01

    This paper studies the relationship between reliability (proxied by punctuality) and productivity in passenger railroad services. Increasing reliability may lower productivity, as it requires inputs, that can’t be used to produce outputs. The relationship between reliability and productivity also...... runs through other factors, in which case a positive relationship may be expected. We apply data envelopment analysis and the Malmquist index approach to a panel of seven European railway systems to explore this relationship. Our empirical results suggest that increasing reliability does not harm...... the productivity of railway operations and aiming to improve both may be a feasible strategy. © 2013 Elsevier Ltd. All rights reserved....

  6. ANALYSIS OF THE OPERATIONAL CHARACTERISTICS OF DIESEL-ELECTRIC LOCOMOTIVES

    Directory of Open Access Journals (Sweden)

    L. V. Ursulyak

    2014-12-01

    Full Text Available Purpose. To compare the operational characteristics of freight diesel-electric locomotives ER20CF and 2М62м, which are operated with Lithuanian Railways. Important problems on traction calculations are considered in this article. In this article the critical tasks of traction calculations are solved. It is the main computational tool in the rational functioning, planning and development of railways: determination of the estimated weight of the rolling stock, the diagrams construction of specific resultant forces of a train, the permitted speed definition of the train on the slopes, curves of train traffic construction on the section. Methodology. Using the rules and methods of traction calculations the analysis of the basic operational characteristics of the modernized freight diesel-electric locomotive 2М62m and freight passenger dual locomotive 2ER20CF was held. The maximum weight of the train set, the track structure on a high-speed ascent through the use of kinetic energy (with traction and without traction, technical speed, acceleration force and the value of the smallest radius curve are selected as controlled parameters. During the calculations it was considered that the trains were formed of a fully loaded four-axle gondola cars, model 112-119 (feature-606 with axle load of 23.5 t; the motion was carried out on the continuous welded rail track; the front of the train set is a dual locomotive 2ER20CF or two locomotive 2М62м. Longitudinal profile of the road on the route Vilnus–KlF was analyzed for the choice of theoretical rise. Inspection concerning the possibility of overcoming the high-speed rise was performed with an analytical method, based on the use of the kinetic energy accumulated by the overcoming of «light» elements of the profile. Findings. In the calculations, the maximum weight of the train set taking into account theoretical rise was analyzed. The inspection of the theoretical weight of the train set on a reliable

  7. Spatially Compact Neural Clusters in the Dorsal Striatum Encode Locomotion Relevant Information.

    Science.gov (United States)

    Barbera, Giovanni; Liang, Bo; Zhang, Lifeng; Gerfen, Charles R; Culurciello, Eugenio; Chen, Rong; Li, Yun; Lin, Da-Ting

    2016-10-05

    An influential striatal model postulates that neural activities in the striatal direct and indirect pathways promote and inhibit movement, respectively. Normal behavior requires coordinated activity in the direct pathway to facilitate intended locomotion and indirect pathway to inhibit unwanted locomotion. In this striatal model, neuronal population activity is assumed to encode locomotion relevant information. Here, we propose a novel encoding mechanism for the dorsal striatum. We identified spatially compact neural clusters in both the direct and indirect pathways. Detailed characterization revealed similar cluster organization between the direct and indirect pathways, and cluster activities from both pathways were correlated with mouse locomotion velocities. Using machine-learning algorithms, cluster activities could be used to decode locomotion relevant behavioral states and locomotion velocity. We propose that neural clusters in the dorsal striatum encode locomotion relevant information and that coordinated activities of direct and indirect pathway neural clusters are required for normal striatal controlled behavior. VIDEO ABSTRACT. Published by Elsevier Inc.

  8. Energy-based control for a biologically inspired hexapod robot with rolling locomotion

    Directory of Open Access Journals (Sweden)

    Takuma Nemoto

    2015-04-01

    Full Text Available This paper presents an approach to control rolling locomotion on the level ground with a biologically inspired hexapod robot. For controlling rolling locomotion, a controller which can compensate energy loss with rolling locomotion of the hexapod robot is designed based on its dynamic model. The dynamic model describes the rolling locomotion which is limited to planar one by an assumption that the hexapod robot does not fall down while rolling and influences due to collision and contact with the ground, and it is applied for computing the mechanical energy of the hexapod robot and a plant for a numerical simulation. The numerical simulation of the rolling locomotion on the level ground verifies the effectiveness of the proposed controller. The simulation results show that the hexapod robot can perform the rolling locomotion with the proposed controller. In conclusion, it is shown that the proposed control approach is effective in achieving the rolling locomotion on the level ground.

  9. Emotional Intelligence and job performance: Evidence from railroad industry

    Directory of Open Access Journals (Sweden)

    Masoumeh Bahmanabadi

    2014-08-01

    Full Text Available This paper presents an empirical investigation to study the relationship between emotional intelligence and job performance in railroad industry. The study uses two questionnaires, one for measuring emotional intelligence adopted from Salovey and Mayer (1989 [Salovey, P., & Mayer, J. D. (1989. Emotional intelligence. Imagination, Cognition and Personality, 9(3, 185-211.] and the other one for measuring job performance. The study selects 300 full time employees who work for railroad industry in city of Tehran, Iran, distributes two questionnaires among the employees and managed to collect all filled ones. Using Spearman correlation, the study has determined a positive and meaningful relationship between emotional intelligence and job performance (r = 0.796, Sig. = 0.000. In addition, there were positive and meaningful relationships between four components of emotional intelligence, namely consciousness (r = 0.642, Sig. = 0.000, self-regulation (r = 0.41, Sig. = 0.000, self-awareness ( r = 0.552, Sig. = 0.000 and social skills (r = 0.524, Sig. = 0.000.

  10. Flight to Freedom: One Family and the Story of the Underground Railroad.

    Science.gov (United States)

    Horton, James Oliver

    2001-01-01

    Offers historical information on the underground railroad, a secret organization that attempted to move slaves from bondage to freedom. Focuses on William Still, one of the most effective organizers of the underground railroad, and the story of his family. Addresses the reunion between Still and his brother Peter. (CMK)

  11. 26 CFR 31.6011(a)-3A - Returns of the railroad unemployment repayment tax.

    Science.gov (United States)

    2010-04-01

    ... 26 Internal Revenue 15 2010-04-01 2010-04-01 false Returns of the railroad unemployment repayment... unemployment repayment tax. (a) Requirement—(1) Employers. Every rail employer (as defined in section 3323(a) and section 1 of the Railroad Unemployment Insurance Act) shall make a return of the tax imposed by...

  12. 75 FR 4904 - Railroad Safety Advisory Committee (RSAC); Working Group Activity Update

    Science.gov (United States)

    2010-01-29

    ... amend regulations protecting persons who work on, under, or between rolling equipment; and persons...-7257] Railroad Safety Advisory Committee (RSAC); Working Group Activity Update AGENCY: Federal Railroad... Committee (RSAC) Working Group Activities. SUMMARY: The FRA is updating its announcement of RSAC's Working...

  13. 75 FR 51525 - Railroad Safety Advisory Committee (RSAC); Working Group Activity Update

    Science.gov (United States)

    2010-08-20

    .... The Working Group continues to work on after arrival orders, and at the September 25-26, 2008, meeting... protecting persons who work on, under, or between rolling equipment and persons applying, removing or.... 63] Railroad Safety Advisory Committee (RSAC); Working Group Activity Update AGENCY: Federal Railroad...

  14. 49 CFR 392.11 - Railroad grade crossings; slowing down required.

    Science.gov (United States)

    2010-10-01

    ... MOTOR CARRIER SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION FEDERAL MOTOR CARRIER SAFETY REGULATIONS DRIVING OF COMMERCIAL MOTOR VEHICLES Driving of Commercial Motor Vehicles § 392.11 Railroad grade..., upon approaching a railroad grade crossing, be driven at a rate of speed which will permit said...

  15. 78 FR 34160 - Union Pacific Railroad Company-Abandonment Exemption-In Iron County, Utah

    Science.gov (United States)

    2013-06-06

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. AB 33 (Sub-No. 283X)] Union Pacific Railroad Company--Abandonment Exemption--In Iron County, Utah Union Pacific Railroad Company (UP... Cedar City, a total distance of 1.03 miles in Iron County, Utah (the Line). The Line traverses United...

  16. 75 FR 7303 - Union Pacific Railroad Company-Abandonment Exemption-in Polk County, IA

    Science.gov (United States)

    2010-02-18

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [STB Docket No. AB-33 (Sub-No. 279X)] Union Pacific Railroad Company--Abandonment Exemption--in Polk County, IA Union Pacific Railroad Company... milepost 10.70 in Ankeny, in Polk County, IA. The line traverses United States Postal Service Zip Code...

  17. 77 FR 51107 - Union Pacific Railroad Company-Abandonment Exemption-in Pocahontas County, IA

    Science.gov (United States)

    2012-08-23

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. AB 33 (Sub-No. 304X)] Union Pacific Railroad Company--Abandonment Exemption--in Pocahontas County, IA Union Pacific Railroad Company (UP) has filed a verified notice of exemption under 49 CFR part 1152 subpart F--Exempt Abandonments to...

  18. 77 FR 51614 - Union Pacific Railroad Company-Abandonment Exemption-in Polk County, IA

    Science.gov (United States)

    2012-08-24

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. AB 33 (Sub-No. 310X)] Union Pacific Railroad Company--Abandonment Exemption--in Polk County, IA Union Pacific Railroad Company (UP) has filed a verified notice of exemption under 49 CFR part 1152 subpart F--Exempt Abandonments to...

  19. 76 FR 1211 - Union Pacific Railroad Company-Abandonment Exemption-In Wright County, IA

    Science.gov (United States)

    2011-01-07

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. AB 33 (Sub-No. 293X)] Union Pacific Railroad Company--Abandonment Exemption--In Wright County, IA Union Pacific Railroad Company (UP) filed a verified notice of exemption under 49 CFR 1152 subpart F--Exempt Abandonments to abandon a line...

  20. 75 FR 7302 - Union Pacific Railroad Company-Abandonment Exemption-in Polk County, IA

    Science.gov (United States)

    2010-02-18

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [STB Docket No. AB-33 (Sub-No. 248X)] Union Pacific Railroad Company--Abandonment Exemption--in Polk County, IA Union Pacific Railroad Company... 225.56 near Berwick to milepost 232.80 near Bondurant, a distance of 7.24 miles, in Polk County, IA...

  1. 75 FR 20874 - Union Pacific Railroad Company-Abandonment Exemption-in Orange County, CA

    Science.gov (United States)

    2010-04-21

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [STB Docket No. AB-33 (Sub-No. 281X)] Union Pacific Railroad Company--Abandonment Exemption--in Orange County, CA Union Pacific Railroad....65 near the City of Brea, in Orange County, CA. The line traverses United States Postal Service Zip...

  2. 76 FR 79271 - Genesee & Wyoming Inc.-Continuance in Control Exemption-Hilton & Albany Railroad, Inc.

    Science.gov (United States)

    2011-12-21

    ... Inc.--Continuance in Control Exemption-Hilton & Albany Railroad, Inc. AGENCY: Surface Transportation.... (GWI), a noncarrier, to continue in control of Hilton & Albany Railroad, Inc. (HAL), upon HAL's... Railway Company (NSR) and operation of a 55.5-mile rail line between Hilton and Albany, Ga.\\1\\ GWI's...

  3. 76 FR 77890 - Swan Ranch Railroad, L.L.C.-Operation Exemption-Swan Industrial Park

    Science.gov (United States)

    2011-12-14

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35574] Swan Ranch Railroad, L.L.C.--Operation Exemption--Swan Industrial Park Swan Ranch Railroad, L.L.C. (SRR),\\1\\ a noncarrier, has filed a verified notice of exemption under 49 CFR 1150.31 to operate, pursuant to an agreement with Cheyenne Logistics Hub, LLC (CLH), all...

  4. 75 FR 68861 - Miscellaneous Amendments to the Federal Railroad Administration's Accident/Incident Reporting...

    Science.gov (United States)

    2010-11-09

    ... regulation, FRA challenged the railroads to develop a Total Quality Management (TQM) system to have zero... the quality of information available for railroad casualty analysis. In addition, FRA has revised the... regulations in order to clarify ambiguous regulations and to enhance the quality of information available for...

  5. 30 CFR 56.9302 - Protection against moving or runaway railroad equipment.

    Science.gov (United States)

    2010-07-01

    ... 30 Mineral Resources 1 2010-07-01 2010-07-01 false Protection against moving or runaway railroad..., and Loading and Dumping Sites § 56.9302 Protection against moving or runaway railroad equipment. Stopblocks, derail devices, or other devices that protect against moving or runaway rail equipment shall be...

  6. 75 FR 76520 - Tennessee Southern Railroad Company, Patriot Rail, LLC, Patriot Rail Holdings LLC, and Patriot...

    Science.gov (United States)

    2010-12-08

    ... family by converting two of its subsidiaries from corporations into limited liability companies: (1... Railroad Company, Patriot Rail, LLC, Patriot Rail Holdings LLC, and Patriot Rail Corp.--Corporate Family... Railroad Company (TSRR), Patriot Rail, LLC (PRL) and its subsidiaries, Patriot Rail Holdings LLC (PRH) and...

  7. Application of template matching for improving classification of urban railroad point clouds

    NARCIS (Netherlands)

    Arastounia, M.; Oude Elberink, S.J.

    2016-01-01

    This study develops an integrated data-driven and model-driven approach (template matching) that clusters the urban railroad point clouds into three classes of rail track, contact cable, and catenary cable. The employed dataset covers 630 m of the Dutch urban railroad corridors in which there are

  8. 77 FR 74548 - North Shore Railroad Company-Acquisition and Operation Exemption-PPL Susquehanna, LLC

    Science.gov (United States)

    2012-12-14

    ... Railroad Company--Acquisition and Operation Exemption--PPL Susquehanna, LLC North Shore Railroad Company...., that PPL Susquehanna, LLC (PPLS), and Allegheny Electric Cooperative, Inc. (AEC), the owners of the... extends to an interchange with Norfolk Southern Railway. North Shore states that it provides the only...

  9. 75 FR 82426 - Big Four Terminal Railroad, LLC-Operation Exemption-RMW Ventures, LLC

    Science.gov (United States)

    2010-12-30

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35454] Big Four Terminal Railroad, LLC--Operation Exemption--RMW Ventures, LLC Big Four Terminal Railroad, LLC (BFTR), has filed a verified notice of exemption under 49 CFR 1150.31 to operate over 5.2 +/- miles of rail line between...

  10. 75 FR 47650 - Actuarial Advisory Committee With Respect to the Railroad Retirement Account; Notice of Public...

    Science.gov (United States)

    2010-08-06

    ... Chief Actuary of the U.S. Railroad Retirement Board, 844 North Rush Street, Chicago, Illinois, on the... sent by the Chief Actuary to the Committee before the meeting. The meeting will be open to the public... communications or notices to the RRB Actuarial Advisory Committee, c/o Chief Actuary, U.S. Railroad Retirement...

  11. 76 FR 13445 - Lycoming Valley Railroad Company-Operation Exemption-SEDA-COG Joint Rail Authority

    Science.gov (United States)

    2011-03-11

    ... Railroad Company-Operation Exemption--SEDA--COG Joint Rail Authority Lycoming Valley Railroad Company (LVRR... milepost 0.4 in Muncy, Lycoming County, Pa. The line is owned or leased by SEDA-COG Joint Rail Authority (SEDA-COG). LVRR states that the line it proposes to operate is an extension of its existing line of...

  12. 76 FR 13446 - Juniata Valley Railroad Company-Operation Exemption-SEDA-COG Joint Rail Authority

    Science.gov (United States)

    2011-03-11

    ... Railroad Company-Operation Exemption-SEDA-COG Joint Rail Authority Juniata Valley Railroad Company (JVRR... milepost 2.0 in Lewistown, Mifflin County, Pa. The line is owned or leased by SEDA-COG Joint Rail Authority (SEDA-COG). JVRR states that the line it proposes to operate is an extension of its existing line of...

  13. 76 FR 13445 - North Shore Railroad Company-Operation Exemption-SEDA-COG Joint Rail Authority

    Science.gov (United States)

    2011-03-11

    ... Railroad Company-Operation Exemption-SEDA-COG Joint Rail Authority North Shore Railroad Company (NSRR), a... milepost 2.0 in Berwick, Columbia County, Pa. The line is leased by SEDA-COG Joint Rail Authority (SEDA- COG). NSRR states that the line it proposes to operate is an extension of its existing line of...

  14. 78 FR 55776 - Hainesport Industrial Railroad, LLC-Corporate Family Transaction Exemption

    Science.gov (United States)

    2013-09-11

    ... Industrial Railroad, LLC--Corporate Family Transaction Exemption Hainesport Industrial Railroad, LLC... operates a series of tracks serving several customers located in the Hainesport Industrial Park in... the competitive balance with carriers outside the corporate family. Under 49 U.S.C. 10502(g), the...

  15. 78 FR 33754 - Railroad Workplace Safety; Adjacent-Track On-Track Safety for Roadway Workers

    Science.gov (United States)

    2013-06-05

    ...-0059, Notice No. 7] RIN 2130-AC37 Railroad Workplace Safety; Adjacent-Track On-Track Safety for Roadway... and comments raised a number of substantive issues requiring a detailed response. As FRA's response to... INFORMATION: On November 30, 2011, FRA published a final rule amending its regulations on railroad workplace...

  16. 77 FR 13978 - Railroad Workplace Safety; Adjacent-Track On-Track Safety for Roadway Workers

    Science.gov (United States)

    2012-03-08

    ...-0059, Notice No. 5] RIN 2130-AB96 Railroad Workplace Safety; Adjacent-Track On-Track Safety for Roadway... that raise a number of substantive issues requiring a detailed response. Accordingly, in order to...: On November 30, 2011, FRA published a final rule amending its regulations on railroad workplace...

  17. 76 FR 8992 - National Trails System Act and Railroad Rights-of-Way

    Science.gov (United States)

    2011-02-16

    ...] National Trails System Act and Railroad Rights-of-Way AGENCY: Surface Transportation Board, DOT. ACTION... procedures regarding the use of railroad rights-of-way for railbanking and interim trail use under the National Trails System Act (Trails Act). DATES: Comments are due by April 12, 2011; replies are due by May...

  18. The coal-fired gas turbine locomotive - A new look

    Science.gov (United States)

    Liddle, S. G.; Bonzo, B. B.; Purohit, G. P.

    1983-01-01

    Advances in turbomachine technology and novel methods of coal combustion may have made possible the development of a competitive coal fired gas turbine locomotive engine. Of the combustor, thermodynamic cycle, and turbine combinations presently assessed, an external combustion closed cycle regenerative gas turbine with a fluidized bed coal combustor is judged to be the best suited for locomotive requirements. Some merit is also discerned in external combustion open cycle regenerative systems and internal combustion open cycle regenerative gas turbine systems employing a coal gasifier. The choice of an open or closed cycle depends on the selection of a working fluid and the relative advantages of loop pressurization, with air being the most attractive closed cycle working fluid on the basis of cost.

  19. The Perceived Naturalness of Virtual Walking Speeds during WIP Locomotion

    DEFF Research Database (Denmark)

    Nilsson, Niels Chr.; Serafin, Stefania; Nordahl, Rolf

    2016-01-01

    It is well established that individuals tend to underestimate visually presented walking speeds when relying on treadmills for virtual walking. However, prior to the present studies this perceptual distortion had not been observed in relation to Walking-in-Place (WIP) locomotion, and a number...... to how gait cycle characteristics, visual display properties, and methodological differences affect speed underestimation during treadmill and WIP locomotion. The studies suggested the following: A significant main effect was found for step frequency; both display and geometric field of view were...... inversely proportional to the degree of underestimation; varying degrees of peripheral occlusion and increased HMD weight did not yield significant main effects; and the choice of method (i.e., how the speeds were presented) had a significant effect on the upper and lower bounds of what speeds were...

  20. Nonlinear control methods for planar carangiform robot fish locomotion

    OpenAIRE

    Morgansen, Kristi A.; Duindam, Vincent; Mason, Richard J.; Burdick, Joel W.; Murray, Richard M.

    2001-01-01

    Considers the design of motion control algorithms for robot fish. We present modeling, control design, and experimental trajectory tracking results for an experimental planar robotic fish system that is propelled using carangiform-like locomotion. Our model for the fish's propulsion is based on quasi-steady fluid flow. Using this model, we propose gaits for forward and turning trajectories and analyze system response under such control strategies. Our models and predictions are verified by ex...

  1. Performance analysis of jump-gliding locomotion for miniature robotics.

    Science.gov (United States)

    Vidyasagar, A; Zufferey, Jean-Christohphe; Floreano, Dario; Kovač, M

    2015-03-26

    Recent work suggests that jumping locomotion in combination with a gliding phase can be used as an effective mobility principle in robotics. Compared to pure jumping without a gliding phase, the potential benefits of hybrid jump-gliding locomotion includes the ability to extend the distance travelled and reduce the potentially damaging impact forces upon landing. This publication evaluates the performance of jump-gliding locomotion and provides models for the analysis of the relevant dynamics of flight. It also defines a jump-gliding envelope that encompasses the range that can be achieved with jump-gliding robots and that can be used to evaluate the performance and improvement potential of jump-gliding robots. We present first a planar dynamic model and then a simplified closed form model, which allow for quantification of the distance travelled and the impact energy on landing. In order to validate the prediction of these models, we validate the model with experiments using a novel jump-gliding robot, named the 'EPFL jump-glider'. It has a mass of 16.5 g and is able to perform jumps from elevated positions, perform steered gliding flight, land safely and traverse on the ground by repetitive jumping. The experiments indicate that the developed jump-gliding model fits very well with the measured flight data using the EPFL jump-glider, confirming the benefits of jump-gliding locomotion to mobile robotics. The jump-glide envelope considerations indicate that the EPFL jump-glider, when traversing from a 2 m height, reaches 74.3% of optimal jump-gliding distance compared to pure jumping without a gliding phase which only reaches 33.4% of the optimal jump-gliding distance. Methods of further improving flight performance based on the models and inspiration from biological systems are presented providing mechanical design pathways to future jump-gliding robot designs.

  2. Using Computational and Mechanical Models to Study Animal Locomotion

    OpenAIRE

    Miller, Laura A.; Goldman, Daniel I.; Hedrick, Tyson L.; Tytell, Eric D.; Wang, Z. Jane; Yen, Jeannette; Alben, Silas

    2012-01-01

    Recent advances in computational methods have made realistic large-scale simulations of animal locomotion possible. This has resulted in numerous mathematical and computational studies of animal movement through fluids and over substrates with the purpose of better understanding organisms’ performance and improving the design of vehicles moving through air and water and on land. This work has also motivated the development of improved numerical methods and modeling techniques for animal locom...

  3. Markerless 3D motion capture for animal locomotion studies

    OpenAIRE

    William Irvin Sellers; Eishi Hirasaki

    2014-01-01

    ABSTRACT Obtaining quantitative data describing the movements of animals is an essential step in understanding their locomotor biology. Outside the laboratory, measuring animal locomotion often relies on video-based approaches and analysis is hampered because of difficulties in calibration and often the limited availability of possible camera positions. It is also usually restricted to two dimensions, which is often an undesirable over-simplification given the essentially three-dimensional na...

  4. Improved Usability of Locomotion Devices Using Human-Centric Taxonomy

    Science.gov (United States)

    2009-03-01

    the classification of interaction devices by the limbs used in the interaction rather than by arbitrary classifications, such as “ wand ”, or “glove...ABILITY REQUIREMENTS ANALYSIS USING F-JAS In Tables 5 through 8, we took the results of a sample HAR analysis done by Cockayne and Darken [13] comparing...point less than natural locomotion in all categories except for explosive strength, in which it receives 2 less points. 2. Decelerate from Walk or Jog

  5. Sustained periodic terrestrial locomotion in air-breathing fishes.

    Science.gov (United States)

    Pace, C M; Gibb, A C

    2014-03-01

    While emergent behaviours have long been reported for air-breathing osteichthyians, only recently have researchers undertaken quantitative analyses of terrestrial locomotion. This review summarizes studies of sustained periodic terrestrial movements by air-breathing fishes and quantifies the contributions of the paired appendages and the axial body to forward propulsion. Elongate fishes with axial-based locomotion, e.g. the ropefish Erpetoichthys calabaricus, generate an anterior-to-posterior wave of undulation that travels down the axial musculoskeletal system and pushes the body against the substratum at multiple points. In contrast, appendage-based locomotors, e.g. the barred mudskipper Periophthalmus argentilineatus, produce no axial bending during sustained locomotion, but instead use repeated protraction-retraction cycles of the pectoral fins to elevate the centre of mass and propel the entire body anteriorly. Fishes that use an axial-appendage-based mechanism, e.g. walking catfishes Clarias spp., produce side-to-side, whole-body bending in co-ordination with protraction-retraction cycles of the pectoral fins. Once the body is maximally bent to one side, the tail is pressed against the substratum and drawn back through the mid-sagittal plane, which elevates the centre of mass and rotates it about a fulcrum formed by the pectoral fin and the ground. Although appendage-based terrestrial locomotion appears to be rare in osteichthyians, many different species appear to have converged upon functionally similar axial-based and axial-appendage-based movements. Based on common forms observed across divergent taxa, it appears that dorsoventral compression of the body, elongation of the axial skeleton or the presence of robust pectoral fins can facilitate effective terrestrial movement by air-breathing fishes. © 2014 The Fisheries Society of the British Isles.

  6. The role of vortices in animal locomotion in fluids

    Directory of Open Access Journals (Sweden)

    Dvořák R.

    2014-12-01

    Full Text Available The aim of this paper is to show the significance of vortices in animal locomotion in fluids on two deliberately chosen examples. The first example concerns lift generation by bird and insect wings, the second example briefly mentiones swimming and walking on water. In all the examples, the vortices generated by the moving animal impart the necessary momentum to the surrounding fluid, the reaction to which is the force moving or lifting the animal.

  7. Equilibrium Condition during Locomotion and Gait in Broiler Chickens

    Directory of Open Access Journals (Sweden)

    MCF Alves

    Full Text Available ABSTRACT The experiment was carried out with the objective of evaluating a methodology to estimate the angulation and equilibrium condition, relating them to gait score and the main diseases of the locomotion system in males and females of commercial broiler strains. A completely randomized experimental design in a factorial arrangement (2x2 was applied, consisting of two sexes and two genetic strains, with five replicates of 53 chickens each. The following characteristics related to broiler locomotion were studied: gait score (GS; incidence of Valgus (VAL and Varus (VAR deformities and of pododermatitis (POD; body angle relative the ground (ANG; equilibrium condition (EC; body weight (BW and breast weight (BrW; and incidence of femoral degeneration (FD, tibial dyschondroplasia (TD and spondylolisthesis (SPO. GS, and VAL and VAR were assessed inside a broiler house. Birds were then photographed to estimate ANG and EC. Birds were sacrificed at 42 days of age and analyzed for FD, TD, and SPO. Breast percentage was not influenced by sex or strain. Males showed better ANG than females, regardless of strain. Overall, the strains studied showed prostrated EC. The correlation between GS and the evaluated traits was low. There was a moderate to high association between EC and ANG both in males and females. GS showed low correlation with locomotion problems, and therefore, it is a poor indicator of skeletal diseases. On the other hand, the moderate to high correlations of ANG and EC with locomotion problems make them better indicators of bone diseases than gait score, which is possibly more related to EC and body posture than to bone pathologies.

  8. Full-scale locomotive dynamic crash testing and correlations : locomotive consist colliding with steel coil truck at grade crossing (test 3).

    Science.gov (United States)

    2011-09-01

    This report presents the test results and finite element correlations of a full-scale dynamic collision between a locomotive and a highway truck loaded with two heavy steel coils. The locomotive consist was moving at 58 miles per hour before it struc...

  9. Control method for biped locomotion robots based on ZMP information

    International Nuclear Information System (INIS)

    Kume, Etsuo

    1994-01-01

    The Human Acts Simulation Program (HASP) started as a ten year program of Computing and Information Systems Center (CISC) at Japan Atomic Energy Research Institute (JAERI) in 1987. A mechanical design study of biped locomotion robots for patrol and inspection in nuclear facilities is being performed as an item of the research scope. One of the goals of our research is to design a biped locomotion robot for practical use in nuclear facilities. So far, we have been studying for several dynamic walking patterns. In conventional control methods for biped locomotion robots, the program control is used based on preset walking patterns, so it dose not have the robustness such as a dynamic change of walking pattern. Therefore, a real-time control method based on dynamic information of the robot states is necessary for the high performance of walking. In this study a new control method based on Zero Moment Point (ZMP) information is proposed as one of real-time control methods. The proposed method is discussed and validated based on the numerical simulation. (author)

  10. The aspect of vector control using the asynchronous traction motor in locomotives

    Directory of Open Access Journals (Sweden)

    L. Liudvinavičius

    2009-12-01

    Full Text Available The article examines curves controlling asynchronous traction motors increasingly used in locomotive electric drives the main task of which is to create a tractive effort-speed curve of an ideal locomotive Fk = f(v, including a hyperbolic area the curve of which will create conditions showing that energy created by the diesel engine of diesel locomotives (electric locomotives and in case of electric trains, electricity taken from the contact network over the entire range of locomotive speed is turned into efficient work. Mechanical power on wheel sets is constant Pk = Fkv = const, the power of the diesel engine is fully used over the entire range of locomotive speed. Tractive effort-speed curve Fk(v shows the dependency of locomotive traction power Fk on movement speed v. The article presents theoretical and practical aspects relevant to creating the structure of locomotive electric drive and selecting optimal control that is especially relevant to creating the structure of locomotive electric drive using ATM (asynchronous traction motor that gains special popularity in traction rolling stock replacing DC traction motors having low reliability. The frequency modes of asynchronous motor speed regulation are examined. To control ATM, the authors suggest the method of vector control presenting the structural schemes of a locomotive with ATM and control algorithm.

  11. 26 CFR 31.6302(c)-2A - Use of Government depositaries in connection with the railroad unemployment repayment tax.

    Science.gov (United States)

    2010-04-01

    ... with the railroad unemployment repayment tax. 31.6302(c)-2A Section 31.6302(c)-2A Internal Revenue...) § 31.6302(c)-2A Use of Government depositaries in connection with the railroad unemployment repayment...,000,000, such employer shall (except as provided below) deposit his undeposited railroad unemployment...

  12. 77 FR 72907 - Western Washington Railroad, LLC-Lease and Operation Exemption-City of Tacoma, Department of...

    Science.gov (United States)

    2012-12-06

    ..., 2012, Western Washington Railroad, LLC (WWRR), a Washington limited liability company and noncarrier... allow for interchange with WWRR, BNSF Railway Company, the Puget Sound and Pacific Railroad, and Union Pacific Railroad Company, and also over the entire line for emergency routing. WWRR states that the...

  13. 77 FR 31067 - Cleveland Commercial Railroad Company, LLC-Continuance in Control Exemption-Cleveland Harbor Belt...

    Science.gov (United States)

    2012-05-24

    ... becoming a Class III rail carrier. CCR has established CHB as a limited liability company and has the... Commercial Railroad Company, LLC--Continuance in Control Exemption--Cleveland Harbor Belt Railroad Cleveland Commercial Railroad Company, LLC (CCR), a Class III rail carrier, has filed a verified notice of exemption...

  14. Análisis comparativo del mantenimiento para locomotoras diesel y de vapor // Comparative analysis of the Maintenance for Diesel and Steam Locomotives.

    Directory of Open Access Journals (Sweden)

    C. M. Rodríguez Gil

    2000-03-01

    Full Text Available El mundo globalizado no afecta por igual a todos los países del orbe. En las circunstancias actuales que tiene el ferrocarrilde la primera industria de la República de Cuba: ausencia de piezas de repuesto y limitaciones de recursos de combustible,surge la necesidad de estudiar nuevas fuentes motrices o potenciar la utilización de locomotoras a vapor, introducidas en elpaís desde 1837.La decisión de incrementar la participación de las locomotoras a vapor depende de múltiples factores quedeben ser analizados individualmente e integrados posteriormente en un análisis sistémico. Dentro de estos factores seencuentra, jugando un papel fundamental, el mantenimiento técnico y sus costos. El trabajo tiene como objetivo central elestudio comparativo de los costos por mantenimiento entre parques similares de locomotoras con tracción diesel y devapor. Este estudio forma parte de un proyecto nacional conocido como “Prometeo” encaminado a estudiar la factibilidadde la utilización masiva de las locomotoras a vapor en la industria azucarera. Para realizar el estudio se trabajó en varioscomplejos agro-industriales durante tres zafras azucareras, permitiendo llegar a recomendaciones.Palabras claves: Mantenimiento, locomotoras, costos._____________________________________________________________________________AbstractThe globalized world doesn't affect equally to all the countries. In the current circumstances the railroad of the first industry ofCuba, that is: lack of spare parts limitations of fuel, arises the necessity of the study of new motion sources or to analyze the useof steam locomotives, introduced in the country since 1837.The decision of increasing the participation of these machinesdepends on multiple factors that should be analyzed individually and later integrated in a systemic analysis. The technicalmaintenance and their costs are playing a main paper The work have as objective a comparative study of costs for maintenancebetween

  15. Locomotion training of legged robots using hybrid machine learning techniques

    Science.gov (United States)

    Simon, William E.; Doerschuk, Peggy I.; Zhang, Wen-Ran; Li, Andrew L.

    1995-01-01

    In this study artificial neural networks and fuzzy logic are used to control the jumping behavior of a three-link uniped robot. The biped locomotion control problem is an increment of the uniped locomotion control. Study of legged locomotion dynamics indicates that a hierarchical controller is required to control the behavior of a legged robot. A structured control strategy is suggested which includes navigator, motion planner, biped coordinator and uniped controllers. A three-link uniped robot simulation is developed to be used as the plant. Neurocontrollers were trained both online and offline. In the case of on-line training, a reinforcement learning technique was used to train the neurocontroller to make the robot jump to a specified height. After several hundred iterations of training, the plant output achieved an accuracy of 7.4%. However, when jump distance and body angular momentum were also included in the control objectives, training time became impractically long. In the case of off-line training, a three-layered backpropagation (BP) network was first used with three inputs, three outputs and 15 to 40 hidden nodes. Pre-generated data were presented to the network with a learning rate as low as 0.003 in order to reach convergence. The low learning rate required for convergence resulted in a very slow training process which took weeks to learn 460 examples. After training, performance of the neurocontroller was rather poor. Consequently, the BP network was replaced by a Cerebeller Model Articulation Controller (CMAC) network. Subsequent experiments described in this document show that the CMAC network is more suitable to the solution of uniped locomotion control problems in terms of both learning efficiency and performance. A new approach is introduced in this report, viz., a self-organizing multiagent cerebeller model for fuzzy-neural control of uniped locomotion is suggested to improve training efficiency. This is currently being evaluated for a possible

  16. Association of Mode of Locomotion and Independence in Locomotion With Long-Term Outcomes After Spinal Cord Injury

    Science.gov (United States)

    Krause, James; Carter, Rickey E; Brotherton, Sandra

    2009-01-01

    Background/Objective: To explore the association of mode of locomotion (ambulation vs wheelchair use) and independence in locomotion (independent vs require assistance) with health, participation, and subjective well-being (SWB) after spinal cord injury (SCI). Research Design: Secondary analysis was conducted on survey data collected from 2 rehabilitation hospitals in the Midwest and a specialty hospital in the southeastern United States. The 1,493 participants were a minimum of 18 years of age and had traumatic SCI of at least 1 year duration at enrollment. Main Outcome Measures: Three sets of outcome measures were used: SWB, participation, and health. SWB was measured by 8 scales and a measure of depressive symptoms, participation by 3 items, health by general health ratings, days in poor health, hospitalizations, and treatments. Results: Small but significant associations were observed between independence in locomotion and every outcome. Ambulation was associated with greater participation but a mixed pattern of favorable and unfavorable health and SWB outcomes. Supplemental analyses were conducted on those who ambulated but who were dependent on others to do so (n = 117), because this group reported poor outcomes in several areas. Individuals who were independent in wheelchair use reported substantially better outcomes than nonwheelchair users and those dependent on others in wheelchair use. Conclusions: Although ambulation is often a recovery goal, individuals with SCI who ambulate do not uniformly report better outcomes than wheelchair users, and those who depend on others for assistance with ambulation may experience a unique set of problems. PMID:19810625

  17. Sensing and Rating of Vehicle–Railroad Bridge Collision

    DEFF Research Database (Denmark)

    Vemuganti, Shreya; Ozdagli, Ali I.; Liu, Bideng

    2017-01-01

    Overhead collisions of trucks with low-clearance railway bridges cause more than half of the railway traffic interruptions over bridges in the United States. Railroad owners are required to characterize the damage caused by such events and assess the safety of subsequent train crossings. However...... and remotely quantify damage. This research proposes an impact rating strategy based on the information that best describes the consequences of vehicle-railway bridge collisions. A series of representative impacts were simulated using numerical finite element models of a steel railway bridge. Railway owners...... provided information about the bridge and impact characterization based on railway industry experience. The resulting nonlinear dynamic responses were evaluated with the proposed rating strategy to assess the effect of these impacts. In addition, a neural network methodology was implemented on a simplified...

  18. Motorneurons dedicated to either forward or backward locomotion in the nematode C. elegans

    OpenAIRE

    Haspel, Gal; O'Donovan, Michael J.; Hart, Anne C.

    2010-01-01

    Multifunctional motorneurons and muscles, which are active during forward and backward locomotion and driven by common central pattern generators, are ubiquitous in animal models. However, studies in the nematode Caenorhabditis elegans suggest that some locomotor motorneurons are necessary only for forward locomotion (dorsal B-motorneurons, DB) while others (dorsal A-motorneurons, DA) are necessary only for backward locomotion. We tested this hypothesis directly by recording the activity of t...

  19. On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

    International Nuclear Information System (INIS)

    Asnafi, Alireza; Mahzoon, Mojtaba

    2011-01-01

    Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

  20. On designing geometric motion planners to solve regulating and trajectory tracking problems for robotic locomotion systems

    Energy Technology Data Exchange (ETDEWEB)

    Asnafi, Alireza [Hydro-Aeronautical Research Center, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of); Mahzoon, Mojtaba [Department of Mechanical Engineering, School of Engineering, Shiraz University, Shiraz, 71348-13668 (Iran, Islamic Republic of)

    2011-09-15

    Based on a geometric fiber bundle structure, a generalized method to solve both regulation and trajectory tracking problems for locomotion systems is presented. The method is especially applied to two case studies of robotic locomotion systems; a three link articulated fish-like robot as a prototype of locomotion systems with symmetry, and the snakeboard as a prototype of mixed locomotion systems. Our results show that although these motion planners have an open loop structure, due to their generalities, they can steer case studies with negligible errors for almost any complicated path.

  1. INFLUENCE OF ROLLING STOCK VIBROACOUSTICAL PARAMETERS ON THE CHOICE OF RATIONAL VALUES OF LOCOMOTIVE RUNNING GEAR

    Directory of Open Access Journals (Sweden)

    Yu. V. Zelenko

    2016-06-01

    Full Text Available Purpose.The success of the traffic on the railways of Ukraine depends on the number and the operational fleet of electric locomotives. Today, the locomotive depot exploit physically and morally outdated locomotives that have low reliability. Modernization of electric locomotives is not economically justified. The aim of this study is to improve the safety of the traction rolling stock by the frequency analysis of dynamical systems, which allows conducting the calculation of the natural (of resonant frequencies of the design and related forms of vibrations.Methodology.The study was conducted by methods of analytical mechanics and mathematical modeling of operating loads of freight locomotive when driving at different speeds on the straight and curved track sections. The theoretical value of the work is the technique of choice of constructive schemes and rational parameters of perspective electric locomotive taking into account the electric inertia ratios and stiffness coefficients of Lagrange second-order equations.Findings. The problems of theoretical research and the development of a mathematical model of the spatial electric vibrations are solved. The theoretical studies of the effect of inertia ratios and stiffness coefficients on the dynamic values and the parameter values of electric locomotive undercarriages are presented.Originality.The set of developed regulations and obtained results is a practical solution to selecting rational parameters of bogies of the freight mainline locomotive for railways of Ukraine. A concept of choice of constructive scheme and rational parameters of perspective locomotive is formulated. It is developed the method of calculation of spatial electric locomotive oscillations to determine its dynamic performance. The software complex for processing the data of experimental studies of dynamic parameters of electric locomotive and comparing the results of the theoretical calculations with the data of full

  2. Reconsidering the Underground Railroad: Slavery and Racialization in the Making of the Canadian State

    OpenAIRE

    Abigail Bakan

    2008-01-01

    The Underground Railroad is commonly understood as a defining moment in the ideology of the Canadian state regarding the legacy of racism and anti-racism. This paper attempts to recast the narrative of the Underground Railroad through the lens of an anti-imperialist, anti-racist political economy, departing from the view of Canada’s anti-racist rescue of fugitive slaves from racist America. The Underground Railroad was in fact the product primarily of the struggle for self-emancipation of Ame...

  3. Support afferentation in the posture and locomotion control system

    Science.gov (United States)

    Grigoriev, Anatoly; Tomilovskaya, Elena; Kozlovskaya, Inesa

    Mechanisms of support afferentation contribution in posture and locomotion control, which were uncertain up to now, became the point of intensive studies recently. This became possible since the space flights era started which created the conditions for simulated microgravity experiments under conditions of dry immersion and bedrest. The results of neurophysiological studies performed under the conditions of supportlessness have shown that decline or elimination of support loads is followed by deep and fast developing alterations in postural tonic system, including development of postural muscle atonia, changes of recruitment order of motoneurons innervating the shin muscles, spinal hyperreflexia development etc. (Kozlovskaya I.B. et al., 1987). It has been also shown that application of artificial support stimulation in the regimen of natural locomotion under these conditions decreases significantly or even eliminates the development of mentioned changes. The results of these studies laid down the basis for a new hypothesis on the trigger role of support afferentation in postural tonic system and its role in organization and control of postural synergies (Grigoriev A.I. et al., 2004). According to this hypothesis the muscle reception is considered to be the leading afferent input in the control of locomotion. However the data of recent studies pointed out strongly to the participation of support afferentation in definition of cognitive strategies and motor programs of locomotor movements (Chernikova L.A. et al., 2013) and, consequently, in the processes of their initiation (Gerasimenko Yu.P. et al., 2012). The cortical locomotor reflex composes apparently the basis of these processes. The receptive field of this reflex is located in the support zones of the soles and the central part is located in the posterior parietal areas (IPL) of brain cortex. The study is supported by RFBR grant N 13-04-12091 OFI-m.

  4. Sexuality of Disabled Athletes Depending on the Form of Locomotion

    Directory of Open Access Journals (Sweden)

    Plinta Ryszard

    2015-12-01

    Full Text Available The main purpose of this study was to determine sexuality of disabled athletes depending on the form of locomotion. The study included 170 disabled athletes, aged between 18 and 45. The entire population was divided into 3 research groups depending on the form of locomotion: moving on wheelchairs (n=52, on crutches (n=29 and unaided (n=89. The research tool was a questionnaire voluntarily and anonymously completed by the respondents of the research groups. The questionnaire was composed of a general part concerning the socio-demographic conditions, medical history, health problems, a part dedicated to physical disability as well as the Polish version of the International Index of Erectile Function (IIEF and the Female Sexual Function Index (FSFI evaluating sexual life. STATISTICA 10.0 for Windows was used in the statistical analysis. Subjects moving on crutches were significantly older than ones moving on wheelchairs and unaided (34.41 ±11.00 vs. 30.49 ±10.44 and 27.99 ±10.51 years, respectively (p=0.018. Clinically significant erectile dysfunctions were most often diagnosed in athletes moving on wheelchairs (70.27%, followed by athletes moving on crutches and moving unaided (60% and 35.42%, respectively; p=0.048. Clinical sexual dysfunctions were diagnosed on a similar level among all female athletes. It was concluded that the form of locomotion may determine sexuality of disabled men. Males on wheelchair revealed the worst sexual functioning. Female athletes moving on wheelchairs, on crutches and moving unaided were comparable in the aspect of their sexual life.

  5. Biomechanical Analysis of Treadmill Locomotion on the International Space Station

    Science.gov (United States)

    De Witt, J. K.; Fincke, R. S.; Guilliams, M. E.; Ploutz-Snyder, L. L.

    2011-01-01

    Treadmill locomotion exercise is an important aspect of ISS exercise countermeasures. It is widely believed that an optimized treadmill exercise protocol could offer benefits to cardiovascular and bone health. If training heart rate is high enough, treadmill exercise is expected to lead to improvements in aerobic fitness. If impact or bone loading forces are high enough, treadmill exercise may be expected to contribute to improved bone outcomes. Ground-based research suggests that joint loads increase with increased running speed. However, it is unknown if increases in locomotion speed results in similar increases in joint loads in microgravity. Although data exist regarding the biomechanics of running and walking in microgravity, a majority were collected during parabolic flight or during investigations utilizing a microgravity analog. The Second Generation Treadmill (T2) has been in use on the International Space Station (ISS) and records the ground reaction forces (GRF) produced by crewmembers during exercise. Biomechanical analyses will aid in understanding potential differences in typical gait motion and allow for modeling of the human body to determine joint and muscle forces during exercise. By understanding these mechanisms, more appropriate exercise prescriptions can be developed that address deficiencies. The objective of this evaluation is to collect biomechanical data from crewmembers during treadmill exercise prior to and during flight. The goal is to determine if locomotive biomechanics differ between normal and microgravity environments and to determine how combinations of subject load and speed influence joint loading during in-flight treadmill exercise. Further, the data will be used to characterize any differences in specific bone and muscle loading during locomotion in these two gravitational conditions. This project maps to the HRP Integrated Research Plan risks including Risk of Bone Fracture (Gap B15), Risk of Early Onset Osteoporosis Due to

  6. Human-robot interaction strategies for walker-assisted locomotion

    CERN Document Server

    Cifuentes, Carlos A

    2016-01-01

    This book presents the development of a new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation. The aim is to achieve a closer interaction between the robotic device and the individual, empowering the rehabilitation potential of such devices in clinical applications. A new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation is presented. Trends and opportunities for future advances in the field of assistive locomotion via the development of hybrid solutions based on the combination of smart walkers and biomechatronic exoskeletons are also discussed. .

  7. Optimization of the Hood of Diesel Electric Locomotive

    Directory of Open Access Journals (Sweden)

    Petr TOMEK

    2013-06-01

    Full Text Available The new construction of hood of diesel electric locomotive is analyzed in this paper. The whole construction is loaded by inertia effects caused by prescribed acceleration. The parts of the hood are subject to the standards for railway applications CSN EN 12663-1 [1]. Numerical analyses are performed by FEM computer program COSMOSWorks [2]. The original construction of hood is analyzed in first part of this paper. Structural changes are proposed in the next part of this article. Carrying capacity of the new construction of hood is verified by a numerical analysis. The results of the new construction are compared with the original construction of hood.

  8. Improvement of fuel injection system of locomotive diesel engine.

    Science.gov (United States)

    Li, Minghai; Cui, Hongjiang; Wang, Juan; Guan, Ying

    2009-01-01

    The traditional locomotive diesels are usually designed for the performance of rated condition and much fuel will be consumed. A new plunger piston matching parts of fuel injection pump and injector nozzle matching parts were designed. The experimental results of fuel injection pump test and diesel engine show that the fuel consumption rate can be decreased a lot in the most of the working conditions. The forced lubrication is adopted for the new injector nozzle matching parts, which can reduce failure rate and increase service life. The design has been patented by Chinese State Patent Office.

  9. Harriet Tubman and the Underground Railroad: A Drama Workshop for Junior High and High School Students.

    Science.gov (United States)

    Tabone, Carmine; Albrecht, Robert

    2000-01-01

    Claims drama in the classroom offers teachers an opportunity to "bring to life" the challenges and triumphs of African Americans. Describes a drama workshop based on the story of Harriet Tubman and the Underground Railroad. (NH)

  10. Railroad Rails Containing Electrode-Induced Pitting from Pressure Electric Welding

    Science.gov (United States)

    2018-04-18

    This paper describes the forensic evaluations of three railroad rails containing electrode-induced pitting. These evaluations include: magnetic particle inspection to nondestructively detect cracks emanating from the pitting; fractography to study th...

  11. Start time variability and predictability in railroad train and engine freight and passenger service employees.

    Science.gov (United States)

    2014-04-01

    Start time variability in work schedules is often hypothesized to be a cause of railroad employee fatigue because unpredictable work start times prevent employees from planning sleep and personal activities. This report examines work start time diffe...

  12. Campaign monitoring of railroad bridges in high-speed rail shared corridors using wireless smart sensors.

    Science.gov (United States)

    2015-06-01

    This research project used wireless smart sensors to develop a cost-effective and practical portable structural health monitoring : system for railroad bridges in North America. The system is designed for periodic deployment rather than as a permanen...

  13. 78 FR 66326 - Hazardous Materials: Rail Petitions and Recommendations To Improve the Safety of Railroad Tank...

    Science.gov (United States)

    2013-11-05

    ...: Rail Petitions and Recommendations To Improve the Safety of Railroad Tank Car Transportation (RRR) AGENCY: Pipeline and Hazardous Materials Safety Administration (PHMSA), DOT. ACTION: Advance Notice of... DEPARTMENT OF TRANSPORTATION Pipeline and Hazardous Materials Safety Administration 49 CFR Parts...

  14. Open access for freight railroads : worthwhile or wasteful disruption, final report.

    Science.gov (United States)

    2009-01-01

    This study compares the experience of the freight railroads in North America, Europe and : Australia with required access. Europe and Australia have pursued very different network access : strategies than the United States and Canada. Both the Europe...

  15. Transformation of safety culture on the San Antonio service unit of Union Pacific Railroad

    Science.gov (United States)

    2012-10-31

    The Federal Railroad Administration conducted a pilot demonstration of Clear Signal for Action (CSA), a risk reduction process : that combines peer-to-peer feedback, continuous improvement, and safety leadership development. An independent formative ...

  16. Probabilistic Approach to Conditional Probability of Release of Hazardous Materials from Railroad Tank Cars during Accidents

    Science.gov (United States)

    2009-10-13

    This paper describes a probabilistic approach to estimate the conditional probability of release of hazardous materials from railroad tank cars during train accidents. Monte Carlo methods are used in developing a probabilistic model to simulate head ...

  17. 76 FR 50326 - Regional Rail, LLC-Continuance in Control Exemption-Tyburn Railroad, LLC

    Science.gov (United States)

    2011-08-12

    .... Regional is a Delaware limited liability company that currently controls 2 Class III railroads, East Penn... Company and operate approximately 0.9 miles of rail lines in Morrisville, Pa. The parties intend to...

  18. Prevention of Roller Bearing-Initiated Burnoffs in Railroad Freight Car Journals

    Science.gov (United States)

    1979-01-01

    The objective of this program was to determine the technical feasibility and cost effectiveness of constructing three separate devices for the prevention of catastrophic roller bearing-initiated, railroad journal failure. 1. Construction of a low cos...

  19. Demographic profile of intentional fatalities on railroad rights-of-way in the United States.

    Science.gov (United States)

    2013-08-01

    One of the Federal Railroad Administrations (FRA) primary safety concerns is trespassing on railway rights-of-way. Some trespasser events end as fatalities which can be intentional or unintentional. This project reviews available trespasser data t...

  20. Fire modeling for Building 221-T - T Plant Canyon Deck and Railroad Tunnel

    International Nuclear Information System (INIS)

    Oar, D.L.

    1994-01-01

    This report was prepared by Hughes Associates, Inc. to document the results of fire models for building 221-T Canyon Deck and Railroad Tunnel. Backup data is contained in document No. WHC-SD-CP-ANAL-010, Rev. 0

  1. Study of RF Propagation Characteristics for Wireless Sensor Networks in Railroad Environments

    Science.gov (United States)

    2010-01-01

    The freight railroad industry in North America is exerting efforts to leverage Wireless Sensor Networks to monitor systems and components on railcars. This allows fault detection and accident prevention even while a train is moving. Railcars, constru...

  2. INEQUALITIES RESEARCH OF THE TRACK AT THE RAILROAD CROSSINGS

    Directory of Open Access Journals (Sweden)

    M. B. Kurhan

    2015-08-01

    Full Text Available Purpose. The intersection of highways and railways in one level – railway crossing, is a zone of increased danger for rail and road transport. Nearly half of all crossings are available on the main directions of passenger transportation. From this comes the problem of maintenance and service locations of intersection roads and railways. The purpose of this work is to evaluate the processes of emergence and development of inequalities in the area of railroad crossings and identify the factors that cause them. Methodology. The presence of derogation from the plan and profile within the railway crossing and approaches to it reduces evenness of riding and passenger comfort. Today, there are various possibilities for shooting natural geometry of a railway track. For research on a large number of areas during long service life, the tape of a track measuring car remains the most convenient. However, this tool is directed to assess the state of the railway line and does not determine the exact geometrical position. When trying to determine valid outlines of the track inequalities on track measuring tape, some difficulties arise. Findings. Performed statistical analysis showed a steady trend of growth of inequalities in the area of the railway crossings. Generally, the level of inequalities in the vertical plane increases in1.3−3.2 times and in 1.2−2.0 times in the horizontal plane (compared with areas that are outside crossing. During the deflection lines of action in the area of railroad crossing concrete slabs work as ribs that limit deflections of rail-tie grating. When placing the wheels of the bogie before (or after and within crossing the calculated modulus of elasticity under the rail base, brought to the point of wheels contact can vary up to 3 times. Originality. Issues of the assessment and investigation of inequalities on track started to be developed. The resulting statistics on inequalities accumulation gauge in the zone of crossing

  3. Computer-Based Decision Support for Railroad Transportation Systems: an Investment Case Study

    Directory of Open Access Journals (Sweden)

    Luminita DUTA

    2009-01-01

    Full Text Available In the last decade the development of the economical and social life increased the complexity of transportation systems. In this context, the role of Decision Support Systems (DSS became more and more important. The paper presents the characteristics, necessity, and usage of DSS in transportation and describes a practical application in the railroad field. To compute the optimal transportation capacity and flow on a certain railroad, specialized decision-support software which is available on the market was used.

  4. Contact enhancement of locomotion in spreading cell colonies

    Science.gov (United States)

    D'Alessandro, Joseph; Solon, Alexandre P.; Hayakawa, Yoshinori; Anjard, Christophe; Detcheverry, François; Rieu, Jean-Paul; Rivière, Charlotte

    2017-10-01

    The dispersal of cells from an initially constrained location is a crucial aspect of many physiological phenomena, ranging from morphogenesis to tumour spreading. In such processes, cell-cell interactions may deeply alter the motion of single cells, and in turn the collective dynamics. While contact phenomena like contact inhibition of locomotion are known to come into play at high densities, here we focus on the little explored case of non-cohesive cells at moderate densities. We fully characterize the spreading of micropatterned colonies of Dictyostelium discoideum cells from the complete set of individual trajectories. From data analysis and simulation of an elementary model, we demonstrate that contact interactions act to speed up the early population spreading by promoting individual cells to a state of higher persistence, which constitutes an as-yet unreported contact enhancement of locomotion. Our findings also suggest that the current modelling paradigm of memoryless active particles may need to be extended to account for the history-dependent internal state of motile cells.

  5. Hybrid magnetic mechanism for active locomotion based on inchworm motion

    International Nuclear Information System (INIS)

    Kim, Sung Hoon; Hashi, Shuichiro; Ishiyama, Kazushi

    2013-01-01

    Magnetic robots have been studied in the past. Insect-type micro-robots are used in various biomedical applications; researchers have developed inchworm micro-robots for endoscopic use. A biological inchworm has a looping locomotion gait. However, most inchworm micro-robots depend on a general bending, or bellows, motion. In this paper, we introduce a new robotic mechanism using magnetic force and torque control in a rotating magnetic field for a looping gait. The proposed robot is controlled by the magnetic torque, attractive force, and body mechanisms (two stoppers, flexible body, and different frictional legs). The magnetic torque generates a general bending motion. In addition, the attractive force and body mechanisms produce the robot’s looping motion within a rotating magnetic field and without the use of an algorithm for field control. We verified the device’s performance and analyzed the motion through simulations and various experiments. The robot mechanism can be applied to active locomotion for various medical robots, such as wireless endoscopes. (technical note)

  6. Controlling legs for locomotion-insights from robotics and neurobiology.

    Science.gov (United States)

    Buschmann, Thomas; Ewald, Alexander; von Twickel, Arndt; Büschges, Ansgar

    2015-06-29

    Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

  7. Differences in gaze anticipation for locomotion with and without vision

    Science.gov (United States)

    Authié, Colas N.; Hilt, Pauline M.; N'Guyen, Steve; Berthoz, Alain; Bennequin, Daniel

    2015-01-01

    Previous experimental studies have shown a spontaneous anticipation of locomotor trajectory by the head and gaze direction during human locomotion. This anticipatory behavior could serve several functions: an optimal selection of visual information, for instance through landmarks and optic flow, as well as trajectory planning and motor control. This would imply that anticipation remains in darkness but with different characteristics. We asked 10 participants to walk along two predefined complex trajectories (limaçon and figure eight) without any cue on the trajectory to follow. Two visual conditions were used: (i) in light and (ii) in complete darkness with eyes open. The whole body kinematics were recorded by motion capture, along with the participant's right eye movements. We showed that in darkness and in light, horizontal gaze anticipates the orientation of the head which itself anticipates the trajectory direction. However, the horizontal angular anticipation decreases by a half in darkness for both gaze and head. In both visual conditions we observed an eye nystagmus with similar properties (frequency and amplitude). The main difference comes from the fact that in light, there is a shift of the orientations of the eye nystagmus and the head in the direction of the trajectory. These results suggest that a fundamental function of gaze is to represent self motion, stabilize the perception of space during locomotion, and to simulate the future trajectory, regardless of the vision condition. PMID:26106313

  8. Locomotion and Grasping impairment in preschoolers with autism spectrum disorder

    Directory of Open Access Journals (Sweden)

    Francesca Fulceri

    2015-08-01

    Full Text Available Objective: To investigate expressiveness of motor impairment in autism spectrum disorder (ASD and its correlation with developmental and clinical features of ASD. Method: Thirty-five male preschoolers with ASD completed the Peabody Developmental Motor Scales-2 (PDMS-2; Folio and Fewell, 2000 and underwent a multidisciplinary assessment including medical examination, standardized assessment of cognitive abilities, administration of Autism_Diagnostic_Observation_Schedule (ADOS and a parent interview about adaptive skills. Results: Results revealed a substantial impairment in locomotion and grasping skills. Both fine and gross motor skills were significantly correlated with non verbal IQ and adaptive behaviours (p<0.01 but not with chronological age or ADOS scores. Children with weaker motor skills have greater cognitive and adaptive behaviours deficits. Conclusions: Motor development in ASD can be detected at preschool age and locomotion and grasping skills are substantially the most impaired area. These findings support the need to assess motor skills in preschoolers with ASD in addition to other developmental skill areas. Along with the increasingly acknowledged importance of motor skills for subsequent social, cognitive, and communicative development our findings support the need to consider motor intervention as a key area in therapeutic program to improve outcome in preschoolers with ASD.

  9. A Reconfigurable Omnidirectional Soft Robot Based on Caterpillar Locomotion.

    Science.gov (United States)

    Zou, Jun; Lin, Yangqiao; Ji, Chen; Yang, Huayong

    2018-04-01

    A pneumatically powered, reconfigurable omnidirectional soft robot based on caterpillar locomotion is described. The robot is composed of nine modules arranged as a three by three matrix and the length of this matrix is 154 mm. The robot propagates a traveling wave inspired by caterpillar locomotion, and it has all three degrees of freedom on a plane (X, Y, and rotation). The speed of the robot is about 18.5 m/h (two body lengths per minute) and it can rotate at a speed of 1.63°/s. The modules have neodymium-iron-boron (NdFeB) magnets embedded and can be easily replaced or combined into other configurations. Two different configurations are presented to demonstrate the possibilities of the modular structure: (1) by removing some modules, the omnidirectional robot can be reassembled into a form that can crawl in a pipe and (2) two omnidirectional robots can crawl close to each other and be assembled automatically into a bigger omnidirectional robot. Omnidirectional motion is important for soft robots to explore unstructured environments. The modular structure gives the soft robot the ability to cope with the challenges of different environments and tasks.

  10. Jumping robots: a biomimetic solution to locomotion across rough terrain.

    Science.gov (United States)

    Armour, Rhodri; Paskins, Keith; Bowyer, Adrian; Vincent, Julian; Megill, William; Bomphrey, Richard

    2007-09-01

    This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.

  11. Effects of wearing lower leg compression sleeves on locomotion economy.

    Science.gov (United States)

    Kurz, Eduard; Anders, Christoph

    2018-09-01

    The purpose of this investigation was to assess the effect of compression sleeves on muscle activation cost during locomotion. Twenty-two recreationally active men (age: 25 ± 3 years) ran on a treadmill at four different speeds (ordered sequence of 2.8, 3.3, 2.2, and 3.9 m/s). The tests were performed without (control situation, CON) and while wearing specially designed lower leg compression sleeves (SL). Myoelectric activity of five lower leg muscles (tibialis anterior, fibularis longus, lateral and medial head of gastrocnemius, and soleus) was captured using Surface EMG. To assess muscle activation cost, the cumulative muscle activity per distance travelled (CMAPD) of the CON and SL situations was determined. Repeated measures analyses of variance were performed separately for each muscle. The analyses revealed a reduced lower leg muscle activation cost with respect to test situation for SL for all muscles (p  0.18). The respective significant reductions of CMAPD values during SL ranged between 4% and 16% and were largest at 2.8 m/s. The findings presented point towards an improved muscle activation cost while wearing lower leg compression sleeves during locomotion that have potential to postpone muscle fatigue.

  12. Reciprocal locomotion of dense swimmers in Stokes flow

    International Nuclear Information System (INIS)

    Gonzalez-Rodriguez, David; Lauga, Eric

    2009-01-01

    Due to the kinematic reversibility of Stokes flow, a body executing a reciprocal motion (a motion in which the sequence of body configurations remains identical under time reversal) cannot propel itself in a viscous fluid in the limit of negligible inertia; this result is known as Purcell's scallop theorem. In this limit, the Reynolds numbers based on the fluid inertia and on the body inertia are all zero. Previous studies characterized the breakdown of the scallop theorem with fluid inertia. In this paper we show that, even in the absence of fluid inertia, certain dense bodies undergoing reciprocal motion are able to swim. Using Lorentz's reciprocal theorem, we first derive the general differential equations that govern the locomotion kinematics of a dense swimmer. We demonstrate that no reciprocal swimming is possible if the body motion consists only of tangential surface deformation (squirming). We then apply our general formulation to compute the locomotion of four simple swimmers, each with a different spatial asymmetry, that perform normal surface deformations. We show that the resulting swimming speeds (or rotation rates) scale as the first power of a properly defined 'swimmer Reynolds number', demonstrating thereby a continuous breakdown of the scallop theorem with body inertia.

  13. Paper-based Pneumatic Locomotive Robot with Sticky Actuator

    Directory of Open Access Journals (Sweden)

    Du Xiaohan

    2016-01-01

    Full Text Available Demands for small-scale and low-cost robots have witnessed a great increase in recent years [1–5]. This paper introduces the design and fabrication of a novel, simple, low-cost and designer-friendly locomotive robot. The materials and tools to build the robot originate from everyday life. The robot is pneumatically powered and manually controlled by simply pumping and vacuuming the syringe repeatedly, which realizes reliable locomotion by folding and opening of the planes. In order to realize this complicated motion, a “3D Sticky Actuator” is developed. The motion and force analysis of actuator are then modelled by the numerical method to develop the relations between design parameters. This suggests a systematic and user interactive way of manufacturing various shapes of the actuator, depending on user-defined road condition (e.g. obstacles and slopes and other constraints. One key advantage of the paper-based robot is suggested by its high feasibility.

  14. Fluid Flow Simulation and Energetic Analysis of Anomalocarididae Locomotion

    Science.gov (United States)

    Mikel-Stites, Maxwell; Staples, Anne

    2014-11-01

    While an abundance of animal locomotion simulations have been performed modeling the motions of living arthropods and aquatic animals, little quantitative simulation and reconstruction of gait parameters has been done to model the locomotion of extinct animals, many of which bear little physical resemblance to their modern descendants. To that end, this project seeks to analyze potential swimming patterns used by the anomalocaridid family, (specifically Anomalocaris canadensis, a Cambrian Era aquatic predator), and determine the most probable modes of movement. This will serve to either verify or cast into question the current assumed movement patterns and properties of these animals and create a bridge between similar flexible-bodied swimmers and their robotic counterparts. This will be accomplished by particle-based fluid flow simulations of the flow around the fins of the animal, as well as an energy analysis of a variety of sample gaits. The energy analysis will then be compared to the extant information regarding speed/energy use curves in an attempt to determine which modes of swimming were most energy efficient for a given range of speeds. These results will provide a better understanding of how these long-extinct animals moved, possibly allowing an improved understanding of their behavioral patterns, and may also lead to a novel potential platform for bio-inspired underwater autonomous vehicles (UAVs).

  15. [Health risk railroad noise - prognosis of potential health risks subsequent to night-time exposure to railroad noise in the German part of the Transversal Rotterdam Genova].

    Science.gov (United States)

    Greiser, E

    2014-12-01

    Based on risk coefficients for cardiovascular and psychiatric disease derived from a case-control study in the vicinity of a major German airport, statistics on persons exposed to night-time railroad noise in the vicinity of the Rotterdam-Genova Transversal, and on health expenditure calculations by the Federal Statistical Office of Germany a prognosis on effects of railroad noise was performed. It resulted for 1 10-year period in nearly 75 000 excess cases of diseases, nearly 30 000 excess deaths and health expenditures of 3.8 billion euros. © Georg Thieme Verlag KG Stuttgart · New York.

  16. A novel controller for bipedal locomotion integrating feed-forward and feedback mechanisms

    NARCIS (Netherlands)

    Xiong, Xiaofeng; Sartori, Massimo; Dosen, Strahinja; González-Vargas, José; Wörgötter, Florentin; Farina, Dario; Ibanez, J.; González-Vargas, J.; Azorin, J.M.; Akay, M.; Pons, J.L.

    2017-01-01

    It has been recognized that bipedal locomotion is controlled using feed-forward (e.g., patterned) and feedback (e.g., reflex) control schemes. However, most current controllers fail to integrate the two schemes to simplify speed control of bipedal locomotion. To solve this problem, we here propose a

  17. 49 CFR 230.20 - Alteration and repair report for steam locomotive boilers.

    Science.gov (United States)

    2010-10-01

    ... boilers. 230.20 Section 230.20 Transportation Other Regulations Relating to Transportation (Continued... boilers. (a) Alterations. When an alteration is made to a steam locomotive boiler, the steam locomotive... maintained for the life of the boiler. (See appendix B of this part.) (b) Welded and riveted repairs to...

  18. The G6. A heavy-duty, six-wheeled shunting locomotive

    Energy Technology Data Exchange (ETDEWEB)

    Hildebrandt, Tim [Vossloh Locomotives GmbH, Kiel (Germany). Development and Standardisation Group

    2010-05-15

    Nowadays, railway operating companies need robust, reliable and versatile locomotives. Vossloh has shown one way that future developments are likely to go with its 'G6' six-wheeled shunting locomotive, which features a central driver's cab. (orig.)

  19. 49 CFR 1242.22 - Shop buildings-locomotives (account XX-19-24).

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 9 2010-10-01 2010-10-01 false Shop buildings-locomotives (account XX-19-24... Structures § 1242.22 Shop buildings—locomotives (account XX-19-24). Separate common expenses according to distribution of common expenses in the following accounts: Machinery Repair (XX-26-40) Locomotive—Repair and...

  20. Design and analysis of an optimal hopper for use in resonance-based locomotion

    NARCIS (Netherlands)

    Wanders, Ivor; Folkertsma, Gerrit Adriaan; Stramigioli, Stefano

    Quadrupedal running is an efficient form of locomotion found in nature, which serves as an inspiration for robotics. We believe that a resonance-based approach is the path towards energy-efficient legged locomotion and running robots. The first step in working towards this goal is creating an

  1. Investigations into dynamics of a draft of mine cars with two locomotives during electric braking

    Energy Technology Data Exchange (ETDEWEB)

    Sikora-Iliew, R; Szklarski, L; Thuc, Thai Duy

    1983-03-01

    The computerized simulation of electric braking of a draft of GRANBY-5 mine cars and two locomotives (Ld2 locomotives with LDO30 electric series motors) is discussed. The following stages of simulation are analyzed: constructing a mathematical model of the draft of mine cars during electric (dynamic) braking, equations which describe dynamic states of locomotives, mine cars and electric motors during dynamic braking, equations for stability assessment of the draft during dynamic braking. The analog model for simulation of dynamic braking of the draft is given. Simulation results are shown in 10 diagrams. The WAT-1000 hybrid computer is used. Simulation shows that dynamic braking causes occurrence of maximum forces in the couplers between a locomotive and a mine car. When two locomotives are used the maximum force in couplers is lower than in a draft with one locomotive. Braking distance does not depend on position of locomotives in a draft of mine cars. Doubling draft speed causes braking distance to increase by 4 times. Optimum stability conditions of a draft of mine cars are guaranteed when one locomotive is placed at the draft head and a second is separated from the first one by one third of the draft length. 6 references

  2. 49 CFR Appendix D to Part 238 - Requirements for External Fuel Tanks on Tier I Locomotives

    Science.gov (United States)

    2010-10-01

    ... 49 Transportation 4 2010-10-01 2010-10-01 false Requirements for External Fuel Tanks on Tier I..., App. D Appendix D to Part 238—Requirements for External Fuel Tanks on Tier I Locomotives The... properties of the locomotive fuel tank to reduce the risk of fuel spillage to acceptable levels under...

  3. 49 CFR 210.29 - Operation standards (moving locomotives and rail cars).

    Science.gov (United States)

    2010-10-01

    ... cars). 210.29 Section 210.29 Transportation Other Regulations Relating to Transportation (Continued... REGULATIONS Inspection and Testing § 210.29 Operation standards (moving locomotives and rail cars). The operation standards for the noise emission levels of moving locomotives, rail cars, or consists of...

  4. Railroad electrification in America's future: an assessment of prospects and impacts. Final report

    Energy Technology Data Exchange (ETDEWEB)

    White, R.K.; Yabroff, I.W.; Dickson, E.M.; Zink, R.A.; Gray, M.E.; Moon, A.E.

    1980-01-01

    Such considerations as the level of traffic, the relative financial health of individual railroads, the capacity of the associated supply and engineering/construction industries, and the logical connecting points at classifying yards, as well as the national interest value of creating a continuous system, continental in scope, were used to construct a scenario for railroad electrification that closely approximates how an electrification program might be implemented. For the economic reasons cited, much of the US railroad system would remain conventionally powered. This scenario provides for an electrified network involving 14 mainlines operated by 10 companies that could transport much of the nation's rail-borne freight. Five years of planning and engineering work would be required for each link before construction could begin. With 1000 miles or less of electrified route per year, 14 years would be needed to construct the 9000-mile network of our scenario. (The scenario constructed runs from 1980 to 1998.) The analysis was aided with the construction of the SRI Railroad Industry Model. Basically a model of industry operations and finances, the model produces income statements and balance sheets at yearly intervals. Railroad energy costs, railroad freight levels, maintenance costs, purchases and leases of rooling stock, electrification facility investments, future inflation, rate setting practices, annual depreciation, taxes, and profits were calculated.

  5. Improvement of Railroad Roller Bearing Test Procedures & Development of Roller Bearing Diagnostic Techniques. Volume 2.

    Science.gov (United States)

    1982-04-01

    A comprehensive review of existing basic diagnostic techniques applicable to the railcar roller bearing defect and failure problem was made. Of the potentially feasible diagnostic techniques identified, high frequency vibration was selected for exper...

  6. Efficient field testing for load rating railroad bridges

    Science.gov (United States)

    Schulz, Jeffrey L.; Brett C., Commander

    1995-06-01

    As the condition of our infrastructure continues to deteriorate, and the loads carried by our bridges continue to increase, an ever growing number of railroad and highway bridges require load limits. With safety and transportation costs at both ends of the spectrum. the need for accurate load rating is paramount. This paper describes a method that has been developed for efficient load testing and evaluation of short- and medium-span bridges. Through the use of a specially-designed structural testing system and efficient load test procedures, a typical bridge can be instrumented and tested at 64 points in less than one working day and with minimum impact on rail traffic. Various techniques are available to evaluate structural properties and obtain a realistic model. With field data, a simple finite element model is 'calibrated' and its accuracy is verified. Appropriate design and rating loads are applied to the resulting model and stress predictions are made. This technique has been performed on numerous structures to address specific problems and to provide accurate load ratings. The merits and limitations of this approach are discussed in the context of actual examples of both rail and highway bridges that were tested and evaluated.

  7. [The concept and definition of locomotive syndrome in a super-aged society].

    Science.gov (United States)

    Nakamura, Kozo; Yoshimura, Noriko; Akune, Toru; Ogata, Toru; Tanaka, Sakae

    2014-10-01

    The population of elderly individuals who need nursing care is rapidly increasing in Japan. Locomotive syndrome involves a decrease in mobility due to locomotive organ dysfunction, and increases risk for dependency on nursing care service. Because gait speed and chair stand time are correlated with such risks, patients with locomotive syndrome are assessed using brief methods such as the two-step test, which involves dividing the maximum stride length by the height of the patient, and the stand-up test, which involves standing on one or both legs at different heights. One leg standing and squatting are recommended as beneficial locomotive home exercises. Locomotive syndrome has been recognized widely in Japan, and included in the National Health Promotion Movement (2013-2022).

  8. A Specific Population of Reticulospinal Neurons Controls the Termination of Locomotion.

    Science.gov (United States)

    Juvin, Laurent; Grätsch, Swantje; Trillaud-Doppia, Emilie; Gariépy, Jean-François; Büschges, Ansgar; Dubuc, Réjean

    2016-06-14

    Locomotion requires the proper sequencing of neural activity to start, maintain, and stop it. Recently, brainstem neurons were shown to specifically stop locomotion in mammals. However, the cellular properties of these neurons and their activity during locomotion are still unknown. Here, we took advantage of the lamprey model to characterize the activity of a cell population that we now show to be involved in stopping locomotion. We find that these neurons display a burst of spikes that coincides with the end of swimming activity. Their pharmacological activation ends ongoing swimming, whereas the inactivation of these neurons dramatically impairs the rapid termination of swimming. These neurons are henceforth referred to as stop cells, because they play a crucial role in the termination of locomotion. Our findings contribute to the fundamental understanding of motor control and provide important details about the cellular mechanisms involved in locomotor termination. Copyright © 2016 The Author(s). Published by Elsevier Inc. All rights reserved.

  9. Identification of a brainstem circuit regulating visual cortical state in parallel with locomotion.

    Science.gov (United States)

    Lee, A Moses; Hoy, Jennifer L; Bonci, Antonello; Wilbrecht, Linda; Stryker, Michael P; Niell, Cristopher M

    2014-07-16

    Sensory processing is dependent upon behavioral state. In mice, locomotion is accompanied by changes in cortical state and enhanced visual responses. Although recent studies have begun to elucidate intrinsic cortical mechanisms underlying this effect, the neural circuits that initially couple locomotion to cortical processing are unknown. The mesencephalic locomotor region (MLR) has been shown to be capable of initiating running and is associated with the ascending reticular activating system. Here, we find that optogenetic stimulation of the MLR in awake, head-fixed mice can induce both locomotion and increases in the gain of cortical responses. MLR stimulation below the threshold for overt movement similarly changed cortical processing, revealing that MLR's effects on cortex are dissociable from locomotion. Likewise, stimulation of MLR projections to the basal forebrain also enhanced cortical responses, suggesting a pathway linking the MLR to cortex. These studies demonstrate that the MLR regulates cortical state in parallel with locomotion. Copyright © 2014 Elsevier Inc. All rights reserved.

  10. DEFINITION OF LOCOMOTIVE TRACTION FORCE WITH REGARD TO UNEVEN LOADING OF WHEEL-MOTOR BLOCK

    Directory of Open Access Journals (Sweden)

    B. Ye. Bodnar

    2013-11-01

    Full Text Available Purpose. The article describes the most common methods for determining the locomotive traction force. Solving the tasks of traction calculations involves determination of the forces influencing the train at every point of the way. When choosing a rational trajectory of the train motion and the development of operational regulations of train driving it is necessary to determine the actual value of the locomotive traction force. Considering various factors, power value of traction electric motor of locomotive may have significant differences. Advancement of the operational definition system of the locomotive traction force during the calculations by electrical parameters of traction electric motor with regard to uneven load of wheel-motor block is the purpose of the article. Methodology. The method of determining the traction force of locomotives and diesel locomotives with electric transmission, which is based on primary data acquisition of traction electric engines of direct current behavior, was proposed. Sensors and their integration into the electrical circuitry of the locomotive in order to get the data in digital form and for operational calculation of the each traction motor mode and the definition of locomotive traction force are presented. Findings. The experimental investigation of the system of locomotive traction force determination with the electric traction motor ED-105 was offered. A comparison of electrical and mechanical power of the electric motor was conducted. Originality. The system of locomotives power operational definition, which takes into account the variable electro-mechanical factors of wheel and motor blocks and increases the accuracy of the calculations, was proposed. Practical value. The system is a part of an onboard complex in definition of energy-efficient regimes for trains movement and provides the definition of accelerating and decelerating forces.

  11. Lifestyle factors are significantly associated with the locomotive syndrome: a cross-sectional study.

    Science.gov (United States)

    Akahane, Manabu; Yoshihara, Shingo; Maeyashiki, Akie; Tanaka, Yasuhito; Imamura, Tomoaki

    2017-10-18

    The Japanese Orthopedic Association first proposed the concept of "locomotive syndrome" in 2007. It refers to circumstances in which elderly people need nursing care services or are at high risk of requiring such services within a short time. Recently, the public health burden of providing nursing care for elderly individuals has increased. Therefore, locomotive syndrome, and the means of preventing it, are a major public health focus in Japan. The purpose of this study was to investigate the relationships of lifestyle factors, such as smoking, alcohol consumption, sleep duration, and dental health, with locomotive syndrome. We conducted a cross-sectional study using an internet panel survey. The participants comprised 747 individuals aged 30-90 years. Factors related to demographics (age, sex), general health (number of teeth, presence of periodontal disease), and lifestyle (smoking, alcohol consumption, sleep duration) were assessed. We also used the 25-question Geriatric Locomotive Function Scale to determine whether each participant had locomotive syndrome. Multivariate analysis was conducted using logistic regression to investigate the independent relationships between locomotive syndrome and lifestyle factors after adjusting for sex and age. A greater proportion of women (17.7%) than men (11.2%) had locomotive syndrome (p syndrome compared with those aged syndrome, whereas sleep duration was not. The frequency of alcohol consumption, except for daily drinking, was also associated with locomotive syndrome. Our study indicates that lifestyle factors, such as smoking and number of existing teeth, may partly affect the prevalence of locomotive syndrome. Hence, lifestyle modifications, such as improving oral hygiene and promoting cessation of smoking, are important means to reduce the risk of locomotive syndrome and should be promoted by public health staff.

  12. 77 FR 58608 - Railroad Safety Advisory Committee (RSAC); Working Group Activity Update

    Science.gov (United States)

    2012-09-21

    ... published on April 18, 2012 (77 FR 23159). Contact: Steve Clay, (202) 493-6259. Task 06-03--Medical... environmental, sanitary, and other working conditions in locomotive cabs affect the crew's health and the safe...

  13. PROSPECTS OF THE PRIVATE LOCOMOTIVES USAGE FOR GOODS TRAFFIC IN THE DIRECTION OF SEA PORTS

    Directory of Open Access Journals (Sweden)

    D. M. Kozachenko

    2017-12-01

    Full Text Available Purpose. At the present time, Ukraine's mainline railway transport is entirely in state ownership. Ukraine has undertaken to implement the European Union Directives providing of non-discriminatory access to the railway infrastructure of independent carriers. A considerable quantity of options significantly affects the working conditions of carriers that do not depend on Ukrzaliznytsia. One of the tasks that arises when performing transportation by independent carriers is the organization of private locomotives operation and their servicing by engine crews. The purpose of the article is to evaluate the technical characteristic of the private locomotives usage in order to perform goods traffic in the direction of sea ports. Methodology. The researches were carried out on the basis of methods for organizing the operational work of railways and methods of traction calculations. Findings. The paper highlights the problem of goods traffic organization to seaports by independent carriers. It determines the requirements for equipment for diesel locomotives and electric locomotives depending on the distance of transportation. Permissible distances that can be served by engine crews in performing the requirements for the duration of their continuous operation were also determined. Schemes of infrastructure objects location for the locomotives and engine crews operation have been developed. It was established that diesel locomotives of independent carriers will be able to serve transportation between loading and unloading stations up to 822 km, and electric locomotives up to 1000 km with the construction of the main part of the locomotive infrastructure at the port station. The performed calculations show the potential coverage of rail transportation to sea ports by independent carriers with the use of its own locomotive infrastructure. To define more exactly the haul length of train servicing by locomotives and locomotives by engine crews, it is necessary

  14. On burst-and-coast swimming performance in fish-like locomotion

    International Nuclear Information System (INIS)

    Chung, M-H

    2009-01-01

    Burst-and-coast swimming performance in fish-like locomotion is studied via two-dimensional numerical simulation. The numerical method used is the collocated finite-volume adaptive Cartesian cut-cell method developed previously. The NACA00xx airfoil shape is used as an equilibrium fish-body form. Swimming in a burst-and-coast style is computed assuming that the burst phase is composed of a single tail-beat. Swimming efficiency is evaluated in terms of the mass-specific cost of transport instead of the Froude efficiency. The effects of the Reynolds number (based on the body length and burst time), duty cycle and fineness ratio (the body length over the largest thickness) on swimming performance (momentum capacity and the mass-specific cost of transport) are studied quantitatively. The results lead to a conclusion consistent with previous findings that a larval fish seldom swims in a burst-and-coast style. Given mass and swimming speed, a fish needs the least cost if it swims in a burst-and-coast style with a fineness ratio of 8.33. This energetically optimal fineness ratio is larger than that derived from the simple hydromechanical model proposed in literature. The calculated amount of energy saving in burst-and-coast swimming is comparable with the real-fish estimation in the literature. Finally, the predicted wake-vortex structures of both continuous and burst-and-coast swimming are biologically relevant.

  15. On burst-and-coast swimming performance in fish-like locomotion.

    Science.gov (United States)

    Chung, M-H

    2009-09-01

    Burst-and-coast swimming performance in fish-like locomotion is studied via two-dimensional numerical simulation. The numerical method used is the collocated finite-volume adaptive Cartesian cut-cell method developed previously. The NACA00xx airfoil shape is used as an equilibrium fish-body form. Swimming in a burst-and-coast style is computed assuming that the burst phase is composed of a single tail-beat. Swimming efficiency is evaluated in terms of the mass-specific cost of transport instead of the Froude efficiency. The effects of the Reynolds number (based on the body length and burst time), duty cycle and fineness ratio (the body length over the largest thickness) on swimming performance (momentum capacity and the mass-specific cost of transport) are studied quantitatively. The results lead to a conclusion consistent with previous findings that a larval fish seldom swims in a burst-and-coast style. Given mass and swimming speed, a fish needs the least cost if it swims in a burst-and-coast style with a fineness ratio of 8.33. This energetically optimal fineness ratio is larger than that derived from the simple hydromechanical model proposed in literature. The calculated amount of energy saving in burst-and-coast swimming is comparable with the real-fish estimation in the literature. Finally, the predicted wake-vortex structures of both continuous and burst-and-coast swimming are biologically relevant.

  16. System Design and Locomotion of Superball, an Untethered Tensegrity Robot

    Science.gov (United States)

    Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Manovi, Pavlo; Firoozi, Roya Fallah; Dobi, Sarah; Agogino, Alice M.; Sunspiral, Vytas

    2015-01-01

    The Spherical Underactuated Planetary Exploration Robot ball (SUPERball) is an ongoing project within NASA Ames Research Center's Intelligent Robotics Group and the Dynamic Tensegrity Robotics Lab (DTRL). The current SUPERball is the first full prototype of this tensegrity robot platform, eventually destined for space exploration missions. This work, building on prior published discussions of individual components, presents the fully-constructed robot. Various design improvements are discussed, as well as testing results of the sensors and actuators that illustrate system performance. Basic low-level motor position controls are implemented and validated against sensor data, which show SUPERball to be uniquely suited for highly dynamic state trajectory tracking. Finally, SUPERball is shown in a simple example of locomotion. This implementation of a basic motion primitive shows SUPERball in untethered control.

  17. Dynamic control of biped locomotion robot using optimal regulator

    International Nuclear Information System (INIS)

    Sano, Akihito; Furusho, Junji

    1988-01-01

    For moving in indoor space, it is generally recognized that biped locomotion is suitable. This paper proposes a hierarchical control strategy for the lower level where the position control or the force control at each joint is implemented. In the upper level control, the robot motion is divided into a sagittal plane and a lateral plane. We applied the optimal control algorithm to the motion control in the lateral plane in order to improve the robustness of the control system. The effects of these control schemes are shown by the experiments using the new walking robot BLR-G 1 and the parallel calculation system. BLR-G 1 has 9 degrees of freedom and equips the foot-pressure-sensors and a rate gyroscope. Complete dynamic walking is realized, in which the cycle for each step is about 1.0 second. (author)

  18. Adaptive Gaze Strategies for Locomotion with Constricted Visual Field

    Directory of Open Access Journals (Sweden)

    Colas N. Authié

    2017-07-01

    Full Text Available In retinitis pigmentosa (RP, loss of peripheral visual field accounts for most difficulties encountered in visuo-motor coordination during locomotion. The purpose of this study was to accurately assess the impact of peripheral visual field loss on gaze strategies during locomotion, and identify compensatory mechanisms. Nine RP subjects presenting a central visual field limited to 10–25° in diameter, and nine healthy subjects were asked to walk in one of three directions—straight ahead to a visual target, leftward and rightward through a door frame, with or without obstacle on the way. Whole body kinematics were recorded by motion capture, and gaze direction in space was reconstructed using an eye-tracker. Changes in gaze strategies were identified in RP subjects, including extensive exploration prior to walking, frequent fixations of the ground (even knowing no obstacle was present, of door edges, essentially of the proximal one, of obstacle edge/corner, and alternating door edges fixations when approaching the door. This was associated with more frequent, sometimes larger rapid-eye-movements, larger movements, and forward tilting of the head. Despite the visual handicap, the trajectory geometry was identical between groups, with a small decrease in walking speed in RPs. These findings identify the adaptive changes in sensory-motor coordination, in order to ensure visual awareness of the surrounding, detect changes in spatial configuration, collect information for self-motion, update the postural reference frame, and update egocentric distances to environmental objects. They are of crucial importance for the design of optimized rehabilitation procedures.

  19. Fossils, feet and the evolution of human bipedal locomotion.

    Science.gov (United States)

    Harcourt-Smith, W E H; Aiello, L C

    2004-05-01

    We review the evolution of human bipedal locomotion with a particular emphasis on the evolution of the foot. We begin in the early twentieth century and focus particularly on hypotheses of an ape-like ancestor for humans and human bipedal locomotion put forward by a succession of Gregory, Keith, Morton and Schultz. We give consideration to Morton's (1935) synthesis of foot evolution, in which he argues that the foot of the common ancestor of modern humans and the African apes would be intermediate between the foot of Pan and Hylobates whereas the foot of a hypothetical early hominin would be intermediate between that of a gorilla and a modern human. From this base rooted in comparative anatomy of living primates we trace changing ideas about the evolution of human bipedalism as increasing amounts of postcranial fossil material were discovered. Attention is given to the work of John Napier and John Robinson who were pioneers in the interpretation of Plio-Pleistocene hominin skeletons in the 1960s. This is the period when the wealth of evidence from the southern African australopithecine sites was beginning to be appreciated and Olduvai Gorge was revealing its first evidence for Homo habilis. In more recent years, the discovery of the Laetoli footprint trail, the AL 288-1 (A. afarensis) skeleton, the wealth of postcranial material from Koobi Fora, the Nariokotome Homo ergaster skeleton, Little Foot (Stw 573) from Sterkfontein in South Africa, and more recently tantalizing material assigned to the new and very early taxa Orrorin tugenensis, Ardipithecus ramidus and Sahelanthropus tchadensis has fuelled debate and speculation. The varying interpretations based on this material, together with changing theoretical insights and analytical approaches, is discussed and assessed in the context of new three-dimensional morphometric analyses of australopithecine and Homo foot bones, suggesting that there may have been greater diversity in human bipedalism in the earlier phases

  20. Adaptive Gaze Strategies for Locomotion with Constricted Visual Field

    Science.gov (United States)

    Authié, Colas N.; Berthoz, Alain; Sahel, José-Alain; Safran, Avinoam B.

    2017-01-01

    In retinitis pigmentosa (RP), loss of peripheral visual field accounts for most difficulties encountered in visuo-motor coordination during locomotion. The purpose of this study was to accurately assess the impact of peripheral visual field loss on gaze strategies during locomotion, and identify compensatory mechanisms. Nine RP subjects presenting a central visual field limited to 10–25° in diameter, and nine healthy subjects were asked to walk in one of three directions—straight ahead to a visual target, leftward and rightward through a door frame, with or without obstacle on the way. Whole body kinematics were recorded by motion capture, and gaze direction in space was reconstructed using an eye-tracker. Changes in gaze strategies were identified in RP subjects, including extensive exploration prior to walking, frequent fixations of the ground (even knowing no obstacle was present), of door edges, essentially of the proximal one, of obstacle edge/corner, and alternating door edges fixations when approaching the door. This was associated with more frequent, sometimes larger rapid-eye-movements, larger movements, and forward tilting of the head. Despite the visual handicap, the trajectory geometry was identical between groups, with a small decrease in walking speed in RPs. These findings identify the adaptive changes in sensory-motor coordination, in order to ensure visual awareness of the surrounding, detect changes in spatial configuration, collect information for self-motion, update the postural reference frame, and update egocentric distances to environmental objects. They are of crucial importance for the design of optimized rehabilitation procedures. PMID:28798674

  1. Undulatory locomotion of finite filaments: lessons from Caenorhabditis elegans

    International Nuclear Information System (INIS)

    Berman, R S; Kenneth, O; Sznitman, J; Leshansky, A M

    2013-01-01

    Undulatory swimming is a widespread propulsion strategy adopted by many small-scale organisms including various single-cell eukaryotes and nematodes. In this work, we report a comprehensive study of undulatory locomotion of a finite filament using (i) approximate resistive force theory (RFT) assuming a local nature of hydrodynamic interaction between the filament and the surrounding viscous liquid and (ii) particle-based numerical computations taking into account the intra-filament hydrodynamic interaction. Using the ubiquitous model of a propagating sinusoidal waveform, we identify the limit of applicability of the RFT and determine the optimal propulsion gait in terms of (i) swimming distance per period of undulation and (ii) hydrodynamic propulsion efficiency. The occurrence of the optimal swimming gait maximizing hydrodynamic efficiency at finite wavelength in particle-based computations diverges from the prediction of the RFT. To compare the model swimmer powered by sine wave undulations to biological undulatory swimmers, we apply the particle-based approach to study locomotion of the model organism nematode Caenorhabditis elegans using the swimming gait extracted from experiments. The analysis reveals that even though the amplitude and the wavenumber of undulations are similar to those determined for the best performing sinusoidal swimmer, C. elegans overperforms the latter in terms of both displacement and hydrodynamic efficiency. Further comparison with other undulatory microorganisms reveals that many adopt waveforms with characteristics similar to the optimal model swimmer, yet real swimmers still manage to beat the best performing sine-wave swimmer in terms of distance covered per period. Overall our results underline the importance of further waveform optimization, as periodic undulations adopted by C. elegans and other organisms deviate considerably from a simple sine wave. (paper)

  2. Kinematics and ontogeny of locomotion in monkeys and human babies.

    Science.gov (United States)

    Niemitz, Carsten

    2002-03-01

    Early ontogenetic stages are often assumed to reflect or to be similar to past phylogenetic stages within the evolution of man. Therefore, as a first step, the quadrupedal crawling locomotion of human children was analysed and compared to the quadrupedal walk of Macaca fascicularis. The movements of the human child were not only more irregular, they differed from the walk of the monkey mainly through extraordinarily short swing phases, and also through strong scoliotic movements of the spine. There is a compulsory synchronisation in the hip and knee joint movements of the human crawling baby. We conclude that human crawling may be a behavioural recapitulation of a quadrupedal evolutionary stage. However, with reference to kinematics, man is not only characterised by his unique, habitually bipedal, upright gait but also by a second, equally unique locomotion, namely crawling, which he assumes for a short phase during his first year of life.--The walking movements of the limbs in toddling infants were mainly characterised by i) rather stiff, abducted arms, which were moved mostly by spine torsions (similar to those of bipedally walking Gorilla) and not as a suspensory pendulum. However, they rather work as levers for the elastic torsion pendulum of the spine. ii) They are also characterised by frequently lacking the minor knee flexion, which occurs at about the heel strike within each stride of the adult human. Besides many other details of the results, foot movements differed from adult ones mainly in that the whole plantar surface was placed flat on the ground within a few milliseconds.

  3. Natural Translating Locomotion Modulates Cortical Activity at Action Observation

    Directory of Open Access Journals (Sweden)

    Thierry Pozzo

    2017-11-01

    Full Text Available The present study verified if the translational component of locomotion modulated cortical activity recorded at action observation. Previous studies focusing on visual processing of biological motion mainly presented point light walker that were fixed on a spot, thus removing the net translation toward a goal that yet remains a critical feature of locomotor behavior. We hypothesized that if biological motion recognition relies on the transformation of seeing in doing and its expected sensory consequences, a significant effect of translation compared to centered displays on sensorimotor cortical activity is expected. To this aim, we explored whether EEG activity in the theta (4–8 Hz, alpha (8–12 Hz, beta 1 (14–20 Hz and beta 2 (20–32 Hz frequency bands exhibited selectivity as participants viewed four types of stimuli: a centered walker, a centered scrambled, a translating walker and a translating scrambled. We found higher theta synchronizations for observed stimulus with familiar shape. Higher power decreases in the beta 1 and beta 2 bands, indicating a stronger motor resonance was elicited by translating compared to centered stimuli. Finally, beta bands modulation in Superior Parietal areas showed that the translational component of locomotion induced greater motor resonance than human shape. Using a Multinomial Logistic Regression classifier we found that Dorsal-Parietal and Inferior-Frontal regions of interest (ROIs, constituting the core of action-observation system, were the only areas capable to discriminate all the four conditions, as reflected by beta activities. Our findings suggest that the embodiment elicited by an observed scenario is strongly mediated by horizontal body displacement.

  4. Relating appendicular skeletal variation of sigmodontine rodents to locomotion modes in a phylogenetic context.

    Science.gov (United States)

    Carvalho Coutinho, Ludmilla; Alves de Oliveira, João

    2017-10-01

    Sigmodontinae rodents constitute the second-largest subfamily among mammals. Alongside the taxonomic diversity, they are also ecologically diverse, exhibiting a wide array of locomotion modes, with semifossorial, terrestrial, semiaquatic, scansorial, arboreal, and saltatorial forms. To understand the ecomorphologic aspects that allow these rodents to display such locomotion diversity, we analyzed 35 qualitative characters of the appendicular skeleton (humerus, ulna, radius, scapula, femur, tibia, ilium, ischium and pubis) in 795 specimens belonging to 64 species, 34 genera and 10 tribes, representing all locomotion modes assigned to this subfamily. We performed a statistical analysis based upon the coefficient of trait differentiation to test the congruence of character states and the different locomotion modes. We also mapped characters states in a molecular phylogeny in order to reconstruct ancestral states and to evaluate how appendicular characters evolved within main lineages of Sigmodontinae radiation under a phylogenetic framework. The statistical analyses revealed six characters related to specific locomotion modes, except terrestrial. The mapping and parsimony ancestral states reconstruction identified two characters with phylogenetical signal and eight characters that are exclusively or more frequently recorded in certain modes of locomotion, four of them also detected by the statistical analysis. Notwithstanding the documented morphological variation, few changes characterize the transition to each of the locomotion modes, at least regarding the appendicular skeleton. This finding corroborates previous results that showed that sigmodontines exhibit an all-purpose appendicular morphology that allows them to use and explore a great variety of habitats. © 2017 Anatomical Society.

  5. Acute food deprivation reverses morphine-induced locomotion deficits in M5 muscarinic receptor knockout mice.

    Science.gov (United States)

    Steidl, Stephan; Lee, Esther; Wasserman, David; Yeomans, John S

    2013-09-01

    Lesions of the pedunculopontine tegmental nucleus (PPT), one of two sources of cholinergic input to the ventral tegmental area (VTA), block conditioned place preference (CPP) for morphine in drug-naïve rats. M5 muscarinic cholinergic receptors, expressed by midbrain dopamine neurons, are critical for the ability of morphine to increase nucleus accumbens dopamine levels and locomotion, and for morphine CPP. This suggests that M5-mediated PPT cholinergic inputs to VTA dopamine neurons critically contribute to morphine-induced dopamine activation, reward and locomotion. In the current study we tested whether food deprivation, which reduces PPT contribution to morphine CPP in rats, could also reduce M5 contributions to morphine-induced locomotion in mice. Acute 18-h food deprivation reversed the phenotypic differences usually seen between non-deprived wild-type and M5 knockout mice. That is, food deprivation increased morphine-induced locomotion in M5 knockout mice but reduced morphine-induced locomotion in wild-type mice. Food deprivation increased saline-induced locomotion equally in wild-type and M5 knockout mice. Based on these findings, we suggest that food deprivation reduces the contribution of M5-mediated PPT cholinergic inputs to the VTA in morphine-induced locomotion and increases the contribution of a PPT-independent pathway. The contributions of cholinergic, dopaminergic and GABAergic neurons to the effects of acute food deprivation are discussed. Copyright © 2013 Elsevier B.V. All rights reserved.

  6. Experimental investigation into the mechanism of the polygonal wear of electric locomotive wheels

    Science.gov (United States)

    Tao, Gongquan; Wang, Linfeng; Wen, Zefeng; Guan, Qinghua; Jin, Xuesong

    2018-06-01

    Experiments were conducted at field sites to investigate the mechanism of the polygonal wear of electric locomotive wheels. The polygonal wear rule of electric locomotive wheels was obtained. Moreover, two on-track tests have been carried out to investigate the vibration characteristics of the electric locomotive's key components. The measurement results of wheels out-of-round show that most electric locomotive wheels exhibit polygonal wear. The main centre wavelength in the 1/3 octave bands is 200 mm and/or 160 mm. The test results of vibration characteristics indicate that the dominating frequency of the vertical acceleration measured on the axle box is approximately equal to the passing frequency of a polygonal wheel, and does not vary with the locomotive speed during the acceleration course. The wheelset modal analysis using the finite element method (FEM) indicates that the first bending resonant frequency of the wheelset is quite close to the main vibration frequency of the axle box. The FEM results are verified by the experimental modal analysis of the wheelset. Moreover, different plans were designed to verify whether the braking system and the locomotive's adhesion control have significant influence on the wheel polygon or not. The test results indicate that they are not responsible for the initiation of the wheel polygon. The first bending resonance of the wheelset is easy to be excited in the locomotive operation and it is the root cause of wheel polygon with centre wavelength of 200 mm in the 1/3 octave bands.

  7. Measurement of black carbon emissions from in-use diesel-electric passenger locomotives in California

    Science.gov (United States)

    Tang, N. W.; Kirchstetter, T.; Martien, P. T.; Apte, J.

    2015-12-01

    Black carbon (BC) emission factors were measured for a California commuter rail line fleet of diesel-electric passenger locomotives (Caltrain). The emission factors are based on BC and carbon dioxide (CO2) concentrations in the exhaust plumes of passing locomotives, which were measured from pedestrian overpasses using portable analyzers. Each of the 29 locomotives in the fleet was sampled on 4-20 separate occasions at different locations to characterize different driving modes. The average emission factor expressed as g BC emitted per kg diesel consumed was 0.87 ± 0.66 g kg-1 (±1 standard deviation, n = 362 samples). BC emission factors tended to be higher for accelerating locomotives traveling at higher speeds with engines in higher notch settings. Higher fuel-based BC emission factors (g kg-1) were measured for locomotives equipped with separate "head-end" power generators (SEP-HEPs), which power the passenger cars, while higher time-based emission factors (g h-1) were measured for locomotives without SEP-HEPs, whose engines are continuously operated at high speeds to provide both head-end and propulsion power. PM10 emission factors, estimated assuming a BC/PM10 emission ratio of 0.6 and a typical power output-to-fuel consumption ratio, were generally in line with the Environmental Protection Agency's locomotive exhaust emission standards. Per passenger mile, diesel-electric locomotives in this study emit only 20% of the CO2 emitted by typical gasoline-powered light-duty vehicles (i.e., cars). However, the reduction in carbon footprint (expressed in terms of CO2 equivalents) due to CO2 emissions avoidance from a passenger commuting by train rather than car is appreciably offset by the locomotive's higher BC emissions.

  8. THE RAILROAD CAPACITY CRISIS: After Cutting to the Bone and More, Trains Are Back

    Directory of Open Access Journals (Sweden)

    Richard D. Stone

    2008-01-01

    Full Text Available During the Era of Railroad building (primarily the last half of the 19th century, it was far more profitable to lay track than to operate railroads due to the subsidiesfrom various levels ofgovernment and the competition between cities to be located on as many lines as possible, and the overcharging of the railroads by the construction companies. Railroads compensated for this glut by cross-subsidizing the unprofitable branch lines with revenues from the main lines. But as competition from other modes took hold, this was increasingly difficult to do. Therefore, by the early 20th century, railroads began to slowly shed some of the lightly trafficked lines. Regulatory changes in the 1980s made abandonment easier, and wholesale discarding of lines, including former mainlines, became common. But by the turn of the century,foreign imports put a greater demand on rail transportation, and lack of capacity caused many of the remaining lines to become very congested, in turn, causing extensive delays.

  9. The G6 - a heavy-duty six-wheeled shunting locomotive; Dreiachsige Hochleistungsrangierlokomotive G6

    Energy Technology Data Exchange (ETDEWEB)

    Hildebrandt, Tim [Vossloh Locomotives GmbH, Kiel (Germany). Entwicklung und Standardisierung

    2009-03-15

    With the three-axle shunter G6, exhibited at Innotrans 2008, the renowned producer of rail vehicles Vossloh Locomotives GmbH marks the beginning of a generational change - not only for three-axle but also for four-axle locomotives. In order to replace the type G765C the G6 has been developed in close cooperation with potential customers. Their request concerning robustness and reliability as well as the equipment options set standards for central driver's cab locomotives in general and lead the way for future four-axle replacements within the Vossloh product family. (orig.)

  10. The New Era of Virtual Reality Locomotion: A Systematic Literature Review of Techniques and a Proposed Typology

    Directory of Open Access Journals (Sweden)

    Costas Boletsis

    2017-09-01

    Full Text Available The latest technical and interaction advancements that took place in the Virtual Reality (VR field have marked a new era, not only for VR, but also for VR locomotion. Although the latest advancements in VR locomotion have raised the interest of both researchers and users in analyzing and experiencing current VR locomotion techniques, the field of research on VR locomotion, in its new era, is still uncharted. In this work, VR locomotion is explored through a systematic literature review investigating empirical studies of VR locomotion techniques from 2014–2017. The review analyzes the VR locomotion techniques that have been studied, their interaction-related characteristics and the research topics that were addressed in these studies. Thirty-six articles were identified as relevant to the literature review, and the analysis of the articles resulted in 73 instances of 11 VR locomotion techniques, such as real-walking, walking-in-place, point and teleport, joystick-based locomotion, and more. Results showed that since the VR revival, the focus of VR locomotion research has been on VR technology and various technological aspects, overshadowing the investigation of user experience. From an interaction perspective, the majority of the utilized and studied VR locomotion techniques were found to be based on physical interaction, exploiting physical motion cues for navigation in VR environments. A significant contribution of the literature review lies in the proposed typology for VR locomotion, introducing four distinct VR locomotion types: motion-based, room scale-based, controller-based and teleportation-based locomotion.

  11. Physiological aspects of legged terrestrial locomotion the motor and the machine

    CERN Document Server

    Cavagna, Giovanni

    2017-01-01

    This book offers a succinct but comprehensive description of the mechanics of muscle contraction and legged terrestrial locomotion. It describes on the one hand how the fundamental properties of muscle tissue affect the mechanics of locomotion, and on the other, how the mechanics of locomotion modify the mechanism of muscle operation under different conditions. Further, the book reports on the design and results of experiments conducted with two goals. The first was to describe the physiological function of muscle tissue (which may be considered as the “motor”) contracting at a constant length, during shortening, during lengthening, and under a condition that occurs most frequently in the back-and-forth movement of the limbs during locomotion, namely the stretch-shortening cycle of the active muscle. The second objective was to analyze the interaction between the motor and the “machine” (the skeletal lever system) during walking and running in different scenarios with respect to speed, step frequency,...

  12. LSTM-Based Temperature Prediction for Hot-Axles of Locomotives

    Directory of Open Access Journals (Sweden)

    Luo Can

    2017-01-01

    Full Text Available The reliability of locomotives plays a central role for the smooth operation of railway systems. Hot-axle failures are one of the most commonly found problems leading to locomotive accidents. Since the operating status of the locomotive axle bearings can be distinctly reflected by the axle temperatures, online temperature monitoring has become an essential way to detect hot-axle failures. In this work, we explore the feasibility of predict the hot-axle failures by identifying the temperature from predicted nominal values. We propose a data-driven approach based on the Long Short-Term Memory (LSTM network to predict the sensor temperature for axle bearings. The effectiveness of the prediction model was validated with operation data collected from commercial locomotives. With a prediction accuracy is within a few percent, the proposed techniques can be used as a dynamic reference for hot-axle monitoring.

  13. The Effects of Natural Locomotion on Maneuvering Task Performance in Virtual and Real Environments

    National Research Council Canada - National Science Library

    Unguder, Eray

    2001-01-01

    ... treadmill. The motivation for the development of locomotion devices thus far has been driven by the assumption that a The "perfect" device will result in human performance levels comparable to the real world...

  14. 49 CFR 222.21 - When must a locomotive horn be used?

    Science.gov (United States)

    2010-10-01

    ... or lead cab car shall be sounded when such locomotive or lead cab car is approaching a public highway... equipped with automatic flashing lights and gates and the gates are fully lowered; or (2) There are no...

  15. DETERMINATION OF FRAME FORCE FOR ELECTRIC LOCOMOTIVE VL80 WHEN MOVING IN THE CURVED TRACK SECTIONS

    Directory of Open Access Journals (Sweden)

    A. Y. Kuzyshyn

    2017-06-01

    Full Text Available Purpose. When locomotives move in curved sections of the railway track, horizontal forces arise, which lead to pressing the ridge of the wheel pair to the railway track. The article is aimed to develop a method for determining the frame force acting on the bogie from the side of body of the locomotive section using the current methodology of calculating the lateral force. It is also aimed to determine the basic parameters that influence the value of the frame force. It is necessary to construct the dependencies of the frame force on the travel time of electric locomotive in the corresponding curve changing these parameters. Methodology. As is known, the electric locomotive is a multimass mechanical system. We will assume that this system consists of seven bodies: a body, two frames of carriages and four wheel sets. To determine the lateral force acting on the rail from the wheelset one need to solve differential equations of motion of locomotive bogie in curves of small radius. Using the equations of kinetostatics for wheelset one should come to determining the frame force acting on the car bogie from the side of body of the locomotive section. The nominal geometric and mass parameters of parts and components of electric locomotive are taken in the calculations. The curve radius, the length of transition curve, the length of circular curve, the longitudinal slope of railway track and other parameters are fixed values. Findings. There were obtained calculated values of the frame force of electric locomotive VL80 acting on the bogie from the side of body of the locomotive section. Based on the obtained results there were built the dependencies of frame force on the travel time of electric locomotive on the corresponding curve when changing the speed and corresponding elevation of the outer rail. Originality. On the basis of the existing methodology for calculating the lateral force it was developed the method for determining the frame force acting

  16. Profile and genetic parameters of dairy cattle locomotion score and lameness across lactation.

    Science.gov (United States)

    Kougioumtzis, A; Valergakis, G E; Oikonomou, G; Arsenos, G; Banos, G

    2014-01-01

    This study investigated the profile of locomotion score and lameness before the first calving and throughout the first (n=237) and second (n=66) lactation of 303 Holstein cows raised on a commercial farm. Weekly heritability estimates of locomotion score and lameness, and their genetic and phenotypic correlations with milk yield, body condition score, BW and reproduction traits were derived. Daughter future locomotion score and lameness predictions from their sires��� breeding values for conformation traits were also calculated. First-lactation cows were monitored weekly from 6 weeks before calving to the end of lactation. Second-lactation cows were monitored weekly throughout lactation. Cows were locomotion scored on a scale from one (sound) to five (severely lame); a score greater than or equal to two defined presence of lameness. Cows��� weekly body condition score and BW was also recorded. These records were matched to corresponding milk yield records, where the latter were 7-day averages on the week of inspection. The total number of repeated records amounted to 12 221. Data were also matched to the farm���s reproduction database, from which five traits were derived. Statistical analyses were based on uni- and bivariate random regression models. The profile analysis showed that locomotion and lameness problems in first lactation were fewer before and immediately after calving, and increased as lactation progressed. The profile of the two traits remained relatively constant across the second lactation. Highest heritability estimates were observed in the weeks before first calving (0.66 for locomotion score and 0.54 for lameness). Statistically significant genetic correlations were found for first lactation weekly locomotion score and lameness with body condition score, ranging from ���0.31 to ���0.65 and from ���0.44 to ���0.76, respectively, suggesting that cows genetically pre-disposed for high body condition score

  17. Attachments for fire modeling for Building 221-T, T Plant canyon deck and railroad tunnel

    International Nuclear Information System (INIS)

    Oar, D.L.

    1995-01-01

    The purpose of this attachment is to provide historical information and documentation for Document No. WHC-SD-CP-ANAL-008 Rev 0, ''Fire Modeling for Building 221-T--T Plant Canyon Deck and Railroad Tunnel'', dated September 29, 1994. This data compilation contains the following: Resumes of the Technical Director, Senior Engineer and Junior Engineer; Review and Comment Record; Software Files; CFAST Input and Output Files; Calculation Control Sheets; and Estimating Sprinkler Actuation Time in the Canyon and Railroad Tunnel. The T Plant was originally a fuel reprocessing facility. It was modified later to decontaminate and repair PuRex process equipment

  18. THE TRANS-MISSOURI CASE: DOES THE SHERMAN ACT APPLY TO THE RAILROADS?

    Directory of Open Access Journals (Sweden)

    Michael Landry

    2003-01-01

    Full Text Available In 1887, in answer to railroad abuses of monopoly power, Congress passed the Interstate Commerce Act, which created the Interstate Commerce Commission (ICC. In the next decade the Commission’s powers were considerably diminished by a series of Supreme Court decisions in cases in which the railroads appealed ICC rulings. In only one case during this period, the United States v. Trans-Missouri Freight Association, did the Court uphold an ICC decision. This case was primarily about collaborative ratemaking in rate bureaus but covered several larger issues, especially the possibly conflicting jurisdictions of the Sherman Act and the Interstate Commerce Act.

  19. 49 CFR 1570.13 - False statements regarding security background checks by public transportation agency or railroad...

    Science.gov (United States)

    2010-10-01

    ... checks by public transportation agency or railroad carrier. 1570.13 Section 1570.13 Transportation Other... regarding security background checks by public transportation agency or railroad carrier. (a) Scope. This... employee of a public transportation agency or a contractor or subcontractor of a public transportation...

  20. 78 FR 34428 - Missouri Central Railroad Company-Abandonment Exemption-in Cass, Henry, Johnson, and Pettis...

    Science.gov (United States)

    2013-06-07

    ... No. AB 1070; (Sub-No. 1X)] Missouri Central Railroad Company--Abandonment Exemption--in Cass, Henry, Johnson, and Pettis Counties, MO; Central Midland Railway Company--Discontinuance of Service Exemption--in Cass, Henry, Johnson, and Pettis Counties, MO Missouri Central Railroad Company (MCRR) and Central...

  1. 26 CFR 31.6071(a)-1A - Time for filing returns with respect to the railroad unemployment repayment tax.

    Science.gov (United States)

    2010-04-01

    ... 26 Internal Revenue 15 2010-04-01 2010-04-01 false Time for filing returns with respect to the railroad unemployment repayment tax. 31.6071(a)-1A Section 31.6071(a)-1A Internal Revenue INTERNAL REVENUE... filing returns with respect to the railroad unemployment repayment tax. (a) In general. Each return of...

  2. 9 CFR 325.17 - Loading or unloading products in sealed railroad cars, trucks, etc., en route prohibited; exception.

    Science.gov (United States)

    2010-01-01

    ... sealed railroad cars, trucks, etc., en route prohibited; exception. 325.17 Section 325.17 Animals and Animal Products FOOD SAFETY AND INSPECTION SERVICE, DEPARTMENT OF AGRICULTURE AGENCY ORGANIZATION AND... TRANSPORTATION § 325.17 Loading or unloading products in sealed railroad cars, trucks, etc., en route prohibited...

  3. 78 FR 12824 - Notice of Application for Approval of Discontinuance or Modification of a Railroad Signal System...

    Science.gov (United States)

    2013-02-25

    ... assigned the petition Docket Number FRA-2002-14116. In 2002, CN sought relief from 49 CFR 236.408 so that... DEPARTMENT OF TRANSPORTATION Federal Railroad Administration [Docket Number FRA-2002-14116] Notice... Railway Company (CN), has petitioned the Federal Railroad Administration (FRA) for an extension of relief...

  4. 78 FR 24803 - Hilco SP Rail, LLC-Acquisition and Operation Exemption-RG Steel Railroad Holding, LLC

    Science.gov (United States)

    2013-04-26

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35734] Hilco SP Rail, LLC--Acquisition and Operation Exemption--RG Steel Railroad Holding, LLC Hilco SP Rail, LLC (Hilco), a noncarrier... Holding, LLC, and operate as a common carrier over an approximately 12-mile line of railroad in Sparrows...

  5. 78 FR 23331 - Ballard Terminal Railroad Company, L.L.C.-Lease Exemption-Line of Eastside Community Rail, LLC

    Science.gov (United States)

    2013-04-18

    ... residual common carrier rights and obligations, including the right to reinstitute rail service, over the... resume providing common carrier rail service over this trackage. These filings will be addressed by the... Railroad Company, L.L.C.--Lease Exemption--Line of Eastside Community Rail, LLC Ballard Terminal Railroad...

  6. 76 FR 75602 - Hilton & Albany Railroad, Inc.-Lease and Operation Exemption-Norfolk Southern Railway Company

    Science.gov (United States)

    2011-12-02

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35567] Hilton & Albany Railroad, Inc.--Lease and Operation Exemption-- Norfolk Southern Railway Company Hilton & Albany Railroad... milepost J 302.3 near Albany West, Ga., and milepost J 357.8 near Hilton, Ga. (the line). This transaction...

  7. 78 FR 338 - Buckeye Hammond Railroad, L.L.C.; Acquisition and Operation Exemption; Buckeye Partners, L.P.

    Science.gov (United States)

    2013-01-03

    ... Railroad, L.L.C.; Acquisition and Operation Exemption; Buckeye Partners, L.P. Buckeye Hammond Railroad, L.L... acquire from Buckeye Partners, L.P., a noncarrier, and to operate approximately 6,797 feet (1.29 miles) of...: December 26, 2012. By the Board, Rachel D. Campbell, Director, Office of Proceedings. Jeffrey Herzig...

  8. 76 FR 35508 - Alabama Southern Railroad, L.L.C.-Temporary Trackage Rights Exemption-Norfolk Southern Railway...

    Science.gov (United States)

    2011-06-17

    ... Railroad, L.L.C.--Temporary Trackage Rights Exemption--Norfolk Southern Railway Company Norfolk Southern... grant nonexclusive overhead temporary trackage rights to Alabama Southern Railroad, L.L.C. (ABS) over a... http://www.stb.dot.gov . Decided: June 13, 2011. By the Board. Rachel D. Campbell, Director, Office of...

  9. 78 FR 802 - Heart of Texas Railroad, L.P.-Acquisition and Operation Exemption-Gulf Colorado & San Saba...

    Science.gov (United States)

    2013-01-04

    ... Railroad, L.P.--Acquisition and Operation Exemption--Gulf Colorado & San Saba Railway Company Heart of Texas Railroad, L.P. (the Company), a noncarrier, has filed a verified notice of exemption under 49 CFR..., 2013. Rachel D. Campbell, Director, Office of Proceedings. Jeffrey Herzig, Clearance Clerk. [FR Doc...

  10. 75 FR 75205 - R.J. Corman Railroad Company/Central Kentucky Lines, LLC-Trackage Rights Exemption-CSX...

    Science.gov (United States)

    2010-12-02

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35442] R.J. Corman... agreed to grant limited overhead trackage rights to R.J. Corman Railroad Company/Central Kentucky Lines... RJCC actually obtained these trackage rights in 2005.\\3\\ In the original notices, R.J. Corman Railroad...

  11. 77 FR 30588 - R.J. Corman Railroad Company/Pennsylvania Lines Inc.-Construction and Operation Exemption-In...

    Science.gov (United States)

    2012-05-23

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35116] R.J. Corman Railroad Company/Pennsylvania Lines Inc.-- Construction and Operation Exemption--In Clearfield County, PA.... 10901 for R.J. Corman Railroad Company/Pennsylvania Lines Inc. (RJCP) to construct and operate 10.8...

  12. 75 FR 52818 - R.J. Corman Railroad Company/Central Kentucky Lines, LLC-Trackage Rights Exemption-CSX...

    Science.gov (United States)

    2010-08-27

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35386] R.J. Corman... to grant additional limited overhead trackage rights \\1\\ to R.J. Corman Railroad Company/Central... distance of approximately 17 miles.\\2\\ \\1\\ The original rights were obtained by R.J. Corman Railroad...

  13. 20 CFR 364.3 - Publication of missing children information in the Railroad Retirement Board's in-house...

    Science.gov (United States)

    2010-04-01

    ... in the Railroad Retirement Board's in-house publications. 364.3 Section 364.3 Employees' Benefits... the Railroad Retirement Board's in-house publications. (a) All-A-Board. Information about missing... publication. (b) Other in-house publications. The Board may publish missing children information in other in...

  14. 76 FR 27173 - Carolina Coastal Railway, Inc.-Acquisition and Operation Exemption-Rocky Mount & Western Railroad...

    Science.gov (United States)

    2011-05-10

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35501] Carolina Coastal Railway, Inc.--Acquisition and Operation Exemption--Rocky Mount & Western Railroad Co., Inc. d/b/a Nash County Railroad Carolina Coastal Railway, Inc. (CLNA), a Class III rail carrier, has filed a verified...

  15. 75 FR 49549 - ABC & D Recycling, Inc.-Lease and Operation Exemption-a Line of Railroad in Ware, MA

    Science.gov (United States)

    2010-08-13

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35397] ABC & D Recycling, Inc.--Lease and Operation Exemption--a Line of Railroad in Ware, MA ABC & D Recycling, Inc. (ABC & D..., ABC & D Recycling, Inc.--Lease and Operation Exemption--a Line of Railroad in Ware, Massachusetts (STB...

  16. 78 FR 16569 - Iowa Pacific Holdings, LLC, Permian Basin Railways, and San Luis & Rio Grande Railroad-Corporate...

    Science.gov (United States)

    2013-03-15

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35721] Iowa Pacific Holdings, LLC, Permian Basin Railways, and San Luis & Rio Grande Railroad--Corporate Family Transaction... subsidiaries Permian Basin Railways (PBR) and San Luis & Rio Grande Railroad (SLRG), and Massachusetts Coastal...

  17. 76 FR 31678 - San Luis & Rio Grande Railroad-Continuance in Control Exemption-Saratoga and North Creek Railway...

    Science.gov (United States)

    2011-06-01

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35499] San Luis & Rio Grande Railroad--Continuance in Control Exemption--Saratoga and North Creek Railway, LLC San Luis & Rio Grande Railroad (SLRG), a Class III rail carrier, has filed a verified notice of exemption to continue in...

  18. 20 CFR 404.1402 - When are railroad industry services by a non-vested worker covered under Social Security?

    Science.gov (United States)

    2010-04-01

    ...-vested worker covered under Social Security? 404.1402 Section 404.1402 Employees' Benefits SOCIAL... When are railroad industry services by a non-vested worker covered under Social Security? If you are a non-vested worker, we (the Social Security Administration) will consider your services in the railroad...

  19. 49 CFR 800.25 - Delegation to the Directors of Office of Aviation Safety, Office of Railroad Safety, Office of...

    Science.gov (United States)

    2010-10-01

    ... Office of Aviation Safety, Office of Railroad Safety, Office of Highway Safety, Office of Marine Safety... Offices of Aviation, Railroad, Highway, Marine, and Pipeline and Hazardous Materials Safety, the authority... 49 Transportation 7 2010-10-01 2010-10-01 false Delegation to the Directors of Office of Aviation...

  20. Activation of groups of excitatory neurons in the mammalian spinal cord or hindbrain evokes locomotion

    DEFF Research Database (Denmark)

    Hägglund, Martin; Borgius, Lotta; Dougherty, Kimberly J.

    2010-01-01

    Central pattern generators (CPGs) are spinal neuronal networks required for locomotion. Glutamatergic neurons have been implicated as being important for intrinsic rhythm generation in the CPG and for the command signal for initiating locomotion, although this has not been demonstrated directly. We...... neurons in the spinal cord are critical for initiating or maintaining the rhythm and that activation of hindbrain areas containing the locomotor command regions is sufficient to directly activate the spinal locomotor network....

  1. Inferring Characteristics of Sensorimotor Behavior by Quantifying Dynamics of Animal Locomotion

    Science.gov (United States)

    Leung, KaWai

    Locomotion is one of the most well-studied topics in animal behavioral studies. Many fundamental and clinical research make use of the locomotion of an animal model to explore various aspects in sensorimotor behavior. In the past, most of these studies focused on population average of a specific trait due to limitation of data collection and processing power. With recent advance in computer vision and statistical modeling techniques, it is now possible to track and analyze large amounts of behavioral data. In this thesis, I present two projects that aim to infer the characteristics of sensorimotor behavior by quantifying the dynamics of locomotion of nematode Caenorhabditis elegans and fruit fly Drosophila melanogaster, shedding light on statistical dependence between sensing and behavior. In the first project, I investigate the possibility of inferring noxious sensory information from the behavior of Caenorhabditis elegans. I develop a statistical model to infer the heat stimulus level perceived by individual animals from their stereotyped escape responses after stimulation by an IR laser. The model allows quantification of analgesic-like effects of chemical agents or genetic mutations in the worm. At the same time, the method is able to differentiate perturbations of locomotion behavior that are beyond affecting the sensory system. With this model I propose experimental designs that allows statistically significant identification of analgesic-like effects. In the second project, I investigate the relationship of energy budget and stability of locomotion in determining the walking speed distribution of Drosophila melanogaster during aging. The locomotion stability at different age groups is estimated from video recordings using Floquet theory. I calculate the power consumption of different locomotion speed using a biomechanics model. In conclusion, the power consumption, not stability, predicts the locomotion speed distribution at different ages.

  2. Development of generalized dynamic model of oscillations of cylinder case of diesel engine of locomotive

    Directory of Open Access Journals (Sweden)

    Irina YUTKINA

    2014-03-01

    Full Text Available An engineering method of design, worked out by the authors, is considered in the paper. It allows to carry out design of amplitude-frequency specter and vibration loading of cylinder cases of the diesel engine of locomotive with account of cavitation-erosion damage. Offered method of design of parameters of cavitation-erosion damage may be used in design of new structures of diesel engines of locomotives and systems of cooling.

  3. Research of the possibility of using neural networks in the tests of locomotive hydraulic transmissions

    OpenAIRE

    КЛЮШНИК, І. А.

    2017-01-01

    The possibility of developing a self-diagnostics system of the diesel locomotives hydraulic transmissions information-measuring test system is researched. The use of neural networks and fuzzy logic for the development of a self-diagnostics system of the diesel locomotives hydraulic transmissions information-measuring tests system is proposed. As the initial stage of developing a diagnostic system using neural networks, a neural network is presented which predicts the rotational speed of the h...

  4. Fictive locomotion in the adult decerebrate and spinal mouse in vivo

    DEFF Research Database (Denmark)

    Meehan, Claire Francesca; Grøndahl, Lillian; Nielsen, Jens Bo

    2012-01-01

    Recently, transgenic mice have been created with mutations affecting the components of the mammalian spinal central pattern generator (CPG) for locomotion, however, it has currently only been possible to evoke fictive locomotion in mice, using neonatal in vitro preparations. Here, we demonstrate...... organisation and allowing for future results in transgenic mice to be extrapolated to existing knowledge of CPG components and circuitry obtained in larger species....

  5. Locomotion of inchworm-inspired robot made of smart soft composite (SSC)

    International Nuclear Information System (INIS)

    Wang, Wei; Lee, Jang-Yeob; Rodrigue, Hugo; Song, Sung-Hyuk; Ahn, Sung-Hoon; Chu, Won-Shik

    2014-01-01

    A soft-bodied robot made of smart soft composite with inchworm-inspired locomotion capable of both two-way linear and turning movement has been proposed, developed, and tested. The robot was divided into three functional parts based on the different functions of the inchworm: the body, the back foot, and the front foot. Shape memory alloy wires were embedded longitudinally in a soft polymer to imitate the longitudinal muscle fibers that control the abdominal contractions of the inchworm during locomotion. Each foot of the robot has three segments with different friction coefficients to implement the anchor and sliding movement. Then, utilizing actuation patterns between the body and feet based on the looping gait, the robot achieves a biomimetic inchworm gait. Experiments were conducted to evaluate the robot’s locomotive performance for both linear locomotion and turning movement. Results show that the proposed robot’s stride length was nearly one third of its body length, with a maximum linear speed of 3.6 mm s −1 , a linear locomotion efficiency of 96.4%, a maximum turning capability of 4.3 degrees per stride, and a turning locomotion efficiency of 39.7%. (paper)

  6. Locomotion-learning behavior relationship in Caenorhabditis elegans following γ-ray irradiation

    International Nuclear Information System (INIS)

    Sakashita, Tetsuya; Hamada, Nobuyuki; Suzuki, Michiyo; Kobayashi, Yasuhiko; Ikeda, Daisuke D.; Yanase, Sumino; Ishii, Naoaki

    2008-01-01

    Learning impairment following ionizing radiation (IR) exposure is an important potential risk in manned space missions. We previously reported the modulatory effects of IR on salt chemotaxis learning in Caenorhabditis elegans. However, little is known about the effects of IR on the functional relationship in the nervous system. In the present study, we investigated the effects of γ-ray exposure on the relationship between locomotion and salt chemotaxis learning behavior. We found that effects of pre-learning irradiation on locomotion were significantly correlated with the salt chemotaxis learning performance, whereas locomotion was not directly related to chemotaxis to NaCl. On the other hand, locomotion was positively correlated with salt chemotaxis of animals which were irradiated during learning, and the correlation disappeared with increasing doses. These results suggest an indirect relationship between locomotion and salt chemotaxis learning in C. elegans, and that IR inhibits the innate relationship between locomotion and chemotaxis, which is related to salt chemotaxis learning conditioning of C. elegans. (author)

  7. Separate and unsanitary: African American women railroad car cleaners and the Women's Service Section, 1918-1920.

    Science.gov (United States)

    Muhammad, Robin Dearmon

    2011-01-01

    The Women's Service Section (WSS) investigated federally controlled railroad stations and yards at the end of World War I. Few women worked in car cleaning before the war, and railroad management preferred to block women workers, especially African Americans, from gaining any kind of foothold in railroad work. African American women were the single largest group of railroad car cleaners during this period but they were routinely denied adequate facilities, including toilets, locker rooms, and dining facilities throughout the railroad system. By raising the issues of facilities, workers' rights, and public health, these women shaped federal policy and widened the agenda of the WSS to include a direct attack on segregated workplaces. This article argues that African American women car cleaners launched an industrial campaign that wove together concerns about racism, sexism, and health issues, and successfully removed barriers to women working in a predominately male industry.

  8. Modeling posture-dependent leg actuation in sagittal plane locomotion

    International Nuclear Information System (INIS)

    Schmitt, J; Clark, J

    2009-01-01

    The spring loaded inverted pendulum template has been shown to accurately model the steady locomotion dynamics of a variety of running animals, and has served as the inspiration for an entire class of dynamic running robots. While the template models the leg dynamics by an energy-conserving spring, insects and animals have structures that dissipate, store and produce energy during a stance phase. Recent investigations into the spring-like properties of limbs, as well as animal response to drop-step perturbations, suggest that animals use their legs to manage energy storage and dissipation, and that this management is important for gait stability. In this paper, we extend our previous analysis of control of the spring loaded inverted pendulum template via changes in the leg touch-down angle to include energy variations during the stance phase. Energy variations are incorporated through leg actuation that varies the force-free leg length during the stance phase, yet maintains qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating energy and leg angle variations in this manner produces complete asymptotic stability. Drop-step perturbation simulations reveal that the control strategy is rather robust, with gaits recovering from drops of up to 30% of the nominal hip height.

  9. Electric-Pneumatic Actuator: A New Muscle for Locomotion

    Directory of Open Access Journals (Sweden)

    Maziar Ahmad Sharbafi

    2017-10-01

    Full Text Available A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections which are moved in a coordinated manner by actuators. In this study, we propose a novel concept of a hybrid electric-pneumatic actuator (EPA as an enhanced variable impedance actuator (VIA. EPA is consisted of a pneumatic artificial muscle (PAM and an electric motor (EM. In contrast to other VIAs, the pneumatic artificial muscle (PAM within the EPA provides not only adaptable compliance, but also an additional powerful actuator with muscle-like properties, which can be arranged in different combinations (e.g., in series or parallel to the EM. The novel hybrid actuator shares the advantages of both integrated actuator types combining precise control of EM with compliant energy storage of PAM, which are required for efficient and adjustable locomotion. Experimental and simulation results based on the new dynamic model of PAM support the hypothesis that combination of the two actuators can improve efficiency (energy and peak power and performance, while does not increase control complexity and weight, considerably. Finally, the experiments on EPA adapted bipedal robot (knee joint of the BioBiped3 robot show improved efficiency of the actuator at different frequencies.

  10. Energetics and biomechanics of locomotion by red kangaroos (Macropus rufus).

    Science.gov (United States)

    Kram, R; Dawson, T J

    1998-05-01

    As red kangaroos hop faster over level ground, their rate of oxygen consumption (indicating metabolic energy consumption) remains nearly the same. This phenomenon has been attributed to exceptional elastic energy storage and recovery via long compliant tendons in the legs. Alternatively, red kangaroos may have exceptionally efficient muscles. To estimate efficiency, we measured the metabolic cost of uphill hopping, where muscle fibers must perform mechanical work against gravity. We found that uphill hopping was much more expensive than level hopping. The maximal rate of oxygen consumption measured (3 ml O2 kg-1 s-1) exceeds all but a few vertebrate species. However, efficiency values were normal, approximately 30%. At faster level hopping speeds the effective mechanical advantage of the extensor muscles of the ankle joint remained the same. Thus, kangaroos generate the same muscular force at all speeds but do so more rapidly at faster hopping speeds. This contradicts a recent hypothesis for what sets the cost of locomotion. The cost of transport (J kg-1 m-1) decreases at faster hopping speeds, yet red kangaroos prefer to use relatively slow speeds that avoid high levels of tendon stress.

  11. An Adaptive Classification Strategy for Reliable Locomotion Mode Recognition

    Directory of Open Access Journals (Sweden)

    Ming Liu

    2017-09-01

    Full Text Available Algorithms for locomotion mode recognition (LMR based on surface electromyography and mechanical sensors have recently been developed and could be used for the neural control of powered prosthetic legs. However, the variations in input signals, caused by physical changes at the sensor interface and human physiological changes, may threaten the reliability of these algorithms. This study aimed to investigate the effectiveness of applying adaptive pattern classifiers for LMR. Three adaptive classifiers, i.e., entropy-based adaptation (EBA, LearnIng From Testing data (LIFT, and Transductive Support Vector Machine (TSVM, were compared and offline evaluated using data collected from two able-bodied subjects and one transfemoral amputee. The offline analysis indicated that the adaptive classifier could effectively maintain or restore the performance of the LMR algorithm when gradual signal variations occurred. EBA and LIFT were recommended because of their better performance and higher computational efficiency. Finally, the EBA was implemented for real-time human-in-the-loop prosthesis control. The online evaluation showed that the applied EBA effectively adapted to changes in input signals across sessions and yielded more reliable prosthesis control over time, compared with the LMR without adaptation. The developed novel adaptive strategy may further enhance the reliability of neurally-controlled prosthetic legs.

  12. Markerless 3D motion capture for animal locomotion studies

    Directory of Open Access Journals (Sweden)

    William Irvin Sellers

    2014-06-01

    Full Text Available Obtaining quantitative data describing the movements of animals is an essential step in understanding their locomotor biology. Outside the laboratory, measuring animal locomotion often relies on video-based approaches and analysis is hampered because of difficulties in calibration and often the limited availability of possible camera positions. It is also usually restricted to two dimensions, which is often an undesirable over-simplification given the essentially three-dimensional nature of many locomotor performances. In this paper we demonstrate a fully three-dimensional approach based on 3D photogrammetric reconstruction using multiple, synchronised video cameras. This approach allows full calibration based on the separation of the individual cameras and will work fully automatically with completely unmarked and undisturbed animals. As such it has the potential to revolutionise work carried out on free-ranging animals in sanctuaries and zoological gardens where ad hoc approaches are essential and access within enclosures often severely restricted. The paper demonstrates the effectiveness of video-based 3D photogrammetry with examples from primates and birds, as well as discussing the current limitations of this technique and illustrating the accuracies that can be obtained. All the software required is open source so this can be a very cost effective approach and provides a methodology of obtaining data in situations where other approaches would be completely ineffective.

  13. Analyzing locomotion synthesis with feature-based motion graphs.

    Science.gov (United States)

    Mahmudi, Mentar; Kallmann, Marcelo

    2013-05-01

    We propose feature-based motion graphs for realistic locomotion synthesis among obstacles. Among several advantages, feature-based motion graphs achieve improved results in search queries, eliminate the need of postprocessing for foot skating removal, and reduce the computational requirements in comparison to traditional motion graphs. Our contributions are threefold. First, we show that choosing transitions based on relevant features significantly reduces graph construction time and leads to improved search performances. Second, we employ a fast channel search method that confines the motion graph search to a free channel with guaranteed clearance among obstacles, achieving faster and improved results that avoid expensive collision checking. Lastly, we present a motion deformation model based on Inverse Kinematics applied over the transitions of a solution branch. Each transition is assigned a continuous deformation range that does not exceed the original transition cost threshold specified by the user for the graph construction. The obtained deformation improves the reachability of the feature-based motion graph and in turn also reduces the time spent during search. The results obtained by the proposed methods are evaluated and quantified, and they demonstrate significant improvements in comparison to traditional motion graph techniques.

  14. Calculation of locomotive traction force in transient rolling contact

    Directory of Open Access Journals (Sweden)

    Voltr P.

    2017-06-01

    Full Text Available To represent thewheel-rail contact in numerical simulations of rail vehicles, simplified models (Fastsim, Pola´ch etc. are usually employed. These models are designed for steady rolling only, which is perfectly suitable in many cases. However, it is shown to be limiting for simulations at very low vehicle speeds, and therefore it does not actually allow simulation of vehicle running at arbitrarily variable speed. The simplified model of transient rolling, which involves calculation of the stress distribution in the discretised contact area, overcomes this disadvantage but might be unnecessarily complex for more simple simulations. In this paper, an approximative creep force computation method for transient rolling is presented. Its purpose is not to study the transient phenomena themselves but provide a simple and readily available way to prevent incorrect results of the numerical simulation when the vehicle speed approaches zero. The proper function of the proposed method is demonstrated by a simulation of start-up and interrupted sliding of a four-axle locomotive.

  15. Integrated diversification of locomotion and feeding in labrid fishes.

    Science.gov (United States)

    Collar, David C; Wainwright, Peter C; Alfaro, Michael E

    2008-02-23

    An organism's performance of any ecological task involves coordination of multiple functional systems. Feeding performance is influenced by locomotor abilities which are used during search and capture of prey, as well as cranial mechanics, which affect prey capture and processing. But, does this integration of functional systems manifest itself during evolution? We asked whether the locomotor and feeding systems evolved in association in one of the most prominent and diverse reef fish radiations, the Labridae. We examined features of the pectoral fins that affect swimming performance and aspects of the skull that describe force and motion of the jaws. We applied a recent phylogeny, calculated independent contrasts for 60 nodes and performed principal components analyses separately on contrasts for fin and skull traits. The major axes of fin and skull diversification are highly correlated; modifications of the skull to amplify the speed of jaw movements are correlated with changes in the pectoral fins that increase swimming speed, and increases in force capacity of the skull are associated with changes towards fins that produce high thrust at slow speeds. These results indicate that the labrid radiation involved a strong connection between locomotion and feeding abilities.

  16. Mathematical modeling and simulation of aquatic and aerial animal locomotion

    Science.gov (United States)

    Hou, T. Y.; Stredie, V. G.; Wu, T. Y.

    2007-08-01

    In this paper, we investigate the locomotion of fish and birds by applying a new unsteady, flexible wing theory that takes into account the strong nonlinear dynamics semi-analytically. We also make extensive comparative study between the new approach and the modified vortex blob method inspired from Chorin's and Krasny's work. We first implement the modified vortex blob method for two examples and then discuss the numerical implementation of the nonlinear analytical mathematical model of Wu. We will demonstrate that Wu's method can capture the nonlinear effects very well by applying it to some specific cases and by comparing with the experiments available. In particular, we apply Wu's method to analyze Wagner's result for a wing abruptly undergoing an increase in incidence angle. Moreover, we study the vorticity generated by a wing in heaving, pitching and bending motion. In both cases, we show that the new method can accurately represent the vortex structure behind a flying wing and its influence on the bound vortex sheet on the wing.

  17. Freedom Train: The Underground Railroad as a Model of Christian Education, Antiracism, and Human Rights Advocacy

    Science.gov (United States)

    Fears, Barbara A.

    2017-01-01

    The Underground Railroad is the first racially integrated civil/human rights movement in the United States. The basic concepts of "escape" and "travel" that undergird the movement offer a way of envisioning the teaching/learning exchange as leaving behind unhealthy ideologies, and as journeying with students from one place of…

  18. Learning about Our Community: From the Underground Railroad to School Lunch.

    Science.gov (United States)

    Hicks, Bonnie; Montequin, Leah; Hicks, Jason

    2000-01-01

    Forms part of a themed issue describing "Parent-Kid-Teacher Investigators," a program in which parents, children, and teachers gather regularly to use language and literacy for action research projects. Offers a portrait of the weekly meetings. Summarizes what three particular groups learned about their topics: the underground railroad;…

  19. Harriet Tubman and the Underground Railroad: Bringing a Second-Grade Social Studies Curriculum Online.

    Science.gov (United States)

    Strangman, Nicole

    2002-01-01

    Includes an interview with second-grade teacher Patty Taverna and computer teacher Terry Hongell. Explains that their collaboration on social studies projects yielded some remarkable activities. Outlines the first such project--the "Harriet Tubman and the Underground Railroad" website. (PM)

  20. Get on Board the Underground Railroad: A Sample Unit for Fifth-Grade History Students.

    Science.gov (United States)

    Ferguson, Phyllis M.; Young, Terrell A.

    1996-01-01

    Reviews the materials and procedures used in a fifth-grade history unit on the Underground Railroad. The unit integrated a variety of teaching methods and materials making extensive use of historical literature, K-W-L (what we Know, what we Want to find out, what we Learned) charts, and activities aimed at different learning styles. (MJP)

  1. Transformational Effects of Museum Exhibits upon Their Patrons: The National Underground Railroad Freedom Center

    Science.gov (United States)

    Caruso-Woolard, Cassandra

    2013-01-01

    The focus of this research was on the affective learning experienced at the National Underground Railroad Freedom Center--a museum that tells the history of slavery in the United States, the courage, cooperation, and perseverance enacted by many who overcame the challenges and consequences of the unfreedoms once practiced in America. Such a study…

  2. 76 FR 35104 - Safety Zone; Waterway Closure, Atchafalaya River From Mile Marker 117 (Morgan City Railroad...

    Science.gov (United States)

    2011-06-16

    ...-AA00 Safety Zone; Waterway Closure, Atchafalaya River From Mile Marker 117 (Morgan City Railroad Bridge... with rising flood water in the Atchafalaya River. Basis and Purpose Captain of the Port Morgan City... safety zone is located on the specified waters of the Atchafalaya River between MM 117 (Morgan City...

  3. Driver behavior at highway-railroad grade crossings : a literature review from 1990-2006

    Science.gov (United States)

    2008-10-01

    Accidents at grade crossings continue to be the leading cause of fatalities in the railroad industry. A large proportion of these accidents are the result of driver error. The purpose of this report is to review research that addresses driver behavio...

  4. 26 CFR 1.401(l)-4 - Special rules for railroad plans.

    Science.gov (United States)

    2010-04-01

    ... does not exceed railroad retirement covered compensation, (B) The plan uses the same base benefit..., or (2) 0.56 percent plus the base benefit percentage plus 0.75 percent. (ii) Definitions. The following definitions govern for purposes of this paragraph (c)(2). (A) Base benefit percentage means the...

  5. 77 FR 2128 - Southwest Pennsylvania Railroad Company-Acquisition Exemption-Laurel Hill Development Corporation

    Science.gov (United States)

    2012-01-13

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35584] Southwest Pennsylvania Railroad Company--Acquisition Exemption-- Laurel Hill Development Corporation Southwest... 49 CFR 1150.41 to acquire a number of rail lines now owned by Laurel Hill Development Corporation...

  6. 75 FR 7303 - Drake Cement, LLC-Acquisition Exemption-Clarkdale Arizona Central Railroad, LLC

    Science.gov (United States)

    2010-02-18

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [STB Finance Docket No. 35350] Drake Cement, LLC--Acquisition Exemption--Clarkdale Arizona Central Railroad, LLC Drake Cement, LLC (DC), a..., Drake Switching Company, LLC --Operation Exemption-- Drake Cement, LLC. DC certifies that the projected...

  7. 78 FR 77791 - Dakota, Minnesota & Eastern Railroad Corporation-Abandonment Exemption-in Scott County, Iowa

    Science.gov (United States)

    2013-12-24

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. AB 337 (Sub-No. 7X)] Dakota, Minnesota & Eastern Railroad Corporation--Abandonment Exemption--in Scott County, Iowa Dakota, Minnesota... as Blackhawk Spur, between milepost 0.33+/- and milepost 0.99 +/- in Scott County, Iowa (the Line...

  8. Wheat Fields, Flour Mills, and Railroads: A Web of Interdependence. Teaching with Historic Places.

    Science.gov (United States)

    Koman, Rita G.

    By 1860 much of the beauty of St. Anthony Falls in Minneapolis (Minnesota) had been destroyed, as mills on both sides of the river used the power of the falls to turn millions of bushels of wheat into flour. Steel rails linked bonanza farms hundreds of miles to the west to the mills. The mills, the farms, and the railroads depended on each other…

  9. 75 FR 68399 - Patriot Woods Railroad, LLC-Acquisition and Operation Exemption-Weyerhaeuser NR Company...

    Science.gov (United States)

    2010-11-05

    ... Division (Woods RR), and to operate approximately 21.5 miles of rail line \\1\\ between milepost 8.5 (the... common carrier railroad. PAW will hold itself out to perform common carrier service for any shipper and intends to operate the line for the purpose of becoming a rail carrier. \\2\\ After these transactions are...

  10. 77 FR 65446 - Turtle Creek Industrial Railroad, Inc.-Acquisition and Operation Exemption-Consolidated Rail...

    Science.gov (United States)

    2012-10-26

    ... common carrier providing interstate rail service, primarily for Dura-Bond, without first obtaining... Industrial Railroad, Inc.--Acquisition and Operation Exemption--Consolidated Rail Corporation Turtle Creek... Consolidated Rail Corporation (Conrail) and to operate approximately 9.8 miles of rail line between milepost 0...

  11. 77 FR 38884 - Sisseton Milbank Railroad Company-Acquisition and Operation Exemption-SLA Property Management...

    Science.gov (United States)

    2012-06-29

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35641] Sisseton Milbank Railroad Company--Acquisition and Operation Exemption--SLA Property Management Limited Partnership and... verified notice of exemption under 49 CFR 1150.31 to acquire from SLA Property Management Limited...

  12. Evaluation of the adequacy of maintenance tasks using the failure consequences of railroad vehicles

    International Nuclear Information System (INIS)

    Kim, Jaehoon; Jeong, Hyun- Yong

    2013-01-01

    The purpose of this study is to improve the efficiency, reliability and safety related to railroad maintenance tasks through an evaluation of the consequences of failures. The brake system was selected based on the failure data obtained from railroad vehicles in operation as one of the safety systems in railroad vehicles. The failure causes, failure effects, and the criticality of the failure mode were drawn for 62 failure modes of the braking system through the use of an FMECA for the 30 sub-devices having primary functions. The various maintenance tasks for the braking system were categorized into the 62 failure modes and failure consequences using the FMECA and the logic of maintenance decisions. Braking systems manufactured by the same manufacturer and operated by two different operators were studied in an effort to analyze preventive maintenance and to evaluate the adequacy of preventive maintenance tasks for the 62 failure modes. Based on results of the evaluation of these preventive maintenance tasks, new maintenance tasks were proposed, and concrete cost-cutting effects were determined from the calculation of the maintenance time and expected costs, using a preventive maintenance template developed specifically for railroad vehicles

  13. Laboratory investigation of fire protection coatings for creosote-treated timber railroad bridges

    Science.gov (United States)

    Carol A. Clausen; Robert H. White; James P. Wacker; Stan T. Lebow; Mark A. Dietenberger; Samuel L. Zelinka; Nicole M. Stark

    2014-01-01

    As the incidence of timber railroad bridge fires increases, so has the need to develop protective measures to reduce the risk from accidental ignitions primarily caused by hot metal objects. Of the six barrier treatments evaluated in the laboratory for their ability to protect timbers from fires sourced with ignition from hot metal objects only one intumescent coating...

  14. 75 FR 22763 - Office of Postsecondary Education; Overview Information: Underground Railroad Educational and...

    Science.gov (United States)

    2010-04-30

    ... lessons to be drawn from the history of the Underground Railroad. Program Authority: 20 U.S.C. 1153..., including the lessons to be drawn from such history. 2. Cost Sharing or Matching: The Federal Government..., including the lessons to be drawn from such history; (ii) Maintain such artifacts and materials; (iii) Make...

  15. 78 FR 41993 - Transport Handling Specialists, Inc.-Continuance in Control Exemption-RSL Railroad, LLC

    Science.gov (United States)

    2013-07-12

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35726] Transport Handling Specialists, Inc.--Continuance in Control Exemption--RSL Railroad, LLC Transport Handling Specialists, Inc. (THS), has filed a verified notice of exemption (Notice) under 49 CFR 1180.2(d)(2) to continue in...

  16. The early mills, railroads, and logging camps of the Crossett Lumber Company

    Science.gov (United States)

    O.H. Doogie Darling; Don C. Bragg

    2008-01-01

    Form the earliest small-scale logging and milling operations to the multinational conglomerates of today, the timber industry has long shaped the social and economic history of the southern United States. Nowhere is this more true than in Crossett, Arkansas. Born of the axe and saw, oxen and steam engines, and nurtured by the railroad during its infancy, Crossett was...

  17. 26 CFR 1.45G-1 - Railroad track maintenance credit.

    Science.gov (United States)

    2010-04-01

    ... TAXES Rules for Computing Credit for Investment in Certain Depreciable Property § 1.45G-1 Railroad track... extensions) Federal income tax return for the taxable year the RTMC is claimed. Paragraph (b) of this section..., accounting and bookkeeping, marketing, legal services; janitorial services; office building rental; banking...

  18. 76 FR 6517 - San Luis & Rio Grande Railroad-Petition for a Declaratory Order

    Science.gov (United States)

    2011-02-04

    ... DEPARTMENT OF TRANSPORTATION Surface Transportation Board [Docket No. FD 35380] San Luis & Rio... petition filed by San Luis & Rio Grande Railroad (SLRG), the Board instituted a declaratory order... proposed operation of a truck-to-rail transload facility in Antonito, Colorado. See San Luis & Rio Grande R...

  19. 75 FR 27112 - Solicitation of Applications and Notice of Funding Availability for the FRA Railroad System...

    Science.gov (United States)

    2010-05-13

    ... of the Use of Bio-based Technologies.'' The study will focus on the feasibility of using readily.... This study shall consist of the following: (1) An analysis of the potential use of soy-based grease and... DEPARTMENT OF TRANSPORTATION Federal Railroad Administration Solicitation of Applications and...

  20. 77 FR 53164 - Railroad Workplace Safety; Adjacent-Track On-Track Safety for Roadway Workers

    Science.gov (United States)

    2012-08-31

    ...-0059, Notice No. 6] RIN 2130-AC37 Railroad Workplace Safety; Adjacent-Track On-Track Safety for Roadway... complex issues raised in both the petitions for reconsideration of the final rule published November 30... issues. One of the Petitions included a request for a delay in the effective date of the final rule until...

  1. 77 FR 25910 - National Trails System Act and Railroad Rights-of-Way

    Science.gov (United States)

    2012-05-02

    ...] National Trails System Act and Railroad Rights-of-Way AGENCY: Surface Transportation Board, DOT. ACTION...) for rail banking and interim trail use under the National Trails System Act (Trails Act). New rules are adopted that require the parties jointly to notify the Board when an interim trail use/rail...

  2. Full-scale locomotive dynamic crash testing and correlations : C-39 type locomotive colliding with a loaded hopper car (test 7).

    Science.gov (United States)

    2011-09-01

    This report presents the results of a locomotive and three loaded hopper car consist traveling at 29 miles per hour colliding with a stationary consist of 35 loaded hopper cars. The details of test instrumentation, LS-DYNA finite element simulation, ...

  3. Biomechanics of the Treadmill Locomotion on the International Space Station

    Science.gov (United States)

    DeWitt, John; Cromwell, R. L.; Ploutz-Snyder, L. L.

    2014-01-01

    Exercise prescriptions completed by International Space Station (ISS) crewmembers are typically based upon evidence obtained during ground-based investigations, with the assumption that the results of long-term training in weightlessness will be similar to that attained in normal gravity. Coupled with this supposition are the assumptions that exercise motions and external loading are also similar between gravitational environments. Normal control of locomotion is dependent upon learning patterns of muscular activation and requires continual monitoring of internal and external sensory input [1]. Internal sensory input includes signals that may be dependent on or independent of gravity. Bernstein hypothesized that movement strategy planning and execution must include the consideration of segmental weights and inertia [2]. Studies of arm movements in microgravity showed that individuals tend to make errors but that compensation strategies result in adaptations, suggesting that control mechanisms must include peripheral information [3-5]. To date, however, there have been no studies examining a gross motor activity such as running in weightlessness other than using microgravity analogs [6-8]. The objective of this evaluation was to collect biomechanical data from crewmembers during treadmill exercise before and during flight. The goal was to determine locomotive biomechanics similarities and differences between normal and weightless environments. The data will be used to optimize future exercise prescriptions. This project addresses the Critical Path Roadmap risks 1 (Accelerated Bone Loss and Fracture Risk) and 11 (Reduced Muscle Mass, Strength, and Endurance). Data were collected from 7 crewmembers before flight and during their ISS missions. Before launch, crewmembers performed a single data collection session at the NASA Johnson Space Center. Three-dimensional motion capture data were collected for 30 s at speeds ranging from 1.5 to 9.5 mph in 0.5 mph increments

  4. Impact of food restriction and cocaine on locomotion in ghrelin- and ghrelin-receptor knockout mice.

    Science.gov (United States)

    Clifford, Shane; Zeckler, Rosie Albarran; Buckman, Sam; Thompson, Jeff; Hart, Nigel; Wellman, Paul J; Smith, Roy G

    2011-07-01

    Food restriction (FR) augments the behavioral and reinforcing effects of psychomotor stimulants such as cocaine or amphetamine; effects that may be related to the capacity of FR to increase plasma levels of ghrelin (GHR), a 28-amino acid orexigenenic peptide linked to activation of brain dopamine systems. The present study used wild-type (WT) mice or mutant mice sustaining knockout of either GHR [GHR((-/-)) ] or of the growth hormone secretagogue receptor [GHS-R((-/-)) ] and subjected to FR or not to evaluate the role of GHR and GHS-R in cocaine-stimulated locomotion. WT, GHR((-/-)) , and GHS-R((-/-)) mice were either restricted to 60% of baseline caloric intake or allowed to free-feed (FF). Mice were treated with 0, 1.25, 2.5 and 5.0 mg/kg cocaine on separate test days (in random dose order) and forward locomotion was recorded on each drug day for 45 minutes after drug dosing. Food (and water) was available immediately after (but not during) each activity test. For FF mice, there was no interaction between cocaine and GHR status on locomotion. FR-WT mice treated with saline exhibited significant increases in anticipatory locomotion (relative to FF-WT mice), whereas FR-GHS-R((-/-)) mice did not. Cocaine significantly increased locomotion in FR-GHR((-/-)) and FR-GHS-R((-/-)) mice to the levels noted in FR-WT mice. These results suggest that GHS-R activity, but not GHR activity, is required for FR to augment food-associated anticipatory locomotion, but do not support the contention that GHR pathways are required for the capacity of FR to augment the acute effect of cocaine on locomotion. © 2010 The Authors, Addiction Biology © 2010 Society for the Study of Addiction.

  5. Experiments on vibration-driven stick-slip locomotion: A sliding bifurcation perspective

    Science.gov (United States)

    Du, Zhouwei; Fang, Hongbin; Zhan, Xiong; Xu, Jian

    2018-05-01

    Dry friction appears at the contact interface between two surfaces and is the source of stick-slip vibrations. Instead of being a negative factor, dry friction is essential for vibration-driven locomotion system to take effect. However, the dry-friction-induced stick-slip locomotion has not been fully understood in previous research, especially in terms of experiments. In this paper, we experimentally study the stick-slip dynamics of a vibration-driven locomotion system from a sliding bifurcation perspective. To this end, we first design and build a vibration-driven locomotion prototype based on an internal piezoelectric cantilever. By utilizing the mechanical resonance, the small piezoelectric deformation is significantly amplified to drive the prototype to achieve effective locomotion. Through identifying the stick-slip characteristics in velocity histories, we could categorize the system's locomotion into four types and obtain a stick-slip categorization diagram. In each zone of the diagram the locomotion exhibits qualitatively different stick-slip dynamics. Such categorization diagram is actually a sliding bifurcation diagram; crossing from one stick-slip zone to another corresponds to the triggering of a sliding bifurcation. In addition, a simplified single degree-of-freedom model is established, with the rationality of simplification been explained theoretically and numerically. Based on the equivalent model, a numerical stick-slip categorization is also obtained, which shows good agreement with the experiments both qualitatively and quantitatively. To the best of our knowledge, this is the first work that experimentally generates a sliding bifurcation diagram. The obtained stick-slip categorizations deepen our understanding of stick-slip dynamics in vibration-driven systems and could serve as a base for system design and optimization.

  6. On the Role of the Pedunculopontine Nucleus and Mesencephalic Reticular Formation in Locomotion in Nonhuman Primates.

    Science.gov (United States)

    Goetz, Laurent; Piallat, Brigitte; Bhattacharjee, Manik; Mathieu, Hervé; David, Olivier; Chabardès, Stéphan

    2016-05-04

    The mesencephalic reticular formation (MRF) is formed by the pedunculopontine and cuneiform nuclei, two neuronal structures thought to be key elements in the supraspinal control of locomotion, muscle tone, waking, and REM sleep. The role of MRF has also been advocated in modulation of state of arousal leading to transition from wakefulness to sleep and it is further considered to be a main player in the pathophysiology of gait disorders seen in Parkinson's disease. However, the existence of a mesencephalic locomotor region and of an arousal center has not yet been demonstrated in primates. Here, we provide the first extensive electrophysiological mapping of the MRF using extracellular recordings at rest and during locomotion in a nonhuman primate (NHP) (Macaca fascicularis) model of bipedal locomotion. We found different neuronal populations that discharged according to a phasic or a tonic mode in response to locomotion, supporting the existence of a locomotor neuronal circuit within these MRF in behaving primates. Altogether, these data constitute the first electrophysiological characterization of a locomotor neuronal system present within the MRF in behaving NHPs under normal conditions, in accordance with several studies done in different experimental animal models. We provide the first extensive electrophysiological mapping of the two major components of the mesencephalic reticular formation (MRF), namely the pedunculopontine and cuneiform nuclei. We exploited a nonhuman primate (NHP) model of bipedal locomotion with extracellular recordings in behaving NHPs at rest and during locomotion. Different MRF neuronal groups were found to respond to locomotion, with phasic or tonic patterns of response. These data constitute the first electrophysiological evidences of a locomotor neuronal system within the MRF in behaving NHPs. Copyright © 2016 the authors 0270-6474/16/364917-13$15.00/0.

  7. Railroad perspective on transportation of spent fuel and high level waste and recent ICC decisions

    International Nuclear Information System (INIS)

    Paschall, J.R.

    1978-01-01

    This paper attempts to summarize some railroad viewpoints on issues concerning transportation of spent fuel and high-level waste and to outline Interstate Commerce Commission decisions arising over differing opinions about the manner of such transportation. Although the railroad position includes a number of legal arguments, it also involves operating expertise and a number of well-based questions concerning the safety of casks under actual operating conditions in regular trains. The commonly-used estimates of accident frequency and severity in regular trains are severe underestimates based on a mistake in the annual number of railroad car-miles, inadequacies in and misunderstanding of accident reporting, and invalid assumptions, especially concerning fires, which some actual data suggest are far more frequent than assumed. Thus, railroads estimate casks could be involved in at least 12 accidents involving severe fires by 1990. A number of unanswered questions about casks and perceived inadequacies in testing lead to a conservative railroad position. These include the possibility of escape routes of materials other than by breach such as weld and pressure relief valve failures and direct radiation hazards through loss of shielding. These doubts are fostered through experience with accidents more severe than those used in testing or certification as well as these questions. Also, there is doubt concerning the integrity of fuel rod cladding (used as a second level of containment) in credible accident situations. Moreover, the damage estimates of $1,000 per man rem have been shown to have no relationship to damages in a transportation accident.Added safety is expected in special trains for at least 17 reasons involving speed, transit time, routing, train consist, crew alertness, reduced slack and other reduced hazards and accident opportunities

  8. Phalangeal joints kinematics during ostrich (Struthio camelus locomotion

    Directory of Open Access Journals (Sweden)

    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.

  9. Effects of sounds of locomotion on speech perception

    Directory of Open Access Journals (Sweden)

    Matz Larsson

    2015-01-01

    Full Text Available Human locomotion typically creates noise, a possible consequence of which is the masking of sound signals originating in the surroundings. When walking side by side, people often subconsciously synchronize their steps. The neurophysiological and evolutionary background of this behavior is unclear. The present study investigated the potential of sound created by walking to mask perception of speech and compared the masking produced by walking in step with that produced by unsynchronized walking. The masking sound (footsteps on gravel and the target sound (speech were presented through the same speaker to 15 normal-hearing subjects. The original recorded walking sound was modified to mimic the sound of two individuals walking in pace or walking out of synchrony. The participants were instructed to adjust the sound level of the target sound until they could just comprehend the speech signal ("just follow conversation" or JFC level when presented simultaneously with synchronized or unsynchronized walking sound at 40 dBA, 50 dBA, 60 dBA, or 70 dBA. Synchronized walking sounds produced slightly less masking of speech than did unsynchronized sound. The median JFC threshold in the synchronized condition was 38.5 dBA, while the corresponding value for the unsynchronized condition was 41.2 dBA. Combined results at all sound pressure levels showed an improvement in the signal-to-noise ratio (SNR for synchronized footsteps; the median difference was 2.7 dB and the mean difference was 1.2 dB [P < 0.001, repeated-measures analysis of variance (RM-ANOVA]. The difference was significant for masker levels of 50 dBA and 60 dBA, but not for 40 dBA or 70 dBA. This study provides evidence that synchronized walking may reduce the masking potential of footsteps.

  10. Decoding bipedal locomotion from the rat sensorimotor cortex

    Science.gov (United States)

    Rigosa, J.; Panarese, A.; Dominici, N.; Friedli, L.; van den Brand, R.; Carpaneto, J.; DiGiovanna, J.; Courtine, G.; Micera, S.

    2015-10-01

    Objective. Decoding forelimb movements from the firing activity of cortical neurons has been interfaced with robotic and prosthetic systems to replace lost upper limb functions in humans. Despite the potential of this approach to improve locomotion and facilitate gait rehabilitation, decoding lower limb movement from the motor cortex has received comparatively little attention. Here, we performed experiments to identify the type and amount of information that can be decoded from neuronal ensemble activity in the hindlimb area of the rat motor cortex during bipedal locomotor tasks. Approach. Rats were trained to stand, step on a treadmill, walk overground and climb staircases in a bipedal posture. To impose this gait, the rats were secured in a robotic interface that provided support against the direction of gravity and in the mediolateral direction, but behaved transparently in the forward direction. After completion of training, rats were chronically implanted with a micro-wire array spanning the left hindlimb motor cortex to record single and multi-unit activity, and bipolar electrodes into 10 muscles of the right hindlimb to monitor electromyographic signals. Whole-body kinematics, muscle activity, and neural signals were simultaneously recorded during execution of the trained tasks over multiple days of testing. Hindlimb kinematics, muscle activity, gait phases, and locomotor tasks were decoded using offline classification algorithms. Main results. We found that the stance and swing phases of gait and the locomotor tasks were detected with accuracies as robust as 90% in all rats. Decoded hindlimb kinematics and muscle activity exhibited a larger variability across rats and tasks. Significance. Our study shows that the rodent motor cortex contains useful information for lower limb neuroprosthetic development. However, brain-machine interfaces estimating gait phases or locomotor behaviors, instead of continuous variables such as limb joint positions or speeds

  11. 78 FR 54849 - Hazardous Materials: Rail Petitions and Recommendations To Improve the Safety of Railroad Tank...

    Science.gov (United States)

    2013-09-06

    ...; operating practices; passenger train emergency preparedness; alcohol and drug testing; locomotive engineer... these cylinders than tank cars. P-1548 American Chemistry Proposes a change to the Council (ACC... and FRA engineers agree, theoretically, CGA's assertion that a shell full condition may result in...

  12. Estimating Orientation Using Magnetic and Inertial Sensors and Different Sensor Fusion Approaches: Accuracy Assessment in Manual and Locomotion Tasks

    Directory of Open Access Journals (Sweden)

    Elena Bergamini

    2014-10-01

    Full Text Available Magnetic and inertial measurement units are an emerging technology to obtain 3D orientation of body segments in human movement analysis. In this respect, sensor fusion is used to limit the drift errors resulting from the gyroscope data integration by exploiting accelerometer and magnetic aiding sensors. The present study aims at investigating the effectiveness of sensor fusion methods under different experimental conditions. Manual and locomotion tasks, differing in time duration, measurement volume, presence/absence of static phases, and out-of-plane movements, were performed by six subjects, and recorded by one unit located on the forearm or the lower trunk, respectively. Two sensor fusion methods, representative of the stochastic (Extended Kalman Filter and complementary (Non-linear observer filtering, were selected, and their accuracy was assessed in terms of attitude (pitch and roll angles and heading (yaw angle errors using stereophotogrammetric data as a reference. The sensor fusion approaches provided significantly more accurate results than gyroscope data integration. Accuracy improved mostly for heading and when the movement exhibited stationary phases, evenly distributed 3D rotations, it occurred in a small volume, and its duration was greater than approximately 20 s. These results were independent from the specific sensor fusion method used. Practice guidelines for improving the outcome accuracy are provided.

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

    Science.gov (United States)

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

    2014-01-01

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

  14. Walking like dinosaurs: chickens with artificial tails provide clues about non-avian theropod locomotion.

    Science.gov (United States)

    Grossi, Bruno; Iriarte-Díaz, José; Larach, Omar; Canals, Mauricio; Vásquez, Rodrigo A

    2014-01-01

    Birds still share many traits with their dinosaur ancestors, making them the best living group to reconstruct certain aspects of non-avian theropod biology. Bipedal, digitigrade locomotion and parasagittal hindlimb movement are some of those inherited traits. Living birds, however, maintain an unusually crouched hindlimb posture and locomotion powered by knee flexion, in contrast to the inferred primitive condition of non-avian theropods: more upright posture and limb movement powered by femur retraction. Such functional differences, which are associated with a gradual, anterior shift of the centre of mass in theropods along the bird line, make the use of extant birds to study non-avian theropod locomotion problematic. Here we show that, by experimentally manipulating the location of the centre of mass in living birds, it is possible to recreate limb posture and kinematics inferred for extinct bipedal dinosaurs. Chickens raised wearing artificial tails, and consequently with more posteriorly located centre of mass, showed a more vertical orientation of the femur during standing and increased femoral displacement during locomotion. Our results support the hypothesis that gradual changes in the location of the centre of mass resulted in more crouched hindlimb postures and a shift from hip-driven to knee-driven limb movements through theropod evolution. This study suggests that, through careful experimental manipulations during the growth phase of ontogeny, extant birds can potentially be used to gain important insights into previously unexplored aspects of bipedal non-avian theropod locomotion.

  15. A novel device for studying weight supported, quadrupedal overground locomotion in spinal cord injured rats.

    Science.gov (United States)

    Hamlin, Marvin; Traughber, Terence; Reinkensmeyer, David J; de Leon, Ray D

    2015-05-15

    Providing weight support facilitates locomotion in spinal cord injured animals. To control weight support, robotic systems have been developed for treadmill stepping and more recently for overground walking. We developed a novel device, the body weight supported ambulatory rodent trainer (i.e. BART). It has a small pneumatic cylinder that moves along a linear track above the rat. When air is supplied to the cylinder, the rats are lifted as they perform overground walking. We tested the BART device in rats that received a moderate spinal cord contusion injury and in normal rats. Locomotor training with the BART device was not performed. All of the rats learned to walk in the BART device. In the contused rats, significantly greater paw dragging and dorsal stepping occurred in the hindlimbs compared to normal. Providing weight support significantly raised hip position and significantly reduced locomotor deficits. Hindlimb stepping was tightly coupled to forelimb stepping but only when the contused rats stepped without weight support. Three weeks after the contused rats received a complete spinal cord transection, significantly fewer hindlimb steps were performed. Relative to rodent robotic systems, the BART device is a simpler system for studying overground locomotion. The BART device lacks sophisticated control and sensing capability, but it can be assembled relatively easily and cheaply. These findings suggest that the BART device is a useful tool for assessing quadrupedal, overground locomotion which is a more natural form of locomotion relative to treadmill locomotion. Published by Elsevier B.V.

  16. Quasi-dynamic walk of a quadruped locomotion robot using optimal tracking control

    International Nuclear Information System (INIS)

    Uchida, Hiroaki; Nonami, Kenzo; Chiba, Yasunori; Koyama, Kakutaro.

    1994-01-01

    Recently, many research works of quadruped locomotion robots, which are considered to be operable on irregular terrain, have been carried out. In the case of realizing ideal motion control of the quadruped locomotion robot, it is assumed that hierarchical cooperative control consisting of decentralized control and centralized control is desirable. In the case that the locomotion robot moves at high speed, it is impossible to follow the desired trajectory because using only the feedback control method includes time delay. It is known that feedforward control input is valid for such motion control. In this paper, decentralized control is realized to apply optimal tracking control using feedforward control input to the quadruped locomotion robot, as the first step. As a result, it is determined that the angle variation of the foot and the stride applying optimal tracking control input are large compared with using only feedback control. It is verified that feedforward control input is useful to control the trajectory of the tip of the foot in high speed locomotion. (author)

  17. Walking like dinosaurs: chickens with artificial tails provide clues about non-avian theropod locomotion.

    Directory of Open Access Journals (Sweden)

    Bruno Grossi

    Full Text Available Birds still share many traits with their dinosaur ancestors, making them the best living group to reconstruct certain aspects of non-avian theropod biology. Bipedal, digitigrade locomotion and parasagittal hindlimb movement are some of those inherited traits. Living birds, however, maintain an unusually crouched hindlimb posture and locomotion powered by knee flexion, in contrast to the inferred primitive condition of non-avian theropods: more upright posture and limb movement powered by femur retraction. Such functional differences, which are associated with a gradual, anterior shift of the centre of mass in theropods along the bird line, make the use of extant birds to study non-avian theropod locomotion problematic. Here we show that, by experimentally manipulating the location of the centre of mass in living birds, it is possible to recreate limb posture and kinematics inferred for extinct bipedal dinosaurs. Chickens raised wearing artificial tails, and consequently with more posteriorly located centre of mass, showed a more vertical orientation of the femur during standing and increased femoral displacement during locomotion. Our results support the hypothesis that gradual changes in the location of the centre of mass resulted in more crouched hindlimb postures and a shift from hip-driven to knee-driven limb movements through theropod evolution. This study suggests that, through careful experimental manipulations during the growth phase of ontogeny, extant birds can potentially be used to gain important insights into previously unexplored aspects of bipedal non-avian theropod locomotion.

  18. Conflicts between sensory performance and locomotion in weakly electric fish

    Science.gov (United States)

    Maciver, Malcolm; Shirgaonkar, Anup; Patankar, Neelesh

    2008-11-01

    The knifefish Apteronotus albifrons hunts for small water insects at night using a self-generated electric field to perceive its world. Using this unique sensory adaptation, the fish senses prey that are near its body with a detection volume that approximates a cylinder that has a length ten times its radius, similar to the fish's elongated body plan. If the fish swims straight, then the back portion of the actively generated detection volume is scanning fluid already scanned by the front portion, but the energy expended to overcome drag is minimized. If it swims with the body pitched, then the rate of volume scanned for prey is increased, but the energy needed to overcome body drag is also increased. In this work we examine the compromise the fish makes between minimizing energy in overcoming drag and maximizing scan rate. We use computational fluid dynamics simulations to assess the impact of changes in body pitch angle on drag, and computational neuroscience simulations to assess the shape and size of the prey detection volume and how body angle changes the scan volume rate.

  19. TRANSPORT LOCOMOTIVE AND WASTE PACKAGE TRANSPORTER ITS STANDARDS IDENTIFICATION STUDY

    International Nuclear Information System (INIS)

    Draper, K.D.

    2005-01-01

    To date, the project has established important to safety (ITS) performance requirements for structures, systems and components (SSCs) based on identification and categorization of event sequences that may result in a radiological release. These performance requirements are defined within the ''Nuclear Safety Design Basis for License Application'' (NSDB) (BSC 2005). Further, SSCs credited with performing safe functions are classified as ITS. In turn, performance confirmation for these SSCs is sought through the use of consensus code and standards. The purpose of this study is to identify applicable codes and standards for the waste package (WP) transporter and transport locomotive ITS SSCs. Further, this study will form the basis for selection and the extent of applicability of each code and standard. This study is based on the design development completed for License Application only. Accordingly, identification of ITS SSCs beyond those defined within the NSDB are based on designs that may be subject to further development during detail design. Furthermore, several design alternatives may still be under consideration to satisfy certain safety functions, and that final selection will not be determined until further design development has occurred. Therefore, for completeness, throughout this study alternative designs currently under consideration will be discussed. Further, the results of this study will be subject to evaluation as part of a follow-on gap analysis study. Based on the results of this study the gap analysis will evaluate each code and standard to ensure each ITS performance requirement is fully satisfied. When a performance requirement is not fully satisfied a ''gap'' is highlighted. Thereafter, the study will identify supplemental requirements to augment the code or standard to meet performance requirements. Further, the gap analysis will identify non-standard areas of the design that will be subject to a Development Plan. Non-standard components and

  20. Bipedal locomotion of bonnet macaques after spinal cord injury.

    Science.gov (United States)

    Babu, Rangasamy Suresh; Anand, P; Jeraud, Mathew; Periasamy, P; Namasivayam, A

    2007-10-01

    Experimental studies concerning the analysis of locomotor behavior in spinal cord injury research are widely performed in rodent models. The purpose of this study was to quantitatively evaluate the degree of functional recovery in reflex components and bipedal locomotor behavior of bonnet macaques (Macaca radiata) after spinal contusive injury. Six monkeys were tested for various reflex components (grasping, righting, hopping, extension withdrawal) and were trained preoperatively to walk in bipedal fashion on the simple and complex locomotor runways (narrow beam, grid, inclined plane, treadmill) of this investigation. The overall performance of the animals'motor behavior and the functional status of limb movements during bipedal locomotion were graded by the Combined Behavioral Score (CBS) system. Using the simple Allen weight-drop technique, a contusive injury was produced by dropping a 13-g weight from a height of 30 cm to the exposed spinal cord at the T12-L1 vertebral level of the trained monkeys. All the monkeys showed significant impairments in every reflex activity and in walking behavior during the early part of the postoperative period. In subsequent periods, the animals displayed mild alterations in certain reflex responses, such as grasping, extension withdrawal, and placing reflexes, which persisted through a 1-year follow-up. The contused animals traversed locomotor runways--narrow beam, incline plane, and grid runways--with more steps and few errors, as evaluated with the CBS system. Eventually, the behavioral performance of all spinal-contused monkeys recovered to near-preoperative level by the fifth postoperative month. The findings of this study reveal the recovery time course of various reflex components and bipedal locomotor behavior of spinal-contused macaques on runways for a postoperative period of up to 1 year. Our spinal cord research in primates is advantageous in understanding the characteristics of hind limb functions only, which possibly

  1. Mechatronics by Analogy and Application to Legged Locomotion

    Science.gov (United States)

    Ragusila, Victor

    determined, the original mechanism is optimized such that its dynamic behaviour is analogous. It is shown that, if this analogy is achieved, the control system designed based on the simpler mechanisms can be directly implemented to the more complex system, and their dynamic behaviours are close enough for the system performance to be effectively the same. Finally it is shown that, for the employed objective of fast legged locomotion, the proposed methodology achieves a better design than Reduction-by-Feedback, a competing methodology that uses control layers to simplify the dynamics of the system.

  2. Bombardier extends its TRAXX locomotive family; Bombardier erweitert seine Lokomotivfamilie TRAXX

    Energy Technology Data Exchange (ETDEWEB)

    Vitins, J. [Bombardier, Zuerich (Switzerland)

    2005-07-01

    Bombardier has extended and optimised its TRAXX locomotive platform, launched in 2003, with the addition of a multi-system locomotive and the introduction of technical innovations. The developments centre on the multi-system loco TRAXX F140 MS, which gained approval in a very short space of time and is already being successfully operated by SBB as type Re 484 for freight traffic between Switzerland and Italy; the TRAXX F140 DC, recently ordered by Angel Trains Cargo for Italy's DC network, and the 2nd series of the proven AC loco TRAXX AC2, operated by Railion in Germany as type BR 185.2. All these locomotive types reflect the development work undertaken with a view to accommodating the various national train protection systems through the new ETCS-compatible Bombardier ATP (Automatic Train Protection) system, together with chopper-controlled power conversion in DC networks. (orig.)

  3. Different performances in static and dynamic imagery and real locomotion. An exploratory trial.

    Directory of Open Access Journals (Sweden)

    Augusto eFusco

    2014-10-01

    Full Text Available Motor imagery is a mental representation of an action without its physical execution. Recently, the simultaneous movement of the body has been added to the mental simulation. This refers to dynamic motor imagery (dMI. This study was aimed at analyzing the temporal features for static and dMI in different locomotor conditions (natural walking, NW, light running, LR, lateral walking, LW, backward walking, BW, and whether these performances were more related to all the given conditions or present only in walking. We have been also evaluated the steps performed in the dMI in comparison with the ones performed by real locomotion. Twenty healthy participants (29.3 ± 5.1 y. old were asked to move towards a visualized target located at 10mt. In dMI, no significant temporal differences respect the actual locomotion were found for all the given tasks (NW: p=0.058, LR: p=0.636, BW: p=0.096; LW: p=0,487. Significant temporal differences between static imagery and actual movements were found for LR (p<0.001 and LW (p<0.001, due to an underestimation of time needed to achieve the target in imagined locomotion. Significant differences in terms of number of steps among tasks were found for LW (p<0.001 and BW (p=0.036, whereas neither in NW (p=0.124 nor LR (p=0.391 between dMI and real locomotion.Our results confirmed that motor imagery is a task-dependent process, with walking being temporally closer than other locomotor conditions. Moreover, the time records of dynamic motor imagery are nearer to the ones of actual locomotion respect than the ones of static motor imagery. Keywords: Walking, dynamic motor imagery, human locomotion, chronometry.

  4. 40 CFR 80.595 - How does a small or GPA refiner apply for a motor vehicle diesel fuel volume baseline for the...

    Science.gov (United States)

    2010-07-01

    ... for a motor vehicle diesel fuel volume baseline for the purpose of extending their gasoline sulfur... PROGRAMS (CONTINUED) REGULATION OF FUELS AND FUEL ADDITIVES Motor Vehicle Diesel Fuel; Nonroad, Locomotive... a small or GPA refiner apply for a motor vehicle diesel fuel volume baseline for the purpose of...

  5. 75 FR 1447 - Alaska Railroad Corporation-Construction and Operation Exemption-Rail Line Between North Pole and...

    Science.gov (United States)

    2010-01-11

    ... proposed NRE would extend southeasterly from Mile 20 on ARRC's existing Eielson Branch near the community... Railroad Administration, U.S. Air Force 354th Fighter Wing Command from Eielson Air Force Base, U.S. Army...

  6. 78 FR 59754 - Notice of Application for Approval of Railroad Safety Program Plan and Product Safety Plan

    Science.gov (United States)

    2013-09-27

    ... crewmembers or roadway workers. It does so while increasing railroad productivity and significantly improving... the document, if submitted on behalf of an association, business, labor union, etc.). See http://www...

  7. Assessment of micro-superconducting magnetic energy storage (SMES) utility in railroad applications : a report to Congress

    Science.gov (United States)

    1997-07-01

    At the direction of the U.S. Congress, the Federal Railroad Administration (FRA), with technical support from the Volpe National Transportation Systems Center (Volpe Center), investigated the feasibility of using micro-Superconducting Magnetic Energy...

  8. Health assessment and risk mitigation of railroad networks exposed to natural hazards using commercial remote sensing and spatial information technologies.

    Science.gov (United States)

    2017-05-31

    The overarching goal of this project was to integrate data from commercial remote sensing and spatial information (CRS&SI) technologies to create a novel data-driven decision making framework that empowers the railroad industry to monitor, assess, an...

  9. The Role of Adaptation in Body Load-Regulating Mechanisms During Locomotion

    Science.gov (United States)

    Ruttley, Tara; Holt, Christopher; Mulavara, Ajitkumar; Bloomberg, Jacob

    2010-01-01

    Body loading is a fundamental parameter that modulates motor output during locomotion, and is especially important for controlling the generation of stepping patterns, dynamic balance, and termination of locomotion. Load receptors that regulate and control posture and stance in locomotion include the Golgi tendon organs and muscle spindles at the hip, knee, and ankle joints, and the Ruffini endings and the Pacinian corpuscles in the soles of the feet. Increased body weight support (BWS) during locomotion results in an immediate reorganization of locomotor control, such as a reduction in stance and double support duration and decreased hip, ankle, and knee angles during the gait cycle. Previous studies on the effect during exposure to increased BWS while walking showed a reduction in lower limb joint angles and gait cycle timing that represents a reorganization of locomotor control. Until now, no studies have investigated how locomotor control responds after a period of exposure to adaptive modification in the body load sensing system. The goal of this research was to determine the adaptive properties of body load-regulating mechanisms in locomotor control during locomotion. We hypothesized that body load-regulating mechanisms contribute to locomotor control, and adaptive changes in these load-regulating mechanisms require reorganization to maintain forward locomotion. Head-torso coordination, lower limb movement patterns, and gait cycle timing were evaluated before and after a 30-minute adaptation session during which subjects walked on a treadmill at 5.4 km/hr with 40% body weight support (BWS). Before and after the adaptation period, head-torso and lower limb 3D kinematic data were obtained while performing a goal directed task during locomotion with 0% BWS using a video-based motion analysis system, and gait cycle timing parameters were collected by foot switches positioned under the heel and toe of the subjects shoes. Subjects showed adaptive modification in

  10. Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion

    Science.gov (United States)

    Khusainov, R.; Klimchik, A.; Magid, E.

    2017-01-01

    The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.

  11. Damages and resource of locomotive wheels used under the north operating conditions

    Directory of Open Access Journals (Sweden)

    A. V. Grigorev

    2014-01-01

    Full Text Available In operating railway equipment, in particular the elements, such as a wheel and a rail there is damage accumulation of any kind, causing a premature equipment failure. Thus, an analysis of the mechanisms and modeling of damage accumulation and fracture both on the surface and in the bulk material remain a challenge.Data on the defective wheel sets to be subjected to facing has been collected and analyzed to assess the locomotive wheel sets damage of the locomotive fleet company of AK «Yakutia Railways», city of Aldan, The Republic of Sakha (Yakutia. For this purpose, three main locomotives have been examined.The object of research carried out in this paper, is a locomotive wheels tire, which is subjected to cyclic impact (dynamic loads during operation. In this regard, the need arises to determine both the strength of material in response to such shock loads and the quantitative calculation of damage accumulated therein.The accumulated fatigue damage has been attributed to one radial cross section of the wheel coming into contact with the rail once per revolution of the wheel. Consequently, in one revolution a wheel is under one loading cycle. As stated, the average mileage of locomotives to have the unacceptable damages formed on the tread surface is 12 thousand km.Test results establish that along with the high-cycle loading the shock-contact action on rail joints significantly affects the accumulation of damage in the locomotive wheels tire. The number of cycles to failure due to the formation of unacceptable damage in the locomotive wheels tire is N = 2,4×106 and 6×105 cycles, respectively, for fatigue and shock-contact loading.In general, we can say that the problem of higher intensity to form the surface damage is directly related to the operation of the locomotive wheel tire under abnormally low climatic temperatures. With decreasing ambient temperature, this element material rapidly looses its plastic properties, thereby accelerating

  12. Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System

    Energy Technology Data Exchange (ETDEWEB)

    Li, Girl; Choi, Hyun Chul; Cha, Kyoung Rae; Jeong, Se Mi; Park, Jong Oh; Park, Suk Ho [Chonnam National University, Gwangju (Korea, Republic of)

    2011-12-15

    In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three dimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified.

  13. Three-dimensional Locomotion and Drilling Microrobot Using Electromagnetic Actuation System

    International Nuclear Information System (INIS)

    Li, Girl; Choi, Hyun Chul; Cha, Kyoung Rae; Jeong, Se Mi; Park, Jong Oh; Park, Suk Ho

    2011-01-01

    In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in three dimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified

  14. Peristaltic Wave Locomotion and Shape Morphing with a Millipede Inspired System

    Science.gov (United States)

    Spinello, Davide; Fattahi, Javad S.

    2017-08-01

    We present the mechanical model of a bio-inspired deformable system, modeled as a Timoshenko beam, which is coupled to a substrate by a system of distributed elements. The locomotion action is inspired by the coordinated motion of coupling elements that mimic the legs of millipedes and centipedes, whose leg-to-ground contact can be described as a peristaltic displacement wave. The multi-legged structure is crucial in providing redundancy and robustness in the interaction with unstructured environments and terrains. A Lagrangian approach is used to derive the governing equations of the system that couple locomotion and shape morphing. Features and limitations of the model are illustrated with numerical simulations.

  15. Modelling of dynamically stable AR-601M robot locomotion in Simulink

    Directory of Open Access Journals (Sweden)

    Khusainov Ramil

    2016-01-01

    Full Text Available Humanoid robots will gradually play an important role in our daily lives. Currently, research on anthropomorphic robots and biped locomotion is one of the most important problems in the field of mobile robotics, and the development of reliable control algorithms for them is a challenging task. In this research two algorithms for stable walking of Russian anthropomorphic robot AR-601M with 41 Degrees of Freedom (DoF are investigated. To achieve a human-like dynamically stable locomotion 6 DoF in each robot leg are controlled with Virtual Height Inverted Pendulum and Preview control methods.

  16. 78 FR 33860 - Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget...

    Science.gov (United States)

    2013-06-05

    ...] Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget's (OMB... collection requirements contained in the General Industry Standard on Crawler, Locomotive, and Truck cranes... workers from using unsafe cranes and ropes, thereby reducing their risk of death or serious injury caused...

  17. 75 FR 20005 - Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget...

    Science.gov (United States)

    2010-04-16

    ...] Crawler, Locomotive, and Truck Cranes Standard; Extension of the Office of Management and Budget's (OMB... Crawler, Locomotive, and Truck Cranes Standard (29 CFR 1910.180). DATES: Comments must be submitted... of each of these requirements is to prevent workers from using unsafe cranes and ropes, thereby...

  18. USING THE INFORMATION OF ON-BOARD DIAGNOSTIC SYSTEMS IN DETERMINING THE TECHNICAL STATE OF THE LOCOMOTIVE

    Directory of Open Access Journals (Sweden)

    B. Ye. Bodnar

    2008-12-01

    Full Text Available The issues of increase of efficiency of information processing by оn-board systems of diagnostics of locomotives are considered. The examples of information processing by the on-board system of diagnostics of electric locomotives DE1 are presented. The suggestions on improvement of systematization and processing of information by on-board systems of diagnostics are given.

  19. 30 CFR 57.9261 - Transporting tools and materials on locomotives.

    Science.gov (United States)

    2010-07-01

    ... METAL AND NONMETAL MINE SAFETY AND HEALTH SAFETY AND HEALTH STANDARDS-UNDERGROUND METAL AND NONMETAL... underground except for secured rerailing devices located in a manner which does not create a hazard to persons. Safety Devices, Provisions, and Procedures for Roadways, Railroads, and Loading and Dumping Sites ...

  20. The Military Railroads of the Civil War and Their Great Leaders.

    Science.gov (United States)

    these leadership styles as part of its curriculum to expose others to those traits which have proven to be successful. In the majority of instances...of leadership styles in the combat service and combat service support specialties. It is therefore a major contention that our curriculm does not...offer our students the broadest exposure to leadership styles . This study is intended to do that. Using the Military Railroads as the support function