Dynamical Behavior of a Rigid Body with One Fixed Point (Gyroscope. Basic Concepts and Results. Open Problems: a Review

Directory of Open Access Journals (Sweden)

Svetoslav Ganchev Nikolov

2015-07-01

Full Text Available The study of the dynamic behavior of a rigid body with one fixed point (gyroscope has a long history. A number of famous mathematicians and mechanical engineers have devoted enormous time and effort to clarify the role of dynamic effects on its movement (behavior – stable, periodic, quasi-periodic or chaotic. The main objectives of this review are: 1 to outline the characteristic features of the theory of dynamical systems and 2 to reveal the specific properties of the motion of a rigid body with one fixed point (gyroscope.This article consists of six sections. The first section addresses the main concepts of the theory of dynamical systems. Section two presents the main theoretical results (obtained so far concerning the dynamic behavior of a solid with one fixed point (gyroscope. Section three examines the problem of gyroscopic stabilization. Section four deals with the non-linear (chaotic dynamics of the gyroscope. Section five is a brief analysis of the gyroscope applications in engineering. The final section provides conclusions and generalizations on why the theory of dynamical systems should be used in the study of the movement of gyroscopic systems.

Stabilization of Rigid Body Dynamics by Internal and External Torques

National Research Council Canada - National Science Library

Bloch, A. M; Krishnaprasad, P. S; Marsden, J. E; Sanchez de Alvarez, G

1990-01-01

...] with quadratic feedback torques for internal rotors. We show that with such torques, the equations for the rigid body with momentum wheels are Hamiltonian with respect to a Lie-Poisson bracket structure. Further...

Development of Swimming Human Simulation Model Considering Rigid Body Dynamics and Unsteady Fluid Force for Whole Body

Science.gov (United States)

Nakashima, Motomu; Satou, Ken; Miura, Yasufumi

The purpose of this study is to develop a swimming human simulation model considering rigid body dynamics and unsteady fluid force for the whole body, which will be utilized to analyze various dynamical problems in human swimming. First, the modeling methods and their formulations for the human body and the fluid force are respectively described. Second, experiments to identify the coefficients of the normal drag and the added mass are conducted by use of an experimental setup, in which a limb model rotates in the water, and its rotating angle and the bending moment at the root are measured. As the result of the identification, the present model for the fluid force was found to have satisfactory performance in order to represent the unsteady fluctuations of the experimental data, although it has 10% error. Third, a simulation for the gliding position is conducted in order to identify the tangential drag coefficient. Finally, a simulation example of standard six beat front crawl swimming is shown. The swimming speed of the simulation became a reasonable value, indicating the validity of the present simulation model, although it is 7.5% lower than the actual swimming.

An Explicit Formulation of Singularity-Free Dynamic Equations of Mechanical Systems in Lagrangian Form---Part one: Single Rigid Bodies

Directory of Open Access Journals (Sweden)

Pål Johan From

2012-04-01

Full Text Available This paper presents the explicit dynamic equations of a mechanical system. The equations are presented so that they can easily be implemented in a simulation software or controller environment and are also well suited for system and controller analysis. The dynamics of a general mechanical system consisting of one or more rigid bodies can be derived from the Lagrangian. We can then use several well known properties of Lie groups to guarantee that these equations are well defined. This will, however, often lead to rather abstract formulation of the dynamic equations that cannot be implemented in a simulation software directly. In this paper we close this gap and show what the explicit dynamic equations look like. These equations can then be implemented directly in a simulation software and no background knowledge on Lie theory and differential geometry on the practitioner's side is required. This is the first of two papers on this topic. In this paper we derive the dynamics for single rigid bodies, while in the second part we study multibody systems. In addition to making the equations more accessible to practitioners, a motivation behind the papers is to correct a few errors commonly found in literature. For the first time, we show the detailed derivations and how to arrive at the correct set of equations. We also show through some simple examples that these correspond with the classical formulations found from Lagrange's equations. The dynamics is derived from the Boltzmann--Hamel equations of motion in terms of local position and velocity variables and the mapping to the corresponding quasi-velocities. Finally we present a new theorem which states that the Boltzmann--Hamel formulation of the dynamics is valid for all transformations with a Lie group topology. This has previously only been indicated through examples, but here we also present the formal proof. The main motivation of these papers is to allow practitioners not familiar with

Dynamics on strata of trigonal Jacobians and some integrable problems of rigid body motion

International Nuclear Information System (INIS)

Braden, H W; Enolski, V Z; Fedorov, Yu N

2013-01-01

We present an algebraic geometrical and analytical description of the Goryachev case of rigid body motion. It belongs to a family of systems sharing the same properties: although completely integrable, they are not algebraically integrable, their solution is not meromorphic in the complex time and involves dynamics on the strata of the Jacobian varieties of trigonal curves. Although the strata of hyperelliptic Jacobians have already appeared in the literature in the context of some dynamical systems, the Goryachev case is the first example of an integrable system whose solution involves a more general curve. Several new features (and formulae) are encountered in the solution given in terms of sigma-functions of such a curve. (paper)

Generalized Predictive Control of Dynamic Systems with Rigid-Body Modes

Science.gov (United States)

Kvaternik, Raymond G.

2013-01-01

Numerical simulations to assess the effectiveness of Generalized Predictive Control (GPC) for active control of dynamic systems having rigid-body modes are presented. GPC is a linear, time-invariant, multi-input/multi-output predictive control method that uses an ARX model to characterize the system and to design the controller. Although the method can accommodate both embedded (implicit) and explicit feedforward paths for incorporation of disturbance effects, only the case of embedded feedforward in which the disturbances are assumed to be unknown is considered here. Results from numerical simulations using mathematical models of both a free-free three-degree-of-freedom mass-spring-dashpot system and the XV-15 tiltrotor research aircraft are presented. In regulation mode operation, which calls for zero system response in the presence of disturbances, the simulations showed reductions of nearly 100%. In tracking mode operations, where the system is commanded to follow a specified path, the GPC controllers produced the desired responses, even in the presence of disturbances.

A concise introduction to mechanics of rigid bodies multidisciplinary engineering

CERN Document Server

Huang, L

2017-01-01

This updated second edition broadens the explanation of rotational kinematics and dynamics — the most important aspect of rigid body motion in three-dimensional space and a topic of much greater complexity than linear motion. It expands treatment of vector and matrix, and includes quaternion operations to describe and analyze rigid body motion which are found in robot control, trajectory planning, 3D vision system calibration, and hand-eye coordination of robots in assembly work, etc. It features updated treatments of concepts in all chapters and case studies. The textbook retains its comprehensiveness in coverage and compactness in size, which make it easily accessible to the readers from multidisciplinary areas who want to grasp the key concepts of rigid body mechanics which are usually scattered in multiple volumes of traditional textbooks. Theoretical concepts are explained through examples taken from across engineering disciplines and links to applications and more advanced courses (e.g. industrial rob...

A review of a method for dynamic load distribution, dynamical modeling, and explicit internal force control when two manipulators mutually lift and transport a rigid body object

International Nuclear Information System (INIS)

Unseren, M.A.

1997-01-01

The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system

A review of a method for dynamic load distribution, dynamical modeling, and explicit internal force control when two manipulators mutually lift and transport a rigid body object

Energy Technology Data Exchange (ETDEWEB)

Unseren, M.A.

1997-04-20

The paper reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restrict the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.

Student understanding of the application of Newton's second law to rotating rigid bodies

Science.gov (United States)

Close, Hunter G.; Gomez, Luanna S.; Heron, Paula R. L.

2013-06-01

We report on an investigation of student understanding of rigid body dynamics in which we asked students in introductory calculus-based physics to compare the translational motions of identical rigid bodies subject to forces that differed only in the point of contact at which they were applied. There was a widespread tendency to claim that forces that cause rotational motion have a diminished effect on translational motion. A series of related problems was developed to examine whether similar errors would be made in other contexts, and interviews were conducted to probe student thinking in greater depth. In this paper, we describe the results of our investigation and also describe a series of different interventions that culminated in the development of a tutorial that improves student ability to apply Newton's second law to rotating rigid bodies.

On potential energies and constraints in the dynamics of rigid bodies and particles

Directory of Open Access Journals (Sweden)

O'reilly Oliver M.

2002-01-01

Full Text Available A new treatment of kinematical constraints and potential energies arising in the dynamics of systems of rigid bodies and particles is presented which is suited to Newtonian and Lagrangian formulations. Its novel feature is the imposing of invariance requirements on the constraint functions and potential energy functions. These requirements are extensively used in continuum mechanics and, in the present context, one finds certain generalizations of Newton's third law of motion and an elucidation of the nature of constraint forces and moments. One motivation for such a treatment can be found by considering approaches where invariance requirements are ignored. In contrast to the treatment presented in this paper, it is shown that this may lead to a difficulty in formulating the equations governing the motion of the system.

Rigid body motion in stereo 3D simulation

International Nuclear Information System (INIS)

Zabunov, Svetoslav

2010-01-01

This paper addresses the difficulties experienced by first-grade students studying rigid body motion at Sofia University. Most quantities describing the rigid body are in relations that the students find hard to visualize and understand. They also lose the notion of cause-result relations between vector quantities, such as the relation between torque and angular momentum. Consequently, the understanding of physical laws and conservation principles in free rigid body motion is hampered. This paper presents the capabilities of a 3D simulation, which aims to clarify these questions to the students, who are taught mechanics in the general physics course. The rigid body motion simulations may be observed at http://ialms.net/sim/, and are intended to complement traditional learning practices, not replace them, as the author shares the opinion that no simulation may fully resemble reality.

A review of a method for dynamic load distribution, dynamic modeling, and explicit internal force control when two serial link manipulators mutually lift and transport a rigid body object

International Nuclear Information System (INIS)

Unseren, M.A.

1997-09-01

The report reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restricts the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system

A review of a method for dynamic load distribution, dynamic modeling, and explicit internal force control when two serial link manipulators mutually lift and transport a rigid body object

Energy Technology Data Exchange (ETDEWEB)

Unseren, M.A.

1997-09-01

The report reviews a method for modeling and controlling two serial link manipulators which mutually lift and transport a rigid body object in a three dimensional workspace. A new vector variable is introduced which parameterizes the internal contact force controlled degrees of freedom. A technique for dynamically distributing the payload between the manipulators is suggested which yields a family of solutions for the contact forces and torques the manipulators impart to the object. A set of rigid body kinematic constraints which restricts the values of the joint velocities of both manipulators is derived. A rigid body dynamical model for the closed chain system is first developed in the joint space. The model is obtained by generalizing the previous methods for deriving the model. The joint velocity and acceleration variables in the model are expressed in terms of independent pseudovariables. The pseudospace model is transformed to obtain reduced order equations of motion and a separate set of equations governing the internal components of the contact forces and torques. A theoretic control architecture is suggested which explicitly decouples the two sets of equations comprising the model. The controller enables the designer to develop independent, non-interacting control laws for the position control and internal force control of the system.

Rigid body formulation in a finite element context with contact interaction

Science.gov (United States)

Refachinho de Campos, Paulo R.; Gay Neto, Alfredo

2018-03-01

The present work proposes a formulation to employ rigid bodies together with flexible bodies in the context of a nonlinear finite element solver, with contact interactions. Inertial contributions due to distribution of mass of a rigid body are fully developed, considering a general pole position associated with a single node, representing a rigid body element. Additionally, a mechanical constraint is proposed to connect a rigid region composed by several nodes, which is useful for linking rigid/flexible bodies in a finite element environment. Rodrigues rotation parameters are used to describe finite rotations, by an updated Lagrangian description. In addition, the contact formulation entitled master-surface to master-surface is employed in conjunction with the rigid body element and flexible bodies, aiming to consider their interaction in a rigid-flexible multibody environment. New surface parameterizations are presented to establish contact pairs, permitting pointwise interaction in a frictional scenario. Numerical examples are provided to show robustness and applicability of the methods.

Coupling characteristics of rigid body motion and elastic deformation of a 3-PRR parallel manipulator with flexible links

International Nuclear Information System (INIS)

Zhang Xuping; Mills, James K.; Cleghorn, William L.

2009-01-01

Modeling of multibody dynamics with flexible links is a challenging task, which not only involves the effect of rigid body motion on elastic deformations, but also includes the influence of elastic deformations on rigid body motion. This paper presents coupling characteristics of rigid body motions and elastic motions of a 3-PRR parallel manipulator with three flexible intermediate links. The intermediate links are modeled as Euler-Bernoulli beams with pinned-pinned boundary conditions based on the assumed mode method (AMM). Using Lagrange multipliers, the fully coupled equations of motions of the flexible parallel manipulator are developed by incorporating the rigid body motions with elastic motions. The mutual dependence of elastic deformations and rigid body motions are investigated from the analysis of the derived equations of motion. Open-loop simulation without joint motion controls and closed-loop simulation with joint motion controls are performed to illustrate the effect of elastic motion on rigid body motions and the coupling effect amongst flexible links. These analyses and results provide valuable insight to the design and control of the parallel manipulator with flexible intermediate links

Almost Poisson integration of rigid body systems

International Nuclear Information System (INIS)

Austin, M.A.; Krishnaprasad, P.S.; Li-Sheng Wang

1993-01-01

In this paper we discuss the numerical integration of Lie-Poisson systems using the mid-point rule. Since such systems result from the reduction of hamiltonian systems with symmetry by lie group actions, we also present examples of reconstruction rules for the full dynamics. A primary motivation is to preserve in the integration process, various conserved quantities of the original dynamics. A main result of this paper is an O(h 3 ) error estimate for the Lie-Poisson structure, where h is the integration step-size. We note that Lie-Poisson systems appear naturally in many areas of physical science and engineering, including theoretical mechanics of fluids and plasmas, satellite dynamics, and polarization dynamics. In the present paper we consider a series of progressively complicated examples related to rigid body systems. We also consider a dissipative example associated to a Lie-Poisson system. The behavior of the mid-point rule and an associated reconstruction rule is numerically explored. 24 refs., 9 figs

Body fixed frame, rigid gauge rotations and large N random fields in QCD

International Nuclear Information System (INIS)

Levit, S.

1995-01-01

The ''body fixed frame'' with respect to local gauge transformations is introduced. Rigid gauge ''rotations'' in QCD and their Schroedinger equation are studied for static and dynamic quarks. Possible choices of the rigid gauge field configuration corresponding to a non-vanishing static colormagnetic field in the ''body fixed'' frame are discussed. A gauge invariant variational equation is derived in this frame. For large number N of colors the rigid gauge field configuration is regarded as random with maximally random probability distribution under constraints on macroscopic-like quantities. For the uniform magnetic field the joint probability distribution of the field components is determined by maximizing the appropriate entropy under the area law constraint for the Wilson loop. In the quark sector the gauge invariance requires the rigid gauge field configuration to appear not only as a background but also as inducing an instantaneous quark-quark interaction. Both are random in the large N limit. (orig.)

Modeling of a light elastic beam by a system of rigid bodies

Directory of Open Access Journals (Sweden)

Šalinić Slaviša

2004-01-01

Full Text Available This paper has shown that a light elastic beam, in the case of small elastic deformations, can be modeled by a kinematic chain without branching composed of rigid bodies which are connected by passive revolute or prismatic joints with corresponding springs in them. Elastic properties of the beam are modeled by the springs introduced. The potential energy of the elastic beam is expressed as a function of components of the vector of elastic displacement and the vector of elastic rotation calculated for the elastic centre of the beam, which results in the diagonal stiffness matrix of the beam. As the potential energy of the introduced system of bodies with springs is expressed in the function of relative joint displacements, the diagonal stiffness matrix is obtained. In addition, these two stiffness matrices are equal. The modeling process has been demonstrated on the example of an elastic beam rotating about a fixed vertical axis, with a rigid body whose mass is considerably larger than the beam mass fixed to its free end. Differential equations of motion have been formed for this mechanical system. The modeling technique described here aims at expanding of usage of well developed methods of dynamics of systems of rigid bodies to the analysis of systems with elastic bodies. .

Dynamics of Rigid Bodies and Flexible Beam Structures

DEFF Research Database (Denmark)

Nielsen, Martin Bjerre

of rigid bodies and flexible beam structures with emphasis on the rotational motion. The first part deals with motion in a rotating frame of reference. A novel approach where the equations of motion are formulated in a hybrid state-space in terms of local displacements and global velocities is presented...... quaternion parameters or nine convected base vector components. In both cases, the equations of motion are obtained via Hamilton’s equations by including the kinematic constraints associated with the redundant rotation description by means of Lagrange multipliers. A special feature of the formulation...... of the global components of the position vectors and associated convected base vectors for the element nodes. The kinematics is expressed in a homogeneous quadratic form and the constitutive stiffness is derived from complementary energy of a set of equilibrium modes, each representing a state of constant...

Matrix methods applied to engineering rigid body mechanics

Science.gov (United States)

Crouch, T.

The purpose of this book is to present the solution of a range of rigorous body mechanics problems using a matrix formulation of vector algebra. Essential theory concerning kinematics and dynamics is formulated in terms of matrix algebra. The solution of kinematics and dynamics problems is discussed, taking into account the velocity and acceleration of a point moving in a circular path, the velocity and acceleration determination for a linkage, the angular velocity and angular acceleration of a roller in a taper-roller thrust race, Euler's theroem on the motion of rigid bodies, an automotive differential, a rotating epicyclic, the motion of a high speed rotor mounted in gimbals, and the vibration of a spinning projectile. Attention is given to the activity of a force, the work done by a conservative force, the work and potential in a conservative system, the equilibrium of a mechanism, bearing forces due to rotor misalignment, and the frequency of vibrations of a constrained rod.

Euler-Poincare Reduction of a Rigid Body Motion

DEFF Research Database (Denmark)

Wisniewski, Rafal; Kulczycki, P.

2005-01-01

|If a mechanical system experiences symmetry, the Lagrangian becomes invariant under a certain group action. This property leads to substantial simplification of the description of movement. The standpoint in this article is a mechanical system afected by an external force of a control action....... Assuming that the system possesses symmetry and the configuration manifold corresponds to a Lie group, the Euler-Poincare reduction breaks up the motion into separate equations of dynamics and kinematics. This becomes of particular interest for modeling, estimation and control of mechanical systems......-known Euler-Poincare reduction to a rigid body motion with forcing....

Quantum mechanics of a generalised rigid body

International Nuclear Information System (INIS)

Gripaios, Ben; Sutherland, Dave

2016-01-01

We consider the quantum version of Arnold’s generalisation of a rigid body in classical mechanics. Thus, we quantise the motion on an arbitrary Lie group manifold of a particle whose classical trajectories correspond to the geodesics of any one-sided-invariant metric. We show how the derivation of the spectrum of energy eigenstates can be simplified by making use of automorphisms of the Lie algebra and (for groups of type I) by methods of harmonic analysis. We show how the method can be extended to cosets, generalising the linear rigid rotor. As examples, we consider all connected and simply connected Lie groups up to dimension 3. This includes the universal cover of the archetypical rigid body, along with a number of new exactly solvable models. We also discuss a possible application to the topical problem of quantising a perfect fluid. (paper)

Topology Optimization of a Vibrating System of Rigid and Flexible Bodies for Maximizing Repeated Eigenfrequencies

International Nuclear Information System (INIS)

Ahn, Byungseong; Kim, Suh In; Kim, Yoon Young

2016-01-01

When a system consisting of rigid and flexible bodies is optimized to improve its dynamic characteristics, its eigenfrequencies are typically maximized. While topology optimization formulations dealing with simultaneous design of a system of rigid and flexible bodies are available, studies on eigenvalue maximization of the system are rare. In particular, no work has solved for the case when the target frequency becomes one of the repeated eigenfrequencies. The problem involving repeated eigenfrequencies is solved in this study, and a topology optimization formulation and sensitivity analysis are presented. Further, several numerical case studies are considered to demonstrate the validity of the proposed formulation

Rigid Body Sampling and Individual Time Stepping for Rigid-Fluid Coupling of Fluid Simulation

Directory of Open Access Journals (Sweden)

Xiaokun Wang

2017-01-01

Full Text Available In this paper, we propose an efficient and simple rigid-fluid coupling scheme with scientific programming algorithms for particle-based fluid simulation and three-dimensional visualization. Our approach samples the surface of rigid bodies with boundary particles that interact with fluids. It contains two procedures, that is, surface sampling and sampling relaxation, which insures uniform distribution of particles with less iterations. Furthermore, we present a rigid-fluid coupling scheme integrating individual time stepping to rigid-fluid coupling, which gains an obvious speedup compared to previous method. The experimental results demonstrate the effectiveness of our approach.

Efficient time-symmetric simulation of torqued rigid bodies using Jacobi elliptic functions

International Nuclear Information System (INIS)

Celledoni, E; Saefstroem, N

2006-01-01

If the three moments of inertia are distinct, the solution to the Euler equations for the free rigid body is given in terms of Jacobi elliptic functions. Using the arithmetic-geometric mean algorithm (Abramowitz and Stegun 1992 Handbook of Mathematical Functions with Formulas, Graphs, and Mathematical Tables (New York: Dover)), these functions can be calculated efficiently and accurately. Compared to standard numerical ODE and Lie-Poisson solvers, the overall approach yields a faster and more accurate numerical solution to the Euler equations. This approach is designed for mass asymmetric rigid bodies. In the case of symmetric bodies, the exact solution is available in terms of trigonometric functions, see Dullweber et al (1997 J. Chem. Phys. 107 5840-51), Reich (1996 Fields Inst. Commun. 10 181-91) and Benettin et al (2001 SIAM J. Sci. Comp. 23 1189-203) for details. In this paper, we consider the case of asymmetric rigid bodies subject to external forces. We consider a strategy similar to the symplectic splitting method proposed in Reich (1996 Fields Inst. Commun. 10 181-91) and Dullweber et al (1997 J. Chem. Phys. 107 5840-51). The method proposed here is time-symmetric. We decompose the vector field of our problem into a free rigid body (FRB) problem and another completely integrable vector field. The FRB problem consists of the Euler equations and a differential equation for the 3 x 3 orientation matrix. The Euler equations are integrated exactly while the matrix equation is approximated using a truncated Magnus series. In our experiments, we observe that the overall numerical solution benefits greatly from the very accurate solution of the Euler equations. We apply the method to the heavy top and the simulation of artificial satellite attitude dynamics

On Classical Dynamics of Affinely-Rigid Bodies Subject to the Kirchhoff-Love Constraints

Directory of Open Access Journals (Sweden)

Vasyl Kovalchuk

2010-04-01

Full Text Available In this article we consider the affinely-rigid body moving in the three-dimensional physical space and subject to the Kirchhoff-Love constraints, i.e., while it deforms homogeneously in the two-dimensional central plane of the body it simultaneously performs one-dimensional oscillations orthogonal to this central plane. For the polar decomposition we obtain the stationary ellipsoids as special solutions of the general, strongly nonlinear equations of motion. It is also shown that these solutions are conceptually different from those obtained earlier for the two-polar (singular value decomposition.

HOW CAN DYNAMIC RIGID-BODY MODELING BE HELPFUL IN MOTOR LEARNING? - DIAGNOSING PERFORMANCE USING DYNAMIC MODELING

OpenAIRE

Shan, Gongbing; Sust, Martin; Simard, Stephane; Bohn, Christina; Nicol, Klaus

2004-01-01

There are two main problems for biomechanists in motor learning practice. One is theory vs. experience, the other is the determination of dominative information directly helpful in the practice. This project aimed at addressing these problems from a quantitative aspect by using motion capture and biomechanical rigid body modeling. The purposes were to identify differences in the description of movements amongst motion analysists (external view), athletes (internal sight) and coaches (internal...

Integration of car-body flexibility into train-track coupling system dynamics analysis

Science.gov (United States)

Ling, Liang; Zhang, Qing; Xiao, Xinbiao; Wen, Zefeng; Jin, Xuesong

2018-04-01

The resonance vibration of flexible car-bodies greatly affects the dynamics performances of high-speed trains. In this paper, we report a three-dimensional train-track model to capture the flexible vibration features of high-speed train carriages based on the flexible multi-body dynamics approach. The flexible car-body is modelled using both the finite element method (FEM) and the multi-body dynamics (MBD) approach, in which the rigid motions are obtained by using the MBD theory and the structure deformation is calculated by the FEM and the modal superposition method. The proposed model is applied to investigate the influence of the flexible vibration of car-bodies on the dynamics performances of train-track systems. The dynamics performances of a high-speed train running on a slab track, including the car-body vibration behaviour, the ride comfort, and the running safety, calculated by the numerical models with rigid and flexible car-bodies are compared in detail. The results show that the car-body flexibility not only significantly affects the vibration behaviour and ride comfort of rail carriages, but also can has an important influence on the running safety of trains. The rigid car-body model underestimates the vibration level and ride comfort of rail vehicles, and ignoring carriage torsional flexibility in the curving safety evaluation of trains is conservative.

Euler-Poincare Reduction of Externall Forced Rigid Body Motion

DEFF Research Database (Denmark)

Wisniewski, Rafal; Kulczycki, P.

2004-01-01

If a mechanical system experiences symmetry, the Lagrangian becomes invariant under a certain group action. This property leads to substantial simplification of the description of movement. The standpoint in this article is a mechanical system affected by an external force of a control action....... Assuming that the system possesses symmetry and the configuration manifold corresponds to a Lie group, the Euler-Poincaré reduction breaks up the motion into separate equations of dynamics and kinematics. This becomes of particular interest for modelling, estimation and control of mechanical systems......-known Euler-Poincaré reduction to a rigid body motion with forcing....

Euler-Poincaré Reduction of a Rigid Body Motion

DEFF Research Database (Denmark)

Wisniewski, Rafal; Kulczycki, P.

2004-01-01

If a mechanical system experiences symmetry, the Lagrangian becomes invariant under a certain group action. This property leads to substantial simplification of the description of movement. The standpoint in this article is a mechanical system affected by an external force of a control action....... Assuming that the system possesses symmetry and the configuration manifold corresponds to a Lie group, the Euler-Poincaré reduction breaks up the motion into separate equations of dynamics and kinematics. This becomes of particular interest for modelling, estimation and control of mechanical systems......-known Euler-Poincaré reduction to a rigid body motion with forcing....

Bang-Bang Practical Stabilization of Rigid Bodies

Science.gov (United States)

Serpelloni, Edoardo

In this thesis, we study the problem of designing a practical stabilizer for a rigid body equipped with a set of actuators generating only constant thrust. Our motivation stems from the fact that modern space missions are required to accurately control the position and orientation of spacecraft actuated by constant-thrust jet-thrusters. To comply with the performance limitations of modern thrusters, we design a feedback controller that does not induce high-frequency switching of the actuators. The proposed controller is hybrid and it asymptotically stabilizes an arbitrarily small compact neighborhood of the target position and orientation of the rigid body. The controller is characterized by a hierarchical structure comprising of two control layers. At the low level of the hierarchy, an attitude controller stabilizes the target orientation of the rigid body. At the high level, after the attitude controller has steered the rigid body sufficiently close to its desired orientation, a position controller stabilizes the desired position. The size of the neighborhood being stabilized by the controller can be adjusted via a proper selection of the controller parameters. This allows us to stabilize the rigid body to virtually any degree of accuracy. It is shown that the controller, even in the presence of measurement noise, does not induce high-frequency switching of the actuators. The key component in the design of the controller is a hybrid stabilizer for the origin of double-integrators affected by bounded external perturbations. Specifically, both the position and the attitude stabilizers consist of multiple copies of such a double-integrator controller. The proposed controller is applied to two realistic spacecraft control problems. First, we apply the position controller to the problem of stabilizing the relative position between two spacecraft flying in formation in the vicinity of the L2 libration point of the Sun-Earth system as a part of a large space telescope

Euler-Poincaré Reduction of Externally Forced Rigid Body Motion

DEFF Research Database (Denmark)

Wisniewski, Rafal; Kulczycki, P.

2004-01-01

If a mechanical system experiences symmetry, the Lagrangian becomes invariant under a certain group action. This property leads to substantial simplification of the description of movement. The standpoint in this article is a mechanical system affected by an external force of a control action....... Assuming that the system possesses symmetry and the configuration manifold corresponds to a Lie group, the Euler-Poincaré reduction breaks up the motion into separate equations of dynamics and kinematics. This becomes of particular interest for modelling, estimation and control of mechanical systems......-known Euler-Poincaré reduction to a rigid body motion with forcing....

Strongly coupled partitioned six degree-of-freedom rigid body motion solver with Aitken's dynamic under-relaxation

Directory of Open Access Journals (Sweden)

Jeng Hei Chow

2016-07-01

Full Text Available An implicit method of solving the six degree-of-freedom rigid body motion equations based on the second order Adams-Bashforth-Moulten method was utilised as an improvement over the leapfrog scheme by making modifications to the rigid body motion solver libraries directly. The implementation will depend on predictor-corrector steps still residing within the hybrid Pressure Implicit with Splitting of Operators - Semi-Implicit Method for Pressure Linked Equations (PIMPLE outer corrector loops to ensure strong coupling between fluid and motion. Aitken's under-relaxation is also introduced in this study to optimise the convergence rate and stability of the coupled solver. The resulting coupled solver ran on a free floating object tutorial test case when converged matches the original solver. It further allows a varying 70%–80% reduction in simulation times compared using a fixed under-relaxation to achieve the required stability.

Almost-global tracking for a rigid body with internal rotors

OpenAIRE

Nayak, Aradhana; Banavar, Ravi N.

2017-01-01

Almost-global orientation trajectory tracking for a rigid body with external actuation has been well studied in the literature, and in the geometric setting as well. The tracking control law relies on the fact that a rigid body is a simple mechanical system (SMS) on the $3-$dimensional group of special orthogonal matrices. However, the problem of designing feedback control laws for tracking using internal actuation mechanisms, like rotors or control moment gyros, has received lesser attention...

Numerical algorithm for rigid body position estimation using the quaternion approach

Science.gov (United States)

Zigic, Miodrag; Grahovac, Nenad

2017-11-01

This paper deals with rigid body attitude estimation on the basis of the data obtained from an inertial measurement unit mounted on the body. The aim of this work is to present the numerical algorithm, which can be easily applied to the wide class of problems concerning rigid body positioning, arising in aerospace and marine engineering, or in increasingly popular robotic systems and unmanned aerial vehicles. Following the considerations of kinematics of rigid bodies, the relations between accelerations of different points of the body are given. A rotation matrix is formed using the quaternion approach to avoid singularities. We present numerical procedures for determination of the absolute accelerations of the center of mass and of an arbitrary point of the body expressed in the inertial reference frame, as well as its attitude. An application of the algorithm to the example of a heavy symmetrical gyroscope is presented, where input data for the numerical procedure are obtained from the solution of differential equations of motion, instead of using sensor measurements.

Diffusion-accomodated rigid-body translations along grain boundaries in nanostructured materials

International Nuclear Information System (INIS)

Bachurin, D.V.; Nazarov, A.A.; Shenderova, O.A.; Brenner, D.W.

2003-01-01

A model for the structural relaxation of grain boundaries (GBs) in nanostructured materials (NSMs) by diffusion-accommodated rigid body translations along GBs is proposed. The model is based on the results of recent computer simulations that have demonstrated that the GBs in NSMs retain a high-energy structure with random translational states due to severe geometrical constraints applied from neighboring grains (J. Appl. Phys. 78 (1995) 847; Scripta Metall. Mater. 33 (1995) 1245). The shear stresses within a GB caused by non-optimized rigid-body translations (RBTs) can be accommodated by diffusive flow of atoms along a GB. This mechanism is particularly important for low-angle and vicinal GBs, the energy of which noticeably depends on the rigid body translations. At moderate and high temperatures the model yields relaxation times that are very short and therefore GBs in NSMs can attain an equilibrium structure with optimized rigid body translations. In contrast, at room temperature the model predicts that in some metals non-equilibrium structures can be preserved for a long time, which may result in the observation of grain boundary structures different from those in coarse grained polycrystals

Rigid body displacement fields of an in-plane-deformable curved beam based on conventional strain definition

International Nuclear Information System (INIS)

Moon, Won Joo; Min, Oak Key; Kim, Yong Woo

1998-01-01

To improve the convergence and the accuracy of a finite element, the finite element has to describe not only displacement and stress distributions in a static analysis but also rigid body displacements. In this paper, we consider the in-plane-deformable curved beam element to understand the descriptive capability of rigid body displacements of a finite element. We derive the rigid body displacement fields of a single finite element under various essential boundary conditions when the nodal displacements are caused by the rigid body displacement. We also examine the rigid body displacement fields of a quadratic curved beam element by employing the reduced minimization theory

Conservative rigid body dynamics by convected base vectors with implicit constraints

DEFF Research Database (Denmark)

Krenk, Steen; Nielsen, Martin Bjerre

2014-01-01

of differential equations without additional algebraic constraints on the base vectors. A discretized form of the equations of motion is obtained by starting from a finite time increment of the Hamiltonian, and retracing the steps of the continuous formulation in discrete form in terms of increments and mean...... of the base vectors. Orthogonality and unit length of the base vectors are imposed by constraining the equivalent Green strain components, and the kinetic energy is represented corresponding to rigid body motion. The equations of motion are obtained via Hamilton’s equations including the zero...... values over each integration time increment. In this discrete form the Lagrange multipliers are given in terms of a representative value within the integration time interval, and the equations of motion are recast into a conservative mean-value and finite difference format. The Lagrange multipliers...

Multibody Dynamic Stress Simulation of Rigid-Flexible Shovel Crawler Shoes

Directory of Open Access Journals (Sweden)

Samuel Frimpong

2016-06-01

Full Text Available Electric shovels are used in surface mining operations to achieve economic production capacities. The capital investments and operating costs associated with the shovels deployed in the Athabasca oil sands formation are high due to the abrasive conditions. The shovel crawler shoes interact with sharp and abrasive sand particles, and, thus, are subjected to high transient dynamic stresses. These high stresses cause wear and tear leading to crack initiation, propagation and premature fatigue failure. The objective of this paper is to develop a model to characterize the crawler stresses and deformation for the P&H 4100C BOSS during propel and loading using rigid-flexible multi-body dynamic theory. A 3-D virtual prototype model of the rigid-flexible crawler track assembly and its interactions with oil sand formation is simulated to capture the model dynamics within multibody dynamics software MSC ADAMS. The modal and stress shapes and modal loads due to machine weight for each flexible crawler shoes are generated from finite element analysis (FEA. The modal coordinates from the simulation are combined with mode and stress shapes using modal superposition method to calculate real-time stresses and deformation of flexible crawler shoes. The results show a maximum von Mises stress value of 170 MPa occurring in the driving crawler shoe during the propel motion. This study provides a foundation for the subsequent fatigue life analysis of crawler shoes for extending crawler service life.

Simulating coupled dynamics of a rigid-flexible multibody system and compressible fluid

Science.gov (United States)

Hu, Wei; Tian, Qiang; Hu, HaiYan

2018-04-01

As a subsequent work of previous studies of authors, a new parallel computation approach is proposed to simulate the coupled dynamics of a rigid-flexible multibody system and compressible fluid. In this approach, the smoothed particle hydrodynamics (SPH) method is used to model the compressible fluid, the natural coordinate formulation (NCF) and absolute nodal coordinate formulation (ANCF) are used to model the rigid and flexible bodies, respectively. In order to model the compressible fluid properly and efficiently via SPH method, three measures are taken as follows. The first is to use the Riemann solver to cope with the fluid compressibility, the second is to define virtual particles of SPH to model the dynamic interaction between the fluid and the multibody system, and the third is to impose the boundary conditions of periodical inflow and outflow to reduce the number of SPH particles involved in the computation process. Afterwards, a parallel computation strategy is proposed based on the graphics processing unit (GPU) to detect the neighboring SPH particles and to solve the dynamic equations of SPH particles in order to improve the computation efficiency. Meanwhile, the generalized-alpha algorithm is used to solve the dynamic equations of the multibody system. Finally, four case studies are given to validate the proposed parallel computation approach.

Strongly Coupled Fluid-Body Dynamics in the Immersed Boundary Projection Method

Science.gov (United States)

Wang, Chengjie; Eldredge, Jeff D.

2014-11-01

A computational algorithm is developed to simulate dynamically coupled interaction between fluid and rigid bodies. The basic computational framework is built upon a multi-domain immersed boundary method library, whirl, developed in previous work. In this library, the Navier-Stokes equations for incompressible flow are solved on a uniform Cartesian grid by the vorticity-based immersed boundary projection method of Colonius and Taira. A solver for the dynamics of rigid-body systems is also included. The fluid and rigid-body solvers are strongly coupled with an iterative approach based on the block Gauss-Seidel method. Interfacial force, with its intimate connection with the Lagrange multipliers used in the fluid solver, is used as the primary iteration variable. Relaxation, developed from a stability analysis of the iterative scheme, is used to achieve convergence in only 2-4 iterations per time step. Several two- and three-dimensional numerical tests are conducted to validate and demonstrate the method, including flapping of flexible wings, self-excited oscillations of a system of linked plates and three-dimensional propulsion of flexible fluked tail. This work has been supported by AFOSR, under Award FA9550-11-1-0098.

An iterative approach to dynamic simulation of 3D rigid body motions for real-time interactive computer animation

NARCIS (Netherlands)

Overveld, van C.W.A.M.

1991-01-01

A method is presented for approximating the motions of linked 3-dimensional rigid body systems that may be applied in the context of interactive motion specification for computer animation. The method is based on decoupling the ballistic (free) component of the motion of the points that constitute

Rigid Body Energy Minimization on Manifolds for Molecular Docking.

Science.gov (United States)

Mirzaei, Hanieh; Beglov, Dmitri; Paschalidis, Ioannis Ch; Vajda, Sandor; Vakili, Pirooz; Kozakov, Dima

2012-11-13

Virtually all docking methods include some local continuous minimization of an energy/scoring function in order to remove steric clashes and obtain more reliable energy values. In this paper, we describe an efficient rigid-body optimization algorithm that, compared to the most widely used algorithms, converges approximately an order of magnitude faster to conformations with equal or slightly lower energy. The space of rigid body transformations is a nonlinear manifold, namely, a space which locally resembles a Euclidean space. We use a canonical parametrization of the manifold, called the exponential parametrization, to map the Euclidean tangent space of the manifold onto the manifold itself. Thus, we locally transform the rigid body optimization to an optimization over a Euclidean space where basic optimization algorithms are applicable. Compared to commonly used methods, this formulation substantially reduces the dimension of the search space. As a result, it requires far fewer costly function and gradient evaluations and leads to a more efficient algorithm. We have selected the LBFGS quasi-Newton method for local optimization since it uses only gradient information to obtain second order information about the energy function and avoids the far more costly direct Hessian evaluations. Two applications, one in protein-protein docking, and the other in protein-small molecular interactions, as part of macromolecular docking protocols are presented. The code is available to the community under open source license, and with minimal effort can be incorporated into any molecular modeling package.

Higher order coupling between rigid-body and elastic motion in flexible mechanisms

International Nuclear Information System (INIS)

Esat, I.I.; Ianakiev, A.

1995-01-01

The paper presents an investigation of the influence of the higher order coupling terms between the rigid-body and elastic motion into flexible mechanism dynamics. The configuration of the mechanical system is obtained by using the so called hybrid coordinates. The kinematic description of the mechanism was obtained using the D-H 4 x 4 transformation matrices. The elastic deformation of each point of the mechanism is described by the finite element modeling (FEM) type interpolation scheme. The dynamic model of the flexible mechanism consists due to the hybrid coordinates of two groups of differential equations. The first group describes the manipulator transport motion and the second group describes the vibration. In this paper the authors evaluated the contribution of the coupling terms between the two groups of differential equations and selected only those with high contribution

Explicit symplectic integrators of molecular dynamics algorithms for rigid-body molecules in the canonical, isobaric-isothermal, and related ensembles.

Science.gov (United States)

Okumura, Hisashi; Itoh, Satoru G; Okamoto, Yuko

2007-02-28

The authors propose explicit symplectic integrators of molecular dynamics (MD) algorithms for rigid-body molecules in the canonical and isobaric-isothermal ensembles. They also present a symplectic algorithm in the constant normal pressure and lateral surface area ensemble and that combined with the Parrinello-Rahman algorithm. Employing the symplectic integrators for MD algorithms, there is a conserved quantity which is close to Hamiltonian. Therefore, they can perform a MD simulation more stably than by conventional nonsymplectic algorithms. They applied this algorithm to a TIP3P pure water system at 300 K and compared the time evolution of the Hamiltonian with those by the nonsymplectic algorithms. They found that the Hamiltonian was conserved well by the symplectic algorithm even for a time step of 4 fs. This time step is longer than typical values of 0.5-2 fs which are used by the conventional nonsymplectic algorithms.

A method for measuring the inertia properties of rigid bodies

Science.gov (United States)

Gobbi, M.; Mastinu, G.; Previati, G.

2011-01-01

A method for the measurement of the inertia properties of rigid bodies is presented. Given a rigid body and its mass, the method allows to measure (identify) the centre of gravity location and the inertia tensor during a single test. The proposed technique is based on the analysis of the free motion of a multi-cable pendulum to which the body under consideration is connected. The motion of the pendulum and the forces acting on the system are recorded and the inertia properties are identified by means of a proper mathematical procedure based on a least square estimation. After the body is positioned on the test rig, the full identification procedure takes less than 10 min. The natural frequencies of the pendulum and the accelerations involved are quite low, making this method suitable for many practical applications. In this paper, the proposed method is described and two test rigs are presented: the first is developed for bodies up to 3500 kg and the second for bodies up to 400 kg. A validation of the measurement method is performed with satisfactory results. The test rig holds a third part quality certificate according to an ISO 9001 standard and could be scaled up to measure the inertia properties of huge bodies, such as trucks, airplanes or even ships.

The theory of pseudo-rigid bodies

CERN Document Server

Cohen, Harley

1988-01-01

This monograph concerns the development, analysis, and application of the theory of pseudo-rigid bodies. It collects together our work on that subject over the last five years. While some results have appeared else­ where, much of the work is new. Our objective in writing this mono­ graph has been to present a new theory of the deformation of bodies, one that has not only a firm theoretical basis, but also the simplicity to serve as an effective tool in practical problems. Consequently, the main body of the treatise is a multifaceted development of the theory, from foundations to explicit solutions to linearizations to methods of approximation. The fact that this variety of aspects, each examined in considerable detail, can be collected together in a single, unified treat­ ment gives this theory an elegance that we feel sets it apart from many others. While our goal has always been to give a complete treatment of the theory as it now stands, the work here is not meant to be definitive. Theories are not ent...

Collisions of Constrained Rigid Body Systems with Friction

Directory of Open Access Journals (Sweden)

Haijun Shen

1998-01-01

Full Text Available A new approach is developed for the general collision problem of two rigid body systems with constraints (e.g., articulated systems, such as massy linkages in which the relative tangential velocity at the point of contact and the associated friction force can change direction during the collision. This is beyond the framework of conventional methods, which can give significant and very obvious errors for this problem, and both extends and consolidates recent work. A new parameterization and theory characterize if, when and how the relative tangential velocity changes direction during contact. Elastic and dissipative phenomena and different values for static and kinetic friction coefficients are included. The method is based on the explicitly physical analysis of events at the point of contact. Using this method, Example 1 resolves (and corrects a paradox (in the literature of the collision of a double pendulum with the ground. The method fundamentally subsumes other recent models and the collision of rigid bodies; it yields the same results as conventional methods when they would apply (Example 2. The new method reformulates and extends recent approaches in a completely physical context.

Estimating the orientation of a rigid body moving in space using inertial sensors

Energy Technology Data Exchange (ETDEWEB)

He, Peng, E-mail: peng.he.1@ulaval.ca; Cardou, Philippe, E-mail: pcardou@gmc.ulaval.ca [Université Laval, Robotics Laboratory, Department of Mechanical Engineering (Canada); Desbiens, André, E-mail: andre.desbiens@gel.ulaval.ca [Université Laval, Department of Electrical and Computer Engineering (Canada); Gagnon, Eric, E-mail: Eric.Gagnon@drdc-rddc.gc.ca [RDDC Valcartier (Canada)

2015-09-15

This paper presents a novel method of estimating the orientation of a rigid body moving in space from inertial sensors, by discerning the gravitational and inertial components of the accelerations. In this method, both a rigid-body kinematics model and a stochastic model of the human-hand motion are formulated and combined in a nonlinear state-space system. The state equation represents the rigid body kinematics and stochastic model, and the output equation represents the inertial sensor measurements. It is necessary to mention that, since the output equation is a nonlinear function of the state, the extended Kalman filter (EKF) is applied. The absolute value of the error from the proposed method is shown to be less than 5 deg in simulation and in experiments. It is apparently stable, unlike the time-integration of gyroscope measurements, which is subjected to drift, and remains accurate under large accelerations, unlike the tilt-sensor method.

Estimating the orientation of a rigid body moving in space using inertial sensors

International Nuclear Information System (INIS)

He, Peng; Cardou, Philippe; Desbiens, André; Gagnon, Eric

2015-01-01

This paper presents a novel method of estimating the orientation of a rigid body moving in space from inertial sensors, by discerning the gravitational and inertial components of the accelerations. In this method, both a rigid-body kinematics model and a stochastic model of the human-hand motion are formulated and combined in a nonlinear state-space system. The state equation represents the rigid body kinematics and stochastic model, and the output equation represents the inertial sensor measurements. It is necessary to mention that, since the output equation is a nonlinear function of the state, the extended Kalman filter (EKF) is applied. The absolute value of the error from the proposed method is shown to be less than 5 deg in simulation and in experiments. It is apparently stable, unlike the time-integration of gyroscope measurements, which is subjected to drift, and remains accurate under large accelerations, unlike the tilt-sensor method

Rigid-flexible coupling dynamics of three-dimensional hub-beams system

International Nuclear Information System (INIS)

Liu Jinyang; Lu Hao

2007-01-01

In the previous research of the coupling dynamics of a hub-beam system, coupling between the rotational motion of hub and the torsion deformation of beam is not taken into account since the system undergoes planar motion. Due to the small longitudinal deformation, coupling between the rotational motion of hub and the longitudinal deformation of beam is also neglected. In this paper, rigid-flexible coupling dynamics is extended to a hub-beams system with three-dimensional large overall motion. Not only coupling between the large overall motion and the bending deformation, but also coupling between the large overall motion and the torsional deformation are taken into account. In case of temperature increase, the longitudinal deformation caused by the thermal expansion is significant, such that coupling between the large overall motion and the longitudinal deformation is also investigated. Combining the characteristics of the hybrid coordinate formulation and the absolute nodal coordinate formulation, the system generalized coordinates include the relative nodal displacement and the slope of each beam element with respect to the body-fixed frame of the hub, and the variables related to the spatial large overall motion of the hub and beams. Based on precise strain-displacement relation, the geometric stiffening effect is taken into account, and the rigid-flexible coupling dynamic equations are derived using velocity variational principle. Finite element method is employed for discretization. Simulation of a hub-beams system is used to show the coupling effect between the large overall motion and the torsional deformation as well as the longitudinal deformation. Furthermore, conservation of energy in case of free motion is shown to verify the formulation

A conserved quantity in thin body dynamics

Science.gov (United States)

Hanna, J. A.; Pendar, H.

2016-02-01

Thin, solid bodies with metric symmetries admit a restricted form of reparameterization invariance. Their dynamical equilibria include motions with both rigid and flowing aspects. On such configurations, a quantity is conserved along the intrinsic coordinate corresponding to the symmetry. As an example of its utility, this conserved quantity is combined with linear and angular momentum currents to construct solutions for the equilibria of a rotating, flowing string, for which it is akin to Bernoulli's constant.

Knowledge-In-Action: An Example with Rigid Body Motion

Science.gov (United States)

Da Costa, Sayonara Salvador Cabral; Moreira, Marco Antonio

2005-01-01

This paper reports the analysis of the resolution of a paper-and-pencil problem, by eight undergraduate students majoring in engineering (six) and physics (two) at the Pontifcia Universidade Catlica do Rio Grande do Sul, in Porto Alegre, Brazil. The problem concerns kinetics of a rigid body, and the analysis was done in the light of Johnson-Lairds…

On the dynamics of chain systems. [applications in manipulator and human body models

Science.gov (United States)

Huston, R. L.; Passerello, C. E.

1974-01-01

A computer-oriented method for obtaining dynamical equations of motion for chain systems is presented. A chain system is defined as an arbitrarily assembled set of rigid bodies such that adjoining bodies have at least one common point and such that closed loops are not formed. The equations of motion are developed through the use of Lagrange's form of d'Alembert's principle. The method and procedure is illustrated with an elementary study of a tripod space manipulator. The method is designed for application with systems such as human body models, chains and cables, and dynamic finite-segment models.

Rigid Body Motion Calculated From Spatial Co-ordinates of Markers ...

African Journals Online (AJOL)

In this paper, we present a unified method for calculating spatial coordinates of markers for a rigid body motion such as in bones. Kinematical analysis of bone movement in cadaveric specimens or living objects had been developed. Here, we show how spatial co-ordinates of markers in or on bone can be calculated from ...

Steady fall of a rigid body in viscous fluid

Czech Academy of Sciences Publication Activity Database

Nečasová, Šárka

2005-01-01

Roč. 63, Sp. Is. (2005), s. 2113-2119 ISSN 0362-546X. [Invited Talks from the Fourth World Congress of Nonlinear Analysts (WCNA 2004). Orlando , 30.7.2004-7.8.2004] R&D Projects: GA ČR(CZ) GA201/02/0684 Institutional research plan: CEZ:AV0Z1019905 Keywords : steady fall * rigid body * viscous fluid Subject RIV: BA - General Mathematics Impact factor: 0.519, year: 2005

High-order conservative discretizations for some cases of the rigid body motion

International Nuclear Information System (INIS)

Kozlov, Roman

2008-01-01

Modified vector fields can be used to construct high-order structure-preserving numerical integrators for ordinary differential equations. In the present Letter we consider high-order integrators based on the implicit midpoint rule, which conserve quadratic first integrals. It is shown that these integrators are particularly suitable for the rigid body motion with an additional quadratic first integral. In this case high-order integrators preserve all four first integrals of motion. The approach is illustrated on the Lagrange top (a rotationally symmetric rigid body with a fixed point on the symmetry axis). The equations of motion are considered in the space fixed frame because in this frame Lagrange top admits a neat description. The Lagrange top motion includes the spherical pendulum and the planar pendulum, which swings in a vertical plane, as particular cases

Rigid Finite Element Method in Analysis of Dynamics of Offshore Structures

CERN Document Server

Wittbrodt, Edmund; Maczyński, Andrzej; Wojciech, Stanisław

2013-01-01

This book describes new methods developed for modelling dynamics of machines commonly used in the offshore industry. These methods are based both on the rigid finite element method, used for the description of link deformations, and on homogeneous transformations and joint coordinates, which is applied to the modelling of multibody system dynamics. In this monograph, the bases of the rigid finite element method  and homogeneous transformations are introduced. Selected models for modelling dynamics of offshore devices are then verified both by using commercial software, based on the finite element method, as well as by using additional methods. Examples of mathematical models of offshore machines, such as a gantry crane for Blowout-Preventer (BOP) valve block transportation, a pedestal crane with shock absorber, and pipe laying machinery are presented. Selected problems of control in offshore machinery as well as dynamic optimization in device control are also discussed. Additionally, numerical simulations of...

Rigid Body Time Integration by Convected Base Vectors with Implicit Constraints

DEFF Research Database (Denmark)

Krenk, Steen; Nielsen, Martin Bjerre

2013-01-01

of the kinetic energy used in the present formulation is deliberately chosen to correspond to a rigid body rotation, and the orthonormality constraints are introduced via the equivalent Green strain components of the base vectors. The particular form of the extended inertia tensor used here implies a set...

Rigid finite element method in analysis of dynamics of offshore structures

Energy Technology Data Exchange (ETDEWEB)

Wittbrodt, Edmund [Gdansk Univ. of Technology (Poland); Szczotka, Marek; Maczynski, Andrzej; Wojciech, Stanislaw [Bielsko-Biala Univ. (Poland)

2013-07-01

This book describes new methods developed for modelling dynamics of machines commonly used in the offshore industry. These methods are based both on the rigid finite element method, used for the description of link deformations, and on homogeneous transformations and joint coordinates, which is applied to the modelling of multibody system dynamics. In this monograph, the bases of the rigid finite element method and homogeneous transformations are introduced. Selected models for modelling dynamics of offshore devices are then verified both by using commercial software, based on the finite element method, as well as by using additional methods. Examples of mathematical models of offshore machines, such as a gantry crane for Blowout-Preventer (BOP) valve block transportation, a pedestal crane with shock absorber, and pipe laying machinery are presented. Selected problems of control in offshore machinery as well as dynamic optimization in device control are also discussed. Additionally, numerical simulations of pipe-laying operations taking active reel drive into account are shown.

A rigid-body least-squares program with angular and translation scan facilities

CERN Document Server

Kutschabsky, L

1981-01-01

The described computer program, written in CERN Fortran, is designed to enlarge the convergence radius of the rigid-body least-squares method by allowing a stepwise change of the angular and/or translational parameters within a chosen range. (6 refs).

A conserved quantity in thin body dynamics

International Nuclear Information System (INIS)

Hanna, J.A.; Pendar, H.

2016-01-01

Thin, solid bodies with metric symmetries admit a restricted form of reparameterization invariance. Their dynamical equilibria include motions with both rigid and flowing aspects. On such configurations, a quantity is conserved along the intrinsic coordinate corresponding to the symmetry. As an example of its utility, this conserved quantity is combined with linear and angular momentum currents to construct solutions for the equilibria of a rotating, flowing string, for which it is akin to Bernoulli's constant. - Highlights: • A conserved quantity relevant to the dynamical equilibria of thin structures. • A mixed Lagrangian–Eulerian non-material action principle for fixed windows of axially moving systems. • Analytical solutions for rotating, flowing strings (yarn balloons). • Noether meets Bernoulli in a textile factory.

A conserved quantity in thin body dynamics

Energy Technology Data Exchange (ETDEWEB)

Hanna, J.A., E-mail: hannaj@vt.edu [Department of Biomedical Engineering and Mechanics, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061 (United States); Department of Physics, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061 (United States); Pendar, H. [Department of Biomedical Engineering and Mechanics, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061 (United States)

2016-02-15

Thin, solid bodies with metric symmetries admit a restricted form of reparameterization invariance. Their dynamical equilibria include motions with both rigid and flowing aspects. On such configurations, a quantity is conserved along the intrinsic coordinate corresponding to the symmetry. As an example of its utility, this conserved quantity is combined with linear and angular momentum currents to construct solutions for the equilibria of a rotating, flowing string, for which it is akin to Bernoulli's constant. - Highlights: • A conserved quantity relevant to the dynamical equilibria of thin structures. • A mixed Lagrangian–Eulerian non-material action principle for fixed windows of axially moving systems. • Analytical solutions for rotating, flowing strings (yarn balloons). • Noether meets Bernoulli in a textile factory.

Research on Rigid Body Motion Tracing in Space based on NX MCD

Science.gov (United States)

Wang, Junjie; Dai, Chunxiang; Shi, Karen; Qin, Rongkang

2018-03-01

In the use of MCD (Mechatronics Concept Designer) which is a module belong to SIEMENS Ltd industrial design software UG (Unigraphics NX), user can define rigid body and kinematic joint to make objects move according to the existing plan in simulation. At this stage, user may have the desire to see the path of some points in the moving object intuitively. In response to this requirement, this paper will compute the pose through the transformation matrix which can be available from the solver engine, and then fit these sampling points through B-spline curve. Meanwhile, combined with the actual constraints of rigid bodies, the traditional equal interval sampling strategy was optimized. The result shown that this method could satisfy the demand and make up for the deficiency in traditional sampling method. User can still edit and model on this 3D curve. Expected result has been achieved.

Free Energy Landscapes of Alanine Oligopeptides in Rigid-Body and Hybrid Water Models.

Science.gov (United States)

Nayar, Divya; Chakravarty, Charusita

2015-08-27

Replica exchange molecular dynamics is used to study the effect of different rigid-body (mTIP3P, TIP4P, SPC/E) and hybrid (H1.56, H3.00) water models on the conformational free energy landscape of the alanine oligopeptides (acAnme and acA5nme), in conjunction with the CHARMM22 force field. The free energy landscape is mapped out as a function of the Ramachandran angles. In addition, various secondary structure metrics, solvation shell properties, and the number of peptide-solvent hydrogen bonds are monitored. Alanine dipeptide is found to have similar free energy landscapes in different solvent models, an insensitivity which may be due to the absence of possibilities for forming i-(i + 4) or i-(i + 3) intrapeptide hydrogen bonds. The pentapeptide, acA5nme, where there are three intrapeptide backbone hydrogen bonds, shows a conformational free energy landscape with a much greater degree of sensitivity to the choice of solvent model, though the three rigid-body water models differ only quantitatively. The pentapeptide prefers nonhelical, non-native PPII and β-sheet populations as the solvent is changed from SPC/E to the less tetrahedral liquid (H1.56) to an LJ-like liquid (H3.00). The pentapeptide conformational order metrics indicate a preference for open, solvent-exposed, non-native structures in hybrid solvent models at all temperatures of study. The possible correlations between the properties of solvent models and secondary structure preferences of alanine oligopeptides are discussed, and the competition between intrapeptide, peptide-solvent, and solvent-solvent hydrogen bonding is shown to be crucial in the relative free energies of different conformers.

Lorentz Contraction, Bell's Spaceships and Rigid Body Motion in Special Relativity

Science.gov (United States)

Franklin, Jerrold

2010-01-01

The meaning of Lorentz contraction in special relativity and its connection with Bell's spaceships parable is discussed. The motion of Bell's spaceships is then compared with the accelerated motion of a rigid body. We have tried to write this in a simple form that could be used to correct students' misconceptions due to conflicting earlier…

Reconstructing rotations and rigid body motions from exact point correspondences through reflections

NARCIS (Netherlands)

Fontijne, D.; Dorst, L.; Dorst, L.; Lasenby, J.

2011-01-01

We describe a new algorithm to reconstruct a rigid body motion from point correspondences. The algorithm works by constructing a series of reflections which align the points with their correspondences one by one. This is naturally and efficiently implemented in the conformal model of geometric

On the monoaxial stabilization of a rigid body under vanishing restoring torque

Science.gov (United States)

Aleksandrov, A. Yu.; Aleksandrova, E. B.; Tikhonov, A. A.

2018-05-01

The problem of monoaxial stabilization of a rigid body is studied. It is assumed that a linear time-invariant dissipative torque and a time-varying restoring torque vanishing as time increases act on the body. Both the case of linear restoring torque and that of essentially nonlinear one are considered. With the aid of the decomposition method, conditions are obtained under which we can guarantee the asymptotic stability of an equilibrium position of the body despite the vanishing of the restoring torque. A numerical simulation is provided to demonstrate the effectiveness of our theoretical results.

Lorentz contraction, Bell's spaceships and rigid body motion in special relativity

International Nuclear Information System (INIS)

Franklin, Jerrold

2010-01-01

The meaning of Lorentz contraction in special relativity and its connection with Bell's spaceships parable is discussed. The motion of Bell's spaceships is then compared with the accelerated motion of a rigid body. We have tried to write this in a simple form that could be used to correct students' misconceptions due to conflicting earlier treatments.

Modeling meniscus rise in capillary tubes using fluid in rigid-body motion approach

Science.gov (United States)

Hamdan, Mohammad O.; Abu-Nabah, Bassam A.

2018-04-01

In this study, a new term representing net flux rate of linear momentum is introduced to Lucas-Washburn equation. Following a fluid in rigid-body motion in modeling the meniscus rise in vertical capillary tubes transforms the nonlinear Lucas-Washburn equation to a linear mass-spring-damper system. The linear nature of mass-spring-damper system with constant coefficients offers a nondimensional analytical solution where meniscus dynamics are dictated by two parameters, namely the system damping ratio and its natural frequency. This connects the numerous fluid-surface interaction physical and geometrical properties to rather two nondimensional parameters, which capture the underlying physics of meniscus dynamics in three distinct cases, namely overdamped, critically damped, and underdamped systems. Based on experimental data available in the literature and the understanding meniscus dynamics, the proposed model brings a new approach of understanding the system initial conditions. Accordingly, a closed form relation is produced for the imbibition velocity, which equals half of the Bosanquet velocity divided by the damping ratio. The proposed general analytical model is ideal for overdamped and critically damped systems. While for underdamped systems, the solution shows fair agreement with experimental measurements once the effective viscosity is determined. Moreover, the presented model shows meniscus oscillations around equilibrium height occur if the damping ratio is less than one.

Dynamic Human Body Modeling Using a Single RGB Camera.

Science.gov (United States)

Zhu, Haiyu; Yu, Yao; Zhou, Yu; Du, Sidan

2016-03-18

In this paper, we present a novel automatic pipeline to build personalized parametric models of dynamic people using a single RGB camera. Compared to previous approaches that use monocular RGB images, our system can model a 3D human body automatically and incrementally, taking advantage of human motion. Based on coarse 2D and 3D poses estimated from image sequences, we first perform a kinematic classification of human body parts to refine the poses and obtain reconstructed body parts. Next, a personalized parametric human model is generated by driving a general template to fit the body parts and calculating the non-rigid deformation. Experimental results show that our shape estimation method achieves comparable accuracy with reconstructed models using depth cameras, yet requires neither user interaction nor any dedicated devices, leading to the feasibility of using this method on widely available smart phones.

Rigid-body displacement perpendicular to a {211} twin boundary in Mo

Czech Academy of Sciences Publication Activity Database

Gemperlová, Juliana; Vystavěl, Tomáš; Gemperle, Antonín; Pénisson, J. M.

2001-01-01

Roč. 31, č. 11 (2001), s. 1767-1778 ISSN 0141-8637 R&D Projects: GA AV ČR IAA1010916; GA ČR GA202/99/1665 Institutional research plan: CEZ:AV0Z1010914 Keywords : sigma=3 Mo bicrystal * rigid-body displacement * alfa- fringe method Subject RIV: BM - Solid Matter Physics ; Magnetism Impact factor: 1.238, year: 2001

ANALYTIC EVALUATION OF RECTILINEARITY OF LOW RIGIDITY SHAFT DURING HARDENING PROCESS

Directory of Open Access Journals (Sweden)

Antoni Świć

2013-03-01

Full Text Available The essential influence of the unevenness of temperature distribution while heating in the technological process on dimensions stability of low rigidity elements was shown. The new approach was applied to formulate mathematical models, which describe the elastic and inelastic behaviour of piece using transfer functions and block diagrams, allowing to use frequency method for evaluation of the behaviour of dynamic semi-finished element as the rigid body.

Conformational Rigidity and Protein Dynamics at Distinct Timescales Regulate PTP1B Activity and Allostery.

Science.gov (United States)

Choy, Meng S; Li, Yang; Machado, Luciana E S F; Kunze, Micha B A; Connors, Christopher R; Wei, Xingyu; Lindorff-Larsen, Kresten; Page, Rebecca; Peti, Wolfgang

2017-02-16

Protein function originates from a cooperation of structural rigidity, dynamics at different timescales, and allostery. However, how these three pillars of protein function are integrated is still only poorly understood. Here we show how these pillars are connected in Protein Tyrosine Phosphatase 1B (PTP1B), a drug target for diabetes and cancer that catalyzes the dephosphorylation of numerous substrates in essential signaling pathways. By combining new experimental and computational data on WT-PTP1B and ≥10 PTP1B variants in multiple states, we discovered a fundamental and evolutionarily conserved CH/π switch that is critical for positioning the catalytically important WPD loop. Furthermore, our data show that PTP1B uses conformational and dynamic allostery to regulate its activity. This shows that both conformational rigidity and dynamics are essential for controlling protein activity. This connection between rigidity and dynamics at different timescales is likely a hallmark of all enzyme function. Copyright © 2017 Elsevier Inc. All rights reserved.

A comparative study of velocity increment generation between the rigid body and flexible models of MMET

Energy Technology Data Exchange (ETDEWEB)

Ismail, Norilmi Amilia, E-mail: aenorilmi@usm.my [School of Aerospace Engineering, Engineering Campus, Universiti Sains Malaysia, 14300 Nibong Tebal, Pulau Pinang (Malaysia)

2016-02-01

The motorized momentum exchange tether (MMET) is capable of generating useful velocity increments through spin–orbit coupling. This study presents a comparative study of the velocity increments between the rigid body and flexible models of MMET. The equations of motions of both models in the time domain are transformed into a function of true anomaly. The equations of motion are integrated, and the responses in terms of the velocity increment of the rigid body and flexible models are compared and analysed. Results show that the initial conditions, eccentricity, and flexibility of the tether have significant effects on the velocity increments of the tether.

Homogenized approach for the non linear dynamic analysis of entire masonry buildings by means of rigid plate elements and damaging interfaces

Science.gov (United States)

Bertolesi, Elisa; Milani, Gabriele

2017-07-01

The present paper is devoted to the analysis of entire 3D masonry structures adopting a Rigid Body and Spring-Mass (HRBSM) model. A series of non linear static and dynamic analyses are conducted with respect to two structures with technical relevance. The elementary cell is discretized by means of three-noded plane stress elements and non-linear interfaces. At a structural level, the non-linear analyses are performed replacing the homogenized orthotropic continuum with a rigid element and non-linear spring assemblage (RBSM) by means of which both in and out of plane mechanisms are allowed. In order to validate the proposed model for the analyses of full scale structures subjected to seismic actions, two different examples are critically discussed, namely a church façade and an in-scale masonry building, both subjected to dynamic excitation. The results obtained are compared with experimental or numerical results available in literature.

Estimation of the ground shaking from the response of rigid bodies

Directory of Open Access Journals (Sweden)

Filomena de Silva

2016-12-01

Full Text Available The paper illustrates and compares simplified approaches to interpret the mechanisms of damage observed on rigid bodies in the cemetery of Amatrice, after the main shock (August 24, 2016, MW=6.0 of the Central Italy earthquake. The final goal of the work is to link the observed movements of the fallen objects to specific characteristics of the ground motion occurred at the specific site.

Effort Flow Analysis: A Methodology for Directed Product Evolution Using Rigid Body and Compliant Mechanisms

National Research Council Canada - National Science Library

Greer, James

2002-01-01

This dissertation presents a systematic design methodology for directed product evolution that uses both rigid body and compliant mechanisms to facilitate component combination in the domain of mechanical products...

Research on The Construction of Flexible Multi-body Dynamics Model based on Virtual Components

Science.gov (United States)

Dong, Z. H.; Ye, X.; Yang, F.

2018-05-01

Focus on the harsh operation condition of space manipulator, which cannot afford relative large collision momentum, this paper proposes a new concept and technology, called soft-contact technology. In order to solve the problem of collision dynamics of flexible multi-body system caused by this technology, this paper also proposes the concepts of virtual components and virtual hinges, and constructs flexible dynamic model based on virtual components, and also studies on its solutions. On this basis, this paper uses NX to carry out model and comparison simulation for space manipulator in 3 different modes. The results show that using the model of multi-rigid body + flexible body hinge + controllable damping can make effective control on amplitude for the force and torque caused by target satellite collision.

Unifying Rigid and Soft Bodies Representation: The Sulfur Physics Engine

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Dario Maggiorini

2014-01-01

Full Text Available Video games are (also real-time interactive graphic simulations: hence, providing a convincing physics simulation for each specific game environment is of paramount importance in the process of achieving a satisfying player experience. While the existing game engines appropriately address many aspects of physics simulation, some others are still in need of improvements. In particular, several specific physics properties of bodies not usually involved in the main game mechanics (e.g., properties useful to represent systems composed by soft bodies, are often poorly rendered by general-purpose engines. This issue may limit game designers when imagining innovative and compelling video games and game mechanics. For this reason, we dug into the problem of appropriately representing soft bodies. Subsequently, we have extended the approach developed for soft bodies to rigid ones, proposing and developing a unified approach in a game engine: Sulfur. To test the engine, we have also designed and developed “Escape from Quaoar,” a prototypal video game whose main game mechanic exploits an elastic rope, and a level editor for the game.

Dynamic bending of bionic flexible body driven by pneumatic artificial muscles(PAMs) for spinning gait of quadruped robot

Science.gov (United States)

Lei, Jingtao; Yu, Huangying; Wang, Tianmiao

2016-01-01

The body of quadruped robot is generally developed with the rigid structure. The mobility of quadruped robot depends on the mechanical properties of the body mechanism. It is difficult for quadruped robot with rigid structure to achieve better mobility walking or running in the unstructured environment. A kind of bionic flexible body mechanism for quadruped robot is proposed, which is composed of one bionic spine and four pneumatic artificial muscles(PAMs). This kind of body imitates the four-legged creatures' kinematical structure and physical properties, which has the characteristic of changeable stiffness, lightweight, flexible and better bionics. The kinematics of body bending is derived, and the coordinated movement between the flexible body and legs is analyzed. The relationship between the body bending angle and the PAM length is obtained. The dynamics of the body bending is derived by the floating coordinate method and Lagrangian method, and the driving force of PAM is determined. The experiment of body bending is conducted, and the dynamic bending characteristic of bionic flexible body is evaluated. Experimental results show that the bending angle of the bionic flexible body can reach 18°. An innovation body mechanism for quadruped robot is proposed, which has the characteristic of flexibility and achieve bending by changing gas pressure of PAMs. The coordinated movement of the body and legs can achieve spinning gait in order to improve the mobility of quadruped robot.

Elasticity of Relativistic Rigid Bodies?

Science.gov (United States)

Smarandache, Florentin

2013-10-01

In the classical Twin Paradox, according to the Special Theory of Relativity, when the traveling twin blasts off from the Earth to a relative velocity v =√{/3 } 2 c with respect to the Earth, his measuring stick and other physical objects in the direction of relative motion shrink to half their lengths. How is that possible in the real physical world to have let's say a rigid rocket shrinking to half and then later elongated back to normal as an elastic material when it stops? What is the explanation for the traveler's measuring stick and other physical objects, in effect, return to the same length to their original length in the Stay-At-Home, but there is no record of their having shrunk? If it's a rigid (not elastic) object, how can it shrink and then elongate back to normal? It might get broken in such situation.

A conservative quaternion-based time integration algorithm for rigid body rotations with implicit constraints

DEFF Research Database (Denmark)

Nielsen, Martin Bjerre; Krenk, Steen

2012-01-01

A conservative time integration algorithm for rigid body rotations is presented in a purely algebraic form in terms of the four quaternions components and the four conjugate momentum variables via Hamilton’s equations. The introduction of an extended mass matrix leads to a symmetric set of eight...

Tidal Evolution of Asteroidal Binaries. Ruled by Viscosity. Ignorant of Rigidity.

Science.gov (United States)

Efroimsky, Michael

2015-10-01

This is a pilot paper serving as a launching pad for study of orbital and spin evolution of binary asteroids. The rate of tidal evolution of asteroidal binaries is defined by the dynamical Love numbers kl divided by quality factors Q. Common in the literature is the (oftentimes illegitimate) approximation of the dynamical Love numbers with their static counterparts. Since the static Love numbers are, approximately, proportional to the inverse rigidity, this renders a popular fallacy that the tidal evolution rate is determined by the product of the rigidity by the quality factor: {k}l/Q\\propto 1/(μ Q). In reality, the dynamical Love numbers depend on the tidal frequency and all rheological parameters of the tidally perturbed body (not just rigidity). We demonstrate that in asteroidal binaries the rigidity of their components plays virtually no role in tidal friction and tidal lagging, and thereby has almost no influence on the intensity of tidal interactions (tidal torques, tidal dissipation, tidally induced changes of the orbit). A key quantity that overwhelmingly determines the tidal evolution is a product of the effective viscosity η by the tidal frequency χ . The functional form of the torque’s dependence on this product depends on who wins in the competition between viscosity and self-gravitation. Hence a quantitative criterion, to distinguish between two regimes. For higher values of η χ , we get {k}l/Q\\propto 1/(η χ ), {while} for lower values we obtain {k}l/Q\\propto η χ . Our study rests on an assumption that asteroids can be treated as Maxwell bodies. Applicable to rigid rocks at low frequencies, this approximation is used here also for rubble piles, due to the lack of a better model. In the future, as we learn more about mechanics of granular mixtures in a weak gravity field, we may have to amend the tidal theory with other rheological parameters, ones that do not show up in the description of viscoelastic bodies. This line of study provides

Case report: Inhaled foreign body mismanaged as TB, finally removed using a rigid bronchoscopy after 6 years of impaction

Directory of Open Access Journals (Sweden)

Justin Rubena Lumaya

2016-02-01

Full Text Available Foreign body aspiration is an important cause of mortality in children aged less than three years. Foreign body (FB inhalation can pose diagnostic and therapeutic challenges, especially in longstanding cases and complications such as recurrent pneumonia, lung collapse and lung abscess may develop. We report a case of an 11-year old boy with foreign body impacted in his bronchus for six years, which was mistakenly managed as pulmonary tuberculosis. Radiological evidence confirmed the diagnosis and a rigid bronchoscopy was used to remove the metallic foreign body. The standard of care for the management of a FB in a bronchus is a rigid bronchoscopy; however flexible bronchoscopy can be used, especially in adults. A thorough history with radiological evidence are essential and sometimes, followed by a diagnostic bronchoscopy.

Diagnostic-Photographic Determination of Drag/Lift/Torque Coefficients of High Speed Rigid Body in Water Column

National Research Council Canada - National Science Library

Chu, Peter C; Fan, Chenwu; Gefken, Paul R

2008-01-01

Prediction of rigid body falling through water column with a high speed (such as Mk-84 bomb) needs formulas for drag/lift and torque coefficients, which depend on various physical processes such as supercavitation and bubbles...

Flutter Instability of a Fluid-Conveying Fluid-Immersed Pipe Affixed to a Rigid Body

Science.gov (United States)

2011-01-01

rigid body, denoted by y in Fig. 4, is small. This is in addition to the Euler– Bernoulli beam assumption that the slope of the tail is small everywhere...here. These include the efficiency with which the prime mover can generate fluid momentum , pipe losses, and external drag acting on both the hull and the

On the linear problem arising from motion of a fluid around a moving rigid body

Czech Academy of Sciences Publication Activity Database

Nečasová, Šárka; Wolf, J.

2015-01-01

Roč. 140, č. 2 (2015), s. 241-259 ISSN 0862-7959 R&D Projects: GA ČR(CZ) GAP201/11/1304 Institutional support: RVO:67985840 Keywords : incompressible fluid * rotating rigid body * strong solution Subject RIV: BA - General Mathematics http://hdl.handle.net/10338.dmlcz/144329

Control of fluid-containing rotating rigid bodies

CERN Document Server

Gurchenkov, Anatoly A

2013-01-01

This book is devoted to the study of the dynamics of rotating bodies with cavities containing liquid. Two basic classes of motions are analyzed: rotation and libration. Cases of complete and partial filling of cavities with ideal liquid and complete filling with viscous liquid are treated. The volume presents a method for obtaining relations between angular velocities perpendicular to main rotation and external force momentums, which are treated as control. The developed models and methods of solving dynamical problems as well as numerical methods for solving problems of optimal control can be

The motion of the rigid body in viscous fluid including collisions. Global solvability result

Czech Academy of Sciences Publication Activity Database

Chemetov, N.; Nečasová, Šárka

2017-01-01

Roč. 34, April (2017), s. 416-445 ISSN 1468-1218 R&D Projects: GA ČR GA16-03230S Institutional support: RVO:67985840 Keywords : rigid body * global weak solution * collisions in finite time Subject RIV: BA - General Mathematics OBOR OECD: Pure mathematics Impact factor: 1.659, year: 2016 http://www.sciencedirect.com/science/article/pii/S1468121816301146

Rigid dietary control, flexible dietary control, and intuitive eating: Evidence for their differential relationship to disordered eating and body image concerns.

Science.gov (United States)

Linardon, Jake; Mitchell, Sarah

2017-08-01

This study aimed to replicate and extend from Tylka, Calogero, and Daníelsdóttir (2015) findings by examining the relationship between rigid control, flexible control, and intuitive eating on various indices of disordered eating (i.e., binge eating, disinhibition) and body image concerns (i.e., shape and weight over-evaluation, body checking, and weight-related exercise motivations). This study also examined whether the relationship between intuitive eating and outcomes was mediated by dichotomous thinking and body appreciation. Analysing data from a sample of 372 men and women recruited through the community, this study found that, in contrast to rigid dietary control, intuitive eating uniquely and consistently predicted lower levels of disordered eating and body image concerns. This intuitive eating-disordered eating relationship was mediated by low levels of dichotomous thinking and the intuitive eating-body image relationship was mediated by high levels of body appreciation. Flexible control predicted higher levels of body image concerns and lower levels of disordered eating only when rigid control was accounted for. Findings suggest that until the adaptive properties of flexible control are further elucidated, it may be beneficial to promote intuitive eating within public health approaches to eating disorder prevention. In addition to this, particular emphasis should also be made toward promoting body acceptance and eradicating a dichotomous thinking style around food and eating. Copyright © 2017 Elsevier Ltd. All rights reserved.

Effects of Rigid and Soft Foot Orthoses on Dynamic Balance in Females With Flatfoot

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Hassan Saeedi

2007-08-01

Full Text Available Background:Various types of foot orthoses are prescribed for people with flatfoot.It has been reported that orthoses not only improve the biomechanics of the lower limb, but also have good effects on some balance parameters in these subjects.It is hypothesized that the latter effect is dependent on the rigidity of the orthoses. The aim of this study was to evaluate and compare the effects of rigid and soft foot orthoses on dynamic balance in females with flatfoot. The Biodex Balance System was used in a clinical trial study. Methods: 20 healthy students with bilateral flatfoot were randomly assigned to two equal groups. Each participant was tested on two days with 2-week interval. On each day, dynamic stability test was performed while standing in single-leg stance on an unstable platform of the balance system in 3 conditions (barefoot, with shoe, shoe with orthosis. SPSS11.5 was used for statistical analysis. Results: A significant group-by-day-by-condition interaction was found. Both groups on day 2 testing had a decreased overall stability index while wearing orthoses. Overall stability index was significantly lower on day 2 testing. Conclusion: Foot orthoses, depending on the amount of rigidity, were associated with some improvements in dynamic balance in subjects with flatfoot.

Nonlinear complex dynamics and Keynesian rigidity: A short introduction

Science.gov (United States)

Jovero, Edgardo

2005-09-01

The topic of this paper is to show that the greater acceptance and intense use of complex nonlinear dynamics in macroeconomics makes sense only within the neoKeynesian tradition. An example is presented regarding the behavior of an open-economy two-sector growth model endowed with Keynesian rigidity. The Keynesian view that structural instability globally exists in the aggregate economy is put forward, and therefore the need arises for policy to alleviate this instability in the form of dampened fluctuations is presented as an alternative view for macroeconomic theorizing.

Calculations of critical micelle concentration by dissipative particle dynamics simulations: the role of chain rigidity.

Science.gov (United States)

Lee, Ming-Tsung; Vishnyakov, Aleksey; Neimark, Alexander V

2013-09-05

Micelle formation in surfactant solutions is a self-assembly process governed by complex interplay of solvent-mediated interactions between hydrophilic and hydrophobic groups, which are commonly called heads and tails. However, the head-tail repulsion is not the only factor affecting the micelle formation. For the first time, we present a systematic study of the effect of chain rigidity on critical micelle concentration and micelle size, which is performed with the dissipative particle dynamics simulation method. Rigidity of the coarse-grained surfactant molecule was controlled by the harmonic bonds set between the second-neighbor beads. Compared to flexible molecules with the nearest-neighbor bonds being the only type of bonded interactions, rigid molecules exhibited a lower critical micelle concentration and formed larger and better-defined micelles. By varying the strength of head-tail repulsion and the chain rigidity, we constructed two-dimensional diagrams presenting how the critical micelle concentration and aggregation number depend on these parameters. We found that the solutions of flexible and rigid molecules that exhibited approximately the same critical micelle concentration could differ substantially in the micelle size and shape depending on the chain rigidity. With the increase of surfactant concentration, primary micelles of more rigid molecules were found less keen to agglomeration and formation of nonspherical aggregates characteristic of flexible molecules.

Motion of a Rigid Body Supported at One Point by a Rotating Arm

Directory of Open Access Journals (Sweden)

Jeffrey D. Stoen

1993-01-01

Full Text Available This article details a scheme for evaluating the stability of motions of a system consisting of a rigid body connected at one point to a rotating arm. The nonlinear equations of motion for the system are formulated, and a method for finding exact solutions representing motions that resemble a state of rest is presented. The equations are then linearized and roots of the eigensystem are classified and used to construct stability diagrams that facilitate the assessment of effects of varying the body's mass properties and system geometry, changing the position of the attachment joint, and adding energy dissipation in the joint.

Leonhard Euler and the mechanics of rigid bodies

Science.gov (United States)

Marquina, J. E.; Marquina, M. L.; Marquina, V.; Hernández-Gómez, J. J.

2017-01-01

In this work we present the original ideas and the construction of the rigid bodies theory realised by Leonhard Euler between 1738 and 1775. The number of treatises written by Euler on this subject is enormous, including the most notorious Scientia Navalis (1749), Decouverte d’un noveau principe de mecanique (1752), Du mouvement de rotation des corps solides autour d’un axe variable (1765), Theoria motus corporum solidorum seu rigidorum (1765) and Nova methodus motu corporum rigidorum determinandi (1776), in which he developed the ideas of the instantaneous rotation axis, the so-called Euler equations and angles, the components of what is now known as the inertia tensor, the principal axes of inertia, and, finally, the generalisation of the translation and rotation movement equations for any system. Euler, the man who ‘put most of mechanics into its modern form’ (Truesdell 1968 Essays in the History of Mechanics (Berlin: Springer) p 106).

Modelling of transport and collisions between rigid bodies to simulate the jam formation in urban flows

Directory of Open Access Journals (Sweden)

S Hadji

2008-09-01

Full Text Available This study deals with the simulation of transport and interaction betweenbodies considered as a rectangular shape particles, in urban flow. We usedan hydrodynamic two-dimensional finite elements model coupled to theparticles model based on Maxey-Riley equations, and taking into accountof contact between bodies. The finite element discretization is based onthe velocity field richer than pressure field, and the particles displacementsare computed by using a rigid body motion method. A collision strategy isalso developed to handle cases in which bodies touch.

FINITE ELEMENT ANALYSIS OF CONCRETE FILLER INFLUENCE ON DYNAMIC RIGIDITY OF HEAVY MACHINE TOOL PORTAL

Directory of Open Access Journals (Sweden)

Yu. V. Vasilevich

2016-01-01

Full Text Available Virtual testing of portal machine tool has been carried out with the help of finite elements method (FEM. Static, modal and harmonic analyses have been made for a heavy planer. The paper reveals influence of concrete filler on machine tool dynamic flexibility. A peculiar feature of the simulation is concrete filling of a high-level transverse beam. Such approach oes look a typical one for machine-tool industry. Concrete has been considered as generalized material in two variants. It has been established that concrete application provides approximately 3-fold increase in machine tool rigidity per each coordinate. In this regard it is necessary to arrange closure of rigidity contour by filling all the cavities inside of the portal. Modal FEA makes it possible to determine that concrete increases comparatively weakly (1.3–1.4-fold frequencies of resonance modes. Frequency of the lowest mode rises only from 30.25 to 42.86 Hz. The following most active whole-machine eigenmodes have been revealed in the paper: “Portal pecking”, “Parallelogram” and “Traverse pecking”. In order to restrain the last mode it is necessary to carry out concrete filling of the traverse, in particular. Frequency-response characteristics and curves of dynamic rigidity for a spindle have been plotted for 0–150 Hz interval while using harmonic FEM. It has been determined that concrete increases dynamic machine tool rigidity by 2.5–3.5-fold. The effect is obtained even in the case when weakly damping concrete (2 % is used. This is due to distribution of vibrational energy flow along concrete and along cast iron as well. Thus energy density and vibration amplitudes must decrease. The paper shows acceptability for internal reinforcement of high-level machine tool parts (for example, portal traverses and fillers are applied for this purpose. Traverse weighting is compensated by additional torsional, shear and bending rigidity. The machine tool obtains the

Dynamics of Solid Body in Magnetic Suspension under Periodic Excitation

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A. M. Gouskov

2017-01-01

Full Text Available The article studies dynamics of ferromagnetic body in hybrid magnetic suspension (HMS. The body is supposed to have one degree of freedom and a nonlinear magnetic force dependence on the current and displacement. The magnetic force induced in the HMS is divided into a passive component and an active one. Specifying the law of current variation in the coil allows us to generate nonlinear oscillations under electromagnet action. To provide periodic excitation the appropriate law of the current variation in the electromagnet coil is proposed. The mathematical model includes external periodic step-excitation. The equation of motion is formed. The scales of similarity are highlighted in the system, and the equation of motion is reduced to dimensionless form.The motion dynamics is studied numerically. The relaxation method was used to determine the periodic motions at different values of dimensionless frequency of the electromagnet excitation as well as to estimate the influence of other dimensionless parameters on the system dynamics. The amplitude-frequency curve analysis allows us to come to conclusion that the nature of system nonlinearity is rigid. Adding the external periodic step-excitation leads to the qualitative change in the nature of movement. This points to the occurrence of bifurcation.

The general problem of the motion of coupled rigid bodies about a fixed point

CERN Document Server

Leimanis, Eugene

1965-01-01

In the theory of motion of several coupled rigid bodies about a fixed point one can distinguish three basic ramifications. 1. The first, the so-called classical direction of investigations, is concerned with particular cases of integrability ot the equations of motion of a single rigid body about a fixed point,1 and with their geo­ metrical interpretation. This path of thought was predominant until the beginning of the 20th century and its most illustrious represen­ tatives are L. EULER (1707-1783), J L. LAGRANGE (1736-1813), L. POINSOT (1777-1859), S. V. KOVALEVSKAYA (1850-1891), and others. Chapter I of the present monograph intends to reflect this branch of investigations. For collateral reading on the general questions dealt with in this chapter the reader is referred to the following textbooks and reports: A. DOMOGAROV [1J, F. KLEIN and A. SOMMERFELD [11, 1 , 1 J, A. G. 2 3 GREENHILL [10J, A. GRAY [1J, R. GRAMMEL [4 J, E. J. ROUTH [21' 2 , 1 2 31' 32J, J. B. SCARBOROUGH [1J, and V. V. GOLUBEV [1, 2J.

Gas-induced friction and diffusion of rigid rotors

Science.gov (United States)

Martinetz, Lukas; Hornberger, Klaus; Stickler, Benjamin A.

2018-05-01

We derive the Boltzmann equation for the rotranslational dynamics of an arbitrary convex rigid body in a rarefied gas. It yields as a limiting case the Fokker-Planck equation accounting for friction, diffusion, and nonconservative drift forces and torques. We provide the rotranslational friction and diffusion tensors for specular and diffuse reflection off particles with spherical, cylindrical, and cuboidal shape, and show that the theory describes thermalization, photophoresis, and the inverse Magnus effect in the free molecular regime.

Microstructural Dynamics and Rheology of Suspensions of Rigid Fibers

Science.gov (United States)

Butler, Jason E.; Snook, Braden

2018-01-01

The dynamics and rheology of suspensions of rigid, non-Brownian fibers in Newtonian fluids are reviewed. Experiments, theories, and computer simulations are considered, with an emphasis on suspensions at semidilute and concentrated conditions. In these suspensions, interactions between the particles strongly influence the microstructure and rheological properties of the suspension. The interactions can arise from hydrodynamic disturbances, giving multibody interactions at long ranges and pairwise lubrication forces over short distances. For concentrated suspensions, additional interactions due to excluded volume (contacts) and adhesive forces are addressed. The relative importance of the various interactions as a function of fiber concentration is assessed.

Sliding contact on the interface of elastic body and rigid surface using a single block Burridge-Knopoff model

Science.gov (United States)

Amireghbali, A.; Coker, D.

2018-01-01

Burridge and Knopoff proposed a mass-spring model to explore interface dynamics along a fault during an earthquake. The Burridge and Knopoff (BK) model is composed of a series of blocks of equal mass connected to each other by springs of same stiffness. The blocks also are attached to a rigid driver via another set of springs that pulls them at a constant velocity against a rigid substrate. They studied dynamics of interface for an especial case with ten blocks and a specific set of fault properties. In our study effects of Coulomb and rate-state dependent friction laws on the dynamics of a single block BK model is investigated. The model dynamics is formulated as a system of coupled nonlinear ordinary differential equations in state-space form which lends itself to numerical integration methods, e.g. Runge-Kutta procedure for solution. The results show that the rate and state dependent friction law has the potential of triggering dynamic patterns that are different from those under Coulomb law.

Constrained non-rigid registration for whole body image registration: method and validation

Science.gov (United States)

Li, Xia; Yankeelov, Thomas E.; Peterson, Todd E.; Gore, John C.; Dawant, Benoit M.

2007-03-01

3D intra- and inter-subject registration of image volumes is important for tasks that include measurements and quantification of temporal/longitudinal changes, atlas-based segmentation, deriving population averages, or voxel and tensor-based morphometry. A number of methods have been proposed to tackle this problem but few of them have focused on the problem of registering whole body image volumes acquired either from humans or small animals. These image volumes typically contain a large number of articulated structures, which makes registration more difficult than the registration of head images, to which the vast majority of registration algorithms have been applied. To solve this problem, we have previously proposed an approach, which initializes an intensity-based non-rigid registration algorithm with a point based registration technique [1, 2]. In this paper, we introduce new constraints into our non-rigid registration algorithm to prevent the bones from being deformed inaccurately. Results we have obtained show that the new constrained algorithm leads to better registration results than the previous one.

Gain in computational efficiency by vectorization in the dynamic simulation of multi-body systems

Science.gov (United States)

Amirouche, F. M. L.; Shareef, N. H.

1991-01-01

An improved technique for the identification and extraction of the exact quantities associated with the degrees of freedom at the element as well as the flexible body level is presented. It is implemented in the dynamic equations of motions based on the recursive formulation of Kane et al. (1987) and presented in a matrix form, integrating the concepts of strain energy, the finite-element approach, modal analysis, and reduction of equations. This technique eliminates the CPU intensive matrix multiplication operations in the code's hot spots for the dynamic simulation of the interconnected rigid and flexible bodies. A study of a simple robot with flexible links is presented by comparing the execution times on a scalar machine and a vector-processor with and without vector options. Performance figures demonstrating the substantial gains achieved by the technique are plotted.

Dynamic Non-Rigid Objects Reconstruction with a Single RGB-D Sensor

Directory of Open Access Journals (Sweden)

Sen Wang

2018-03-01

Full Text Available This paper deals with the 3D reconstruction problem for dynamic non-rigid objects with a single RGB-D sensor. It is a challenging task as we consider the almost inevitable accumulation error issue in some previous sequential fusion methods and also the possible failure of surface tracking in a long sequence. Therefore, we propose a global non-rigid registration framework and tackle the drifting problem via an explicit loop closure. Our novel scheme starts with a fusion step to get multiple partial scans from the input sequence, followed by a pairwise non-rigid registration and loop detection step to obtain correspondences between neighboring partial pieces and those pieces that form a loop. Then, we perform a global registration procedure to align all those pieces together into a consistent canonical space as guided by those matches that we have established. Finally, our proposed model-update step helps fixing potential misalignments that still exist after the global registration. Both geometric and appearance constraints are enforced during our alignment; therefore, we are able to get the recovered model with accurate geometry as well as high fidelity color maps for the mesh. Experiments on both synthetic and various real datasets have demonstrated the capability of our approach to reconstruct complete and watertight deformable objects.

Rigid Residue Scan Simulations Systematically Reveal Residue Entropic Roles in Protein Allostery.

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Robert Kalescky

2016-04-01

Full Text Available Intra-protein information is transmitted over distances via allosteric processes. This ubiquitous protein process allows for protein function changes due to ligand binding events. Understanding protein allostery is essential to understanding protein functions. In this study, allostery in the second PDZ domain (PDZ2 in the human PTP1E protein is examined as model system to advance a recently developed rigid residue scan method combining with configurational entropy calculation and principal component analysis. The contributions from individual residues to whole-protein dynamics and allostery were systematically assessed via rigid body simulations of both unbound and ligand-bound states of the protein. The entropic contributions of individual residues to whole-protein dynamics were evaluated based on covariance-based correlation analysis of all simulations. The changes of overall protein entropy when individual residues being held rigid support that the rigidity/flexibility equilibrium in protein structure is governed by the La Châtelier's principle of chemical equilibrium. Key residues of PDZ2 allostery were identified with good agreement with NMR studies of the same protein bound to the same peptide. On the other hand, the change of entropic contribution from each residue upon perturbation revealed intrinsic differences among all the residues. The quasi-harmonic and principal component analyses of simulations without rigid residue perturbation showed a coherent allosteric mode from unbound and bound states, respectively. The projection of simulations with rigid residue perturbation onto coherent allosteric modes demonstrated the intrinsic shifting of ensemble distributions supporting the population-shift theory of protein allostery. Overall, the study presented here provides a robust and systematic approach to estimate the contribution of individual residue internal motion to overall protein dynamics and allostery.

On the dynamics of semi-rigid chains

International Nuclear Information System (INIS)

Rodriguez Talavera, R.; Alexander-Katz, R.

1993-01-01

The dynamics of a semi-rigid polymer chain is studied. The force structure of the chain is derived from the statistics generated through a Wiener measure whose end-to-end distance is that of a Kratky-Porod chain. Additionally, the dissipative terms in the equation of motion will contain, besides the usual Stokes' term, a non-local friction term (internal viscosity) which is quadratic in the normal mode q, in order to take into account the resistance to changes in curvature. The analytical shape of this term is the same as the one introduced by Edwards and Freed. We show that this model of stiff chain reproduces both asymptotic limits: the flexible and the rod limits for the elastic moduli. A form for the internal viscosity coefficient is deduced from a phenomenological approach, which has the right solvent viscosity dependency as obtained by MacInnes. (Author)

Damageable contact between an elastic body and a rigid foundation

Science.gov (United States)

Campo, M.; Fernández, J. R.; Silva, A.

2009-02-01

In this work, the contact problem between an elastic body and a rigid obstacle is studied, including the development of material damage which results from internal compression or tension. The variational problem is formulated as a first-kind variational inequality for the displacements coupled with a parabolic partial differential equation for the damage field. The existence of a unique local weak solution is stated. Then, a fully discrete scheme is introduced using the finite element method to approximate the spatial variable and an Euler scheme to discretize the time derivatives. Error estimates are derived on the approximate solutions, from which the linear convergence of the algorithm is deduced under suitable regularity conditions. Finally, three two-dimensional numerical simulations are performed to demonstrate the accuracy and the behaviour of the scheme.

Digital anthropomorphic phantoms of non-rigid human respiratory and voluntary body motion for investigating motion correction in emission imaging

International Nuclear Information System (INIS)

Könik, Arda; Johnson, Karen L; Dasari, Paul; Pretorius, P H; Dey, Joyoni; King, Michael A; Connolly, Caitlin M; Segars, Paul W; Lindsay, Clifford

2014-01-01

The development of methods for correcting patient motion in emission tomography has been receiving increased attention. Often the performance of these methods is evaluated through simulations using digital anthropomorphic phantoms, such as the commonly used extended cardiac torso (XCAT) phantom, which models both respiratory and cardiac motion based on human studies. However, non-rigid body motion, which is frequently seen in clinical studies, is not present in the standard XCAT phantom. In addition, respiratory motion in the standard phantom is limited to a single generic trend. In this work, to obtain a more realistic representation of motion, we developed a series of individual-specific XCAT phantoms, modeling non-rigid respiratory and non-rigid body motions derived from the magnetic resonance imaging (MRI) acquisitions of volunteers. Acquisitions were performed in the sagittal orientation using the Navigator methodology. Baseline (no motion) acquisitions at end-expiration were obtained at the beginning of each imaging session for each volunteer. For the body motion studies, MRI was again acquired only at end-expiration for five body motion poses (shoulder stretch, shoulder twist, lateral bend, side roll, and axial slide). For the respiratory motion studies, an MRI was acquired during free/regular breathing. The magnetic resonance slices were then retrospectively sorted into 14 amplitude-binned respiratory states, end-expiration, end-inspiration, six intermediary states during inspiration, and six during expiration using the recorded Navigator signal. XCAT phantoms were then generated based on these MRI data by interactive alignment of the organ contours of the XCAT with the MRI slices using a graphical user interface. Thus far we have created five body motion and five respiratory motion XCAT phantoms from the MRI acquisitions of six healthy volunteers (three males and three females). Non-rigid motion exhibited by the volunteers was reflected in both respiratory

Digital anthropomorphic phantoms of non-rigid human respiratory and voluntary body motion for investigating motion correction in emission imaging

Science.gov (United States)

Könik, Arda; Connolly, Caitlin M.; Johnson, Karen L.; Dasari, Paul; Segars, Paul W.; Pretorius, P. H.; Lindsay, Clifford; Dey, Joyoni; King, Michael A.

2014-07-01

The development of methods for correcting patient motion in emission tomography has been receiving increased attention. Often the performance of these methods is evaluated through simulations using digital anthropomorphic phantoms, such as the commonly used extended cardiac torso (XCAT) phantom, which models both respiratory and cardiac motion based on human studies. However, non-rigid body motion, which is frequently seen in clinical studies, is not present in the standard XCAT phantom. In addition, respiratory motion in the standard phantom is limited to a single generic trend. In this work, to obtain a more realistic representation of motion, we developed a series of individual-specific XCAT phantoms, modeling non-rigid respiratory and non-rigid body motions derived from the magnetic resonance imaging (MRI) acquisitions of volunteers. Acquisitions were performed in the sagittal orientation using the Navigator methodology. Baseline (no motion) acquisitions at end-expiration were obtained at the beginning of each imaging session for each volunteer. For the body motion studies, MRI was again acquired only at end-expiration for five body motion poses (shoulder stretch, shoulder twist, lateral bend, side roll, and axial slide). For the respiratory motion studies, an MRI was acquired during free/regular breathing. The magnetic resonance slices were then retrospectively sorted into 14 amplitude-binned respiratory states, end-expiration, end-inspiration, six intermediary states during inspiration, and six during expiration using the recorded Navigator signal. XCAT phantoms were then generated based on these MRI data by interactive alignment of the organ contours of the XCAT with the MRI slices using a graphical user interface. Thus far we have created five body motion and five respiratory motion XCAT phantoms from the MRI acquisitions of six healthy volunteers (three males and three females). Non-rigid motion exhibited by the volunteers was reflected in both respiratory

Comparing Arc-shaped Feet and Rigid Ankles with Flat Feet and Compliant Ankles for a Dynamic Walker

DEFF Research Database (Denmark)

Kuhlemann, Ilyas; Matthias Braun, Jan; Wörgötter, Florentin

2014-01-01

In this paper we show that exchanging curved feet and rigid ankles by at feet and compliant ankles improves the range of gait parameters for a bipedal dynamic walker. The new lower legs were designed such that they t to the old set-up, allowing for a direct and quantitative comparison. The dynamic...

A new technique for dynamic load distribution when two manipulators mutually lift a rigid object. Part 2, Derivation of entire system model and control architecture

Energy Technology Data Exchange (ETDEWEB)

Unseren, M.A.

1994-04-01

A rigid body model for the entire system which accounts for the load distribution scheme proposed in Part 1 as well as for the dynamics of the manipulators and the kinematic constraints is derived in the joint space. A technique is presented for expressing the object dynamics in terms of the joint variables of both manipulators which leads to a positive definite and symmetric inertia matrix. The model is then transformed to obtain reduced order equations of motion and a separate set of equations which govern the behavior of the internal contact forces. The control architecture is applied to the model which results in the explicit decoupling of the position and internal contact force-controlled degrees of freedom (DOF).

A Compliant Bistable Mechanism Design Incorporating Elastica Buckling Beam Theory and Pseudo-Rigid-Body Model

DEFF Research Database (Denmark)

Sönmez, Ümit; Tutum, Cem Celal

2008-01-01

In this work, a new compliant bistable mechanism design is introduced. The combined use of pseudo-rigid-body model (PRBM) and the Elastica buckling theory is presented for the first time to analyze the new design. This mechanism consists of the large deflecting straight beams, buckling beams...... and the buckling Elastica solution for an original compliant mechanism kinematic analysis. New compliant mechanism designs are presented to highlight where such combined kinematic analysis is required....

Dynamic response characteristics of steel portal frames having semi-rigid joints under sinusoidal wave excitation

Science.gov (United States)

Bhatti, Abdul Qadir

2017-12-01

To demonstrate the characteristics of the nonlinear response of steel frames, an elastic dynamic response analysis of the semi-rigid frame is performed under the harmonic wave. The semi-rigid contact is represented by the alternating spring which is given stiffness by a three-parameter energy model which approaches the hysterical curve by hardening model. The properties of spectra and hysteric curves are presented. This study shows that (1) the greater the acceleration input capacitance the smaller the instant connection capability and the smaller is the response. (2) However, by allowing an extreme increase in capacitance input acceleration, response spectra can be increased as the contact stiffness results near zero.

Determination of Weight Suspension Rigidity in the Transport-Erector Aggregates

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V. A. Zverev

2016-01-01

Full Text Available The aim is to determine weight suspension rigidity in aggregates designed to perform technological transport-erector operations at the miscellaneous launch complexes.We consider the weight suspension comprising the following distinctive structural components: the executive weight-lowering mechanism, polyspast mechanism, rope, traverse, and rods. A created structural dynamic model of suspension allowed us to define weight suspension rigidity. Within the framework of design analysis of a dynamic model we determined the rigidity of its structural units, i.e. traverse, rope, and polyspast.Known analytical relationships were used to calculate the rope rigidity. To determine rigidity of polyspast and traverse have been created special models based on the finite element method. For each model deformation in the specific points under the test load have been defined. Data obtained were used to determine trigidity of traverses and polyspast, and also rigidity of suspension in total. The rigidity models of polispast mechanism and traverse have been developed and calculated using the software complex "Zenit-95".As the research results, the paper presents a dynamic model of the weight suspension of the transport-erector aggregate, the finite element models of the polispast mechanism and traverse, an algorithm for determining the weight suspension rigidity and relevant analytical relationships.Independent calculation of weight suspension rigidity enables us to simplify further dynamic calculation of the aggregate-weight system because it allows attaining a simpler model of the aggregate-weight system that uses the weight suspension model as an element of equivalent rigidity. Despite this simplification the model allows us to determine correctly weight movement parameters and overloads in the aggregate-weight system in the process of technical operations.

A Non-smooth Newton Method for Multibody Dynamics

International Nuclear Information System (INIS)

Erleben, K.; Ortiz, R.

2008-01-01

In this paper we deal with the simulation of rigid bodies. Rigid body dynamics have become very important for simulating rigid body motion in interactive applications, such as computer games or virtual reality. We present a novel way of computing contact forces using a Newton method. The contact problem is reformulated as a system of non-linear and non-smooth equations, and we solve this system using a non-smooth version of Newton's method. One of the main contribution of this paper is the reformulation of the complementarity problems, used to model impacts, as a system of equations that can be solved using traditional methods.

Modeling and experimentation with asymmetric rigid bodies: a variation on disks and inclines

International Nuclear Information System (INIS)

Raviola, Lisandro A; Zárate, Oscar; Rodríguez, Eduardo E

2014-01-01

We study the ascending motion of a disk rolling on an incline when its centre of mass lies outside the disk axis. The problem is suitable as laboratory project for a first course in mechanics at the undergraduate level and goes beyond typical textbook problems about bi-dimensional rigid body motions. We develop a theoretical model for the disk motion based on mechanical energy conservation and compare its predictions with experimental data obtained by digital video recording. Using readily available resources, a very satisfactory agreement is obtained between the model and the experimental observations. These results complement previous ones that have been reported in the literature for similar systems. (paper)

Broadband cross-polarization-based heteronuclear dipolar recoupling for structural and dynamic NMR studies of rigid and soft solids

International Nuclear Information System (INIS)

Kharkov, B. B.; Chizhik, V. I.; Dvinskikh, S. V.

2016-01-01

Dipolar recoupling is an essential part of current solid-state NMR methodology for probing atomic-resolution structure and dynamics in solids and soft matter. Recently described magic-echo amplitude- and phase-modulated cross-polarization heteronuclear recoupling strategy aims at efficient and robust recoupling in the entire range of coupling constants both in rigid and highly dynamic molecules. In the present study, the properties of this recoupling technique are investigated by theoretical analysis, spin-dynamics simulation, and experimentally. The resonance conditions and the efficiency of suppressing the rf field errors are examined and compared to those for other recoupling sequences based on similar principles. The experimental data obtained in a variety of rigid and soft solids illustrate the scope of the method and corroborate the results of analytical and numerical calculations. The technique benefits from the dipolar resolution over a wider range of coupling constants compared to that in other state-of-the-art methods and thus is advantageous in studies of complex solids with a broad range of dynamic processes and molecular mobility degrees

Principles of dynamics

CERN Document Server

Hill, Rodney

2013-01-01

Principles of Dynamics presents classical dynamics primarily as an exemplar of scientific theory and method. This book is divided into three major parts concerned with gravitational theory of planetary systems; general principles of the foundations of mechanics; and general motion of a rigid body. Some of the specific topics covered are Keplerian Laws of Planetary Motion; gravitational potential and potential energy; and fields of axisymmetric bodies. The principles of work and energy, fictitious body-forces, and inertial mass are also looked into. Other specific topics examined are kinematics

APPLICATION OF RIGID LINKS IN STRUCTURAL DESIGN MODELS

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Sergey Yu. Fialko

2017-09-01

Full Text Available A special finite element modelling rigid links is proposed for the linear static and buckling analysis. Unlike the classical approach based on the theorems of rigid body kinematics, the proposed approach preserves the similarity between the adjacency graph for a sparse matrix and the adjacency graph for nodes of the finite element model, which allows applying sparse direct solvers more effectively. Besides, the proposed approach allows significantly reducing the number of nonzero entries in the factored stiffness matrix in comparison with the classical one, which greatly reduces the duration of the solution. For buckling problems of structures containing rigid bodies, this approach gives correct results. Several examples demonstrate its efficiency.

An Explicit Formulation of Singularity-Free Dynamic Equations of Mechanical Systems in Lagrangian Form---Part Two: Multibody Systems

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Pål Johan From

2012-04-01

Full Text Available This paper presents the explicit dynamic equations of multibody mechanical systems. This is the second paper on this topic. In the first paper the dynamics of a single rigid body from the Boltzmann--Hamel equations were derived. In this paper these results are extended to also include multibody systems. We show that when quasi-velocities are used, the part of the dynamic equations that appear from the partial derivatives of the system kinematics are identical to the single rigid body case, but in addition we get terms that come from the partial derivatives of the inertia matrix, which are not present in the single rigid body case. We present for the first time the complete and correct derivation of multibody systems based on the Boltzmann--Hamel formulation of the dynamics in Lagrangian form where local position and velocity variables are used in the derivation to obtain the singularity-free dynamic equations. The final equations are written in global variables for both position and velocity. The main motivation of these papers is to allow practitioners not familiar with differential geometry to implement the dynamic equations of rigid bodies without the presence of singularities. Presenting the explicit dynamic equations also allows for more insight into the dynamic structure of the system. Another motivation is to correct some errors commonly found in the literature. Unfortunately, the formulation of the Boltzmann-Hamel equations used here are presented incorrectly. This has been corrected by the authors, but we present here, for the first time, the detailed mathematical details on how to arrive at the correct equations. We also show through examples that using the equations presented here, the dynamics of a single rigid body is reduced to the standard equations on a Lagrangian form, for example Euler's equations for rotational motion and Euler--Lagrange equations for free motion.

Hamiltonian Dynamics of Spider-Type Multirotor Rigid Bodies Systems

International Nuclear Information System (INIS)

Doroshin, Anton V.

2010-01-01

This paper sets out to develop a spider-type multiple-rotor system which can be used for attitude control of spacecraft. The multirotor system contains a large number of rotor-equipped rays, so it was called a 'Spider-type System', also it can be called 'Rotary Hedgehog'. These systems allow using spinups and captures of conjugate rotors to perform compound attitude motion of spacecraft. The paper describes a new method of spacecraft attitude reorientation and new mathematical model of motion in Hamilton form. Hamiltonian dynamics of the system is investigated with the help of Andoyer-Deprit canonical variables. These variables allow obtaining exact solution for hetero- and homoclinic orbits in phase space of the system motion, which are very important for qualitative analysis.

Analysis of Switched-Rigid Floating Oscillator

Directory of Open Access Journals (Sweden)

Prabhakar R. Marur

2009-01-01

Full Text Available In explicit finite element simulations, a technique called deformable-to-rigid (D2R switching is used routinely to reduce the computation time. Using the D2R option, the deformable parts in the model can be switched to rigid and reverted back to deformable when needed during the analysis. The time of activation of D2R however influences the overall dynamics of the system being analyzed. In this paper, a theoretical basis for the selection of time of rigid switching based on system energy is established. A floating oscillator problem is investigated for this purpose and closed-form analytical expressions are derived for different phases in rigid switching. The analytical expressions are validated by comparing the theoretical results with numerical computations.

Dynamics

CERN Document Server

Goodman, Lawrence E

2001-01-01

Beginning text presents complete theoretical treatment of mechanical model systems and deals with technological applications. Topics include introduction to calculus of vectors, particle motion, dynamics of particle systems and plane rigid bodies, technical applications in plane motions, theory of mechanical vibrations, and more. Exercises and answers appear in each chapter.

Conservative integration of rigid body motion by quaternion parameters with implicit constraints

DEFF Research Database (Denmark)

Nielsen, Martin Bjerre; Krenk, Steen

2012-01-01

An angular momentum and energy‐conserving time integration algorithm for rigid body rotation is formulated in terms of the quaternion parameters and the corresponding four‐component conjugate momentum vector via Hamilton's equations. The introduction of an extended mass matrix leads to a symmetric...... these equations via the set of momentum equations. Initially, the normalization of the quaternion array is introduced via a Lagrange multiplier. However, this Lagrange multiplier can be expressed explicitly in terms of the gradient of the external load potential, and elimination of the Lagrange multiplier from...... the final format leaves only an explicit projection applied to the external load potential gradient. An algorithm is developed by forming a finite increment of the Hamiltonian. This procedure identifies the proper selection of increments and mean values, and leads to an algorithm with conservation...

On the motion of rigid bodies in an incompressible or compressible viscous fluid under the action of gravitational forces

Czech Academy of Sciences Publication Activity Database

Ducomet, B.; Nečasová, Šárka

2013-01-01

Roč. 6, č. 5 (2013), s. 1193-1213 ISSN 1937-1632 R&D Projects: GA ČR(CZ) GAP201/11/1304 Institutional support: RVO:67985840 Keywords : motion of rigid bodies * incompressible fluid * compressible fluid Subject RIV: BA - General Mathematics https://www.aimsciences.org/journals/displayArticlesnew.jsp?paperID=8331

Governing equations of multi-component rigid body-spring discrete element models of reinforced concrete columns

International Nuclear Information System (INIS)

Guan, P B; Tingatinga, E A; Longalong, R E; Saguid, J

2016-01-01

During the past decades, the complexity of conventional methods to perform seismic performance assessment of buildings led to the development of more effective approaches. The rigid body spring-discrete element method (RBS-DEM) is one of these approaches and has recently been applied to the study of the behavior of reinforced concrete (RC) buildings subjected to strong earthquakes. In this paper, the governing equations of RBS-DEM planar elements subjected to lateral loads and horizontal ground motion are presented and used to replicate the hysteretic behavior of experimental RC columns. The RBS-DEM models of columns are made up of rigid components connected by systems of springs that simulate axial, shear, and bending behavior of an RC section. The parameters of springs were obtained using Response-2000 software and the hysteretic response of the models of select columns from the Pacific Earthquake Engineering Research (PEER) Structural Performance Database were computed numerically. Numerical examples show that one-component models were able to simulate the initial stiffness reasonably, while the displacement capacity of actual columns undergoing large displacements were underestimated. (paper)

A biomechanical testing system to determine micromotion between hip implant and femur accounting for deformation of the hip implant: Assessment of the influence of rigid body assumptions on micromotions measurements.

Science.gov (United States)

Leuridan, Steven; Goossens, Quentin; Roosen, Jorg; Pastrav, Leonard; Denis, Kathleen; Mulier, Michiel; Desmet, Wim; Vander Sloten, Jos

2017-02-01

Accurate pre-clinical evaluation of the initial stability of new cementless hip stems using in vitro micromotion measurements is an important step in the design process to assess the new stem's potential. Several measuring systems, linear variable displacement transducer-based and other, require assuming bone or implant to be rigid to obtain micromotion values or to calculate derived quantities such as relative implant tilting. An alternative linear variable displacement transducer-based measuring system not requiring a rigid body assumption was developed in this study. The system combined advantages of local unidirectional and frame-and-bracket micromotion measuring concepts. The influence and possible errors that would be made by adopting a rigid body assumption were quantified. Furthermore, as the system allowed emulating local unidirectional and frame-and-bracket systems, the influence of adopting rigid body assumptions were also analyzed for both concepts. Synthetic and embalmed bone models were tested in combination with primary and revision implants. Single-legged stance phase loading was applied to the implant - bone constructs. Adopting a rigid body assumption resulted in an overestimation of mediolateral micromotion of up to 49.7μm at more distal measuring locations. Maximal average relative rotational motion was overestimated by 0.12° around the anteroposterior axis. Frontal and sagittal tilting calculations based on a unidirectional measuring concept underestimated the true tilting by an order of magnitude. Non-rigid behavior is a factor that should not be dismissed in micromotion stability evaluations of primary and revision femoral implants. Copyright © 2017 Elsevier Ltd. All rights reserved.

Simulations of ferrofluid dynamics: Rigid dipoles model versus particles with internal degrees of freedom

International Nuclear Information System (INIS)

Berkov, D.V.; Gorn, N.L.; Stock, D.

2007-01-01

For numerical studies of a ferrofluid dynamics we have developed a model which includes internal magnetic degrees of freedom of ferrofluid particles. Contrary to standard models, we take into account that the magnetocrystalline anisotropy of a ferrofluid particle material is finite, so that the particle moment is allowed to rotate with respect to the particle itself. Simulating magnetization relaxation of a ferrofluid after switching off the external field and comparing results with those obtained for rigid dipoles model, we demonstrate that for anisotropy typical for commonly used ferrofluid materials inclusion of 'magnetic' degrees of freedom is essential for a correct description of ferrofluid dynamics

Dynamics formulas and problems : engineering mechanics 3

CERN Document Server

Gross, Dietmar; Wriggers, Peter; Schröder, Jörg; Müller, Ralf

2017-01-01

This book contains the most important formulas and more than 190 completely solved problems from Kinetics and Hydrodynamics. It provides engineering students material to improve their skills and helps to gain experience in solving engineering problems. Particular emphasis is placed on finding the solution path and formulating the basic equations. Topics include: - Kinematics of a Point - Kinetics of a Point Mass- Dynamics of a System of Point Masses - Kinematics of Rigid Bodies - Kinetics of Rigid Bodies - Impact - Vibrations - Non-Inertial Reference Frames - Hydrodynamics .

Molecular dynamics simulation investigations of H2/D2 dissocitive chemisorption dynamics on Cun(n=13-14) Rigid/nonrigid clusters

International Nuclear Information System (INIS)

Elzein, N.

2004-01-01

In this work with a use of molecular dynamic simulations we have reported the results of a quasiclassical simulation study of the interaction of H2/(D2) with Cu N (N=13-14) atoms in both rigid /(non rigid) clusters.The geometry of the cluster is obtained by an embedded-atom (EA) mode potential, and the interaction between the molecule and cIuster is described by a LEPS -London-Eyring -Polanyi-Sato) potential energy function.Both channels the reactive dissociative adsorption of the molecule on the cIuster) and non reactive (scattering of the molecule from the cluster) are considered. The dissociative chemisorption probability, cross section and rate constant are studied as functions of the initial quantal rovibrational state of the molecule, collision energy, impact parameter and the temperature (OK,296K,834K ,1014K,1554K) of the clusters

Self-propulsion of a body with rigid surface and variable coefficient of lift in a perfect fluid

Science.gov (United States)

Ramodanov, Sergey M.; Tenenev, Valentin A.; Treschev, Dmitry V.

2012-11-01

We study the system of a 2D rigid body moving in an unbounded volume of incompressible, vortex-free perfect fluid which is at rest at infinity. The body is equipped with a gyrostat and a so-called Flettner rotor. Due to the latter the body is subject to a lifting force (Magnus effect). The rotational velocities of the gyrostat and the rotor are assumed to be known functions of time (control inputs). The equations of motion are presented in the form of the Kirchhoff equations. The integrals of motion are given in the case of piecewise continuous control. Using these integrals we obtain a (reduced) system of first-order differential equations on the configuration space. Then an optimal control problem for several types of the inputs is solved using genetic algorithms.

Reversible Rigidity Control Using Low Melting Temperature Alloys

Science.gov (United States)

Shan, Wanliang; Lu, Tong; Majidi, Carmel

2013-03-01

Inspired by nature, materials able to achieve rapid rigidity changes have important applications for human body protection in military and many other areas. This talk presents the fabrication and design of soft-matter technologies that exhibit rapid reversible rigidity control. Fabricated with a masked deposition technique, the soft-matter composite contains liquid-phase and phase-changing metal alloys embedded in a soft and highly stretchable elastomer. The composite material can reversibly change its rigidity by three orders of magnitude and sustain large deformation.

Optimal identification of semi-rigid domains in macromolecules from molecular dynamics simulation.

Directory of Open Access Journals (Sweden)

Stefan Bernhard

Full Text Available Biological function relies on the fact that biomolecules can switch between different conformations and aggregation states. Such transitions involve a rearrangement of parts of the biomolecules involved that act as dynamic domains. The reliable identification of such domains is thus a key problem in biophysics. In this work we present a method to identify semi-rigid domains based on dynamical data that can be obtained from molecular dynamics simulations or experiments. To this end the average inter-atomic distance-deviations are computed. The resulting matrix is then clustered by a constrained quadratic optimization problem. The reliability and performance of the method are demonstrated for two artificial peptides. Furthermore we correlate the mechanical properties with biological malfunction in three variants of amyloidogenic transthyretin protein, where the method reveals that a pathological mutation destabilizes the natural dimer structure of the protein. Finally the method is used to identify functional domains of the GroEL-GroES chaperone, thus illustrating the efficiency of the method for large biomolecular machines.

A whole-body mathematical model for intracranial pressure dynamics.

Science.gov (United States)

Lakin, William D; Stevens, Scott A; Tranmer, Bruce I; Penar, Paul L

2003-04-01

Most attempts to study intracranial pressure using lumped-parameter models have adopted the classical "Kellie-Monro Doctrine," which considers the intracranial space to be a closed system that is confined within the nearly-rigid skull, conserves mass, and has equal inflow and outflow. The present work revokes this Doctrine and develops a mathematical model for the dynamics of intracranial pressures, volumes, and flows that embeds the intracranial system in extensive whole-body physiology. The new model consistently introduces compartments representing the tissues and vasculature of the extradural portions of the body, including both the thoracic region and the lower extremities. In addition to vascular connections, a spinal-subarachnoid cerebrospinal fluid (CSF) compartment bridges intracranial and extracranial physiology allowing explict buffering of intracranial pressure fluctuations by the spinal theca. The model contains cerebrovascular autoregulation, regulation of systemic vascular pressures by the sympathetic nervous system, regulation of CSF production in the choroid plexus, a lymphatic system, colloid osmotic pressure effects, and realistic descriptions of cardiac output. To validate the model in situations involving normal physiology, the model's response to a realistic pulsatile cardiac output is examined. A well-known experimentally-derived intracranial pressure-volume relationship is recovered by using the model to simulate CSF infusion tests, and the effect on cerebral blood flow of a change in body position is also examined. Cardiac arrest and hemorrhagic shock are simulated to demonstrate the predictive capabilities of the model in pathological conditions.

Dynamics of Multibody Systems Near Lagrangian Points

Science.gov (United States)

Wong, Brian

This thesis examines the dynamics of a physically connected multi-spacecraft system in the vicinity of the Lagrangian points of a Circular Restricted Three-Body System. The spacecraft system is arranged in a wheel-spoke configuration with smaller and less massive satellites connected to a central hub using truss/beams or tether connectors. The kinematics of the system is first defined, and the kinetic, gravitational potential energy and elastic potential energy of the system are derived. The Assumed Modes Method is used to discretize the continuous variables of the system, and a general set of ordinary differential equations describing the dynamics of the connectors and the central hub are obtained using the Lagrangian method. The flexible body dynamics of the tethered and truss connected systems are examined using numerical simulations. The results show that these systems experienced only small elastic deflections when they are naturally librating or rotating at moderate angular velocities, and these deflections have relatively small effect on the attitude dynamics of the systems. Based on these results, it is determined that the connectors can be modeled as rigid when only the attitude dynamics of the system is of interest. The equations of motion of rigid satellites stationed at the Lagrangian points are linearized, and the stability conditions of the satellite are obtained from the linear equations. The required conditions are shown to be similar to those of geocentric satellites. Study of the linear equations also revealed the resonant conditions of rigid Lagrangian point satellites, when a librational natural frequency of the satellite matches the frequency of its station-keeping orbit leading to large attitude motions. For tethered satellites, the linear analysis shows that the tethers are in stable equilibrium when they lie along a line joining the two primary celestial bodies of the Three-Body System. Numerical simulations are used to study the long term

Simulation of the steady-state energy transfer in rigid bodies, with convective-radiative boundary conditions, employing a minimum principle

International Nuclear Information System (INIS)

Gama, R.M.S. da.

1992-08-01

The energy transfer phenomenon in a rigid and opaque body that exchanges energy, with the environment, by convection and by diffuse thermal radiation is studied. The considered phenomenon is described by a partial differential equation, subjected to (nonlinear) boundary conditions. A minimum principle, suitable for a large class of energy transfer problems is presented. Some particular cases are simulated. (author)

iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts

Directory of Open Access Journals (Sweden)

Francesco eNori

2015-03-01

Full Text Available This paper details the implementation on the humanoid robot iCub of state-of-the-art algorithms for whole-body control. We regulate the forces between the robot and its surrounding environment to stabilize a desired robot posture. We assume that the forces and torques are exerted on rigid contacts. The validity of this assumption is guaranteed by constraining the contact forces and torques, e.g. the contact forces must belong to the associated friction cones. The implementation of this control strategy requires to estimate the external forces acting on the robot, and the internal joint torques. We then detail algorithms to obtain these estimations when using a robot with an iCub-like sensor set, i.e. distributed six-axis force-torque sensors and whole-body tactile sensors. A general theory for identifying the robot inertial parameters is also presented. From an actuation standpoint, we show how to implement a joint torque control in the case of DC brushless motors. In addition, the coupling mechanism of the iCub torso is investigated. The soundness of the entire control architecture is validated in a real scenario involving the robot iCub balancing and making contacts at both arms.

Soft soils reinforced by rigid vertical inclusions

Directory of Open Access Journals (Sweden)

Iulia-Victoria NEAGOE

2013-12-01

Full Text Available Reinforcement of soft soils by rigid vertical inclusions is an increasingly used technique over the last few years. The system consists of rigid or semi-rigid vertical inclusions and a granular platform for the loads transfer from the structure to the inclusions. This technique aims to reduce the differential settlements both at ground level as below the structure. Reinforcement by rigid inclusions is mainly used for foundation works for large commercial and industrial platforms, storage tanks, wastewater treatment plants, wind farms, bridges, roads, railway embankments. The subject is one of interest as it proves the recently concerns at international level in research and design; however, most studies deal more with the static behavior and less with the dynamic one.

Quantum chemical approach for condensed-phase thermochemistry (V): Development of rigid-body type harmonic solvation model

Science.gov (United States)

Tarumi, Moto; Nakai, Hiromi

2018-05-01

This letter proposes an approximate treatment of the harmonic solvation model (HSM) assuming the solute to be a rigid body (RB-HSM). The HSM method can appropriately estimate the Gibbs free energy for condensed phases even where an ideal gas model used by standard quantum chemical programs fails. The RB-HSM method eliminates calculations for intra-molecular vibrations in order to reduce the computational costs. Numerical assessments indicated that the RB-HSM method can evaluate entropies and internal energies with the same accuracy as the HSM method but with lower calculation costs.

Analogies between the Torque-Free Motion of a Rigid Body about a Fixed Point and Light Propagation in Anisotropic Media

Science.gov (United States)

Bellver-Cebreros, Consuelo; Rodriguez-Danta, Marcelo

2009-01-01

An apparently unnoticed analogy between the torque-free motion of a rotating rigid body about a fixed point and the propagation of light in anisotropic media is stated. First, a new plane construction for visualizing this torque-free motion is proposed. This method uses an intrinsic representation alternative to angular momentum and independent of…

Structural, dynamic, electronic, and vibrational properties of flexible, intermediate, and stressed rigid As-Se glasses and liquids from first principles molecular dynamics

International Nuclear Information System (INIS)

Bauchy, M.; Kachmar, A.; Micoulaut, M.

2014-01-01

The structural, vibrational, electronic, and dynamic properties of amorphous and liquid As x Se 1-x (0.10 Dynamics. Within the above range of compositions, thresholds, and anomalies are found in the behavior of reciprocal and real space properties that can be correlated to the experimental location of the Boolchand intermediate phase in these glassy networks, observed at 0.27 dynamical atomic-scale fingerprints for the onset of rigidity within the network, while also providing a much more complex picture than the one derived from mean-field approaches of stiffness transitions

Nonlinear Deformable-body Dynamics

CERN Document Server

Luo, Albert C J

2010-01-01

"Nonlinear Deformable-body Dynamics" mainly consists in a mathematical treatise of approximate theories for thin deformable bodies, including cables, beams, rods, webs, membranes, plates, and shells. The intent of the book is to stimulate more research in the area of nonlinear deformable-body dynamics not only because of the unsolved theoretical puzzles it presents but also because of its wide spectrum of applications. For instance, the theories for soft webs and rod-reinforced soft structures can be applied to biomechanics for DNA and living tissues, and the nonlinear theory of deformable bodies, based on the Kirchhoff assumptions, is a special case discussed. This book can serve as a reference work for researchers and a textbook for senior and postgraduate students in physics, mathematics, engineering and biophysics. Dr. Albert C.J. Luo is a Professor of Mechanical Engineering at Southern Illinois University, Edwardsville, IL, USA. Professor Luo is an internationally recognized scientist in the field of non...

Planar multibody dynamics formulation, programming and applications

CERN Document Server

Nikravesh, Parviz E

2007-01-01

Introduction Multibody Mechanical Systems Types of Analyses Methods of Formulation Computer Programming Application Examples Unit System Remarks Preliminaries Reference Axes Scalars and Vectors Matrices Vector, Array, and Matrix Differentiation Equations and Expressions Remarks Problems Fundamentals of Kinematics A Particle Kinematics of a Rigid Body Definitions Remarks Problems Fundamentals of Dynamics Newton's Laws of Motion Dynamics of a Body Force Elements Applied Forces Reaction Force Remarks Problems Point-Coordinates: Kinematics Multipoint

A heterogeneous system based on GPU and multi-core CPU for real-time fluid and rigid body simulation

Science.gov (United States)

da Silva Junior, José Ricardo; Gonzalez Clua, Esteban W.; Montenegro, Anselmo; Lage, Marcos; Dreux, Marcelo de Andrade; Joselli, Mark; Pagliosa, Paulo A.; Kuryla, Christine Lucille

2012-03-01

Computational fluid dynamics in simulation has become an important field not only for physics and engineering areas but also for simulation, computer graphics, virtual reality and even video game development. Many efficient models have been developed over the years, but when many contact interactions must be processed, most models present difficulties or cannot achieve real-time results when executed. The advent of parallel computing has enabled the development of many strategies for accelerating the simulations. Our work proposes a new system which uses some successful algorithms already proposed, as well as a data structure organisation based on a heterogeneous architecture using CPUs and GPUs, in order to process the simulation of the interaction of fluids and rigid bodies. This successfully results in a two-way interaction between them and their surrounding objects. As far as we know, this is the first work that presents a computational collaborative environment which makes use of two different paradigms of hardware architecture for this specific kind of problem. Since our method achieves real-time results, it is suitable for virtual reality, simulation and video game fluid simulation problems.

EDF fragment relocation model based on the displacement of rigid bodies

International Nuclear Information System (INIS)

Callu, C.; Baron, D.; Ruck, J.M.

1997-01-01

In order to release the restricting conditions imposed to the reactor operations with regards to PCMI (Pellet-Cladding Mechanical Interaction), the simulation of a fuel rod thermomechanical behavior has to be improved. The computer programming has to cope with the more and more sophisticated mathematical modellings induced by the complexity and the interdependence of the phenomena. Therefore EDF is developing a new code - CYRANO3 - since 1990 putting emphasis on its evolution capacities. Concerning more precisely the PCMI simulation, the pellet fragmentation and the fragments relocation is one of the major aspect one must account for. Thanks to recent analytical experiments, EDF developed a new modelling based on the displacement of rigid bodies and on the calculation of the interaction efforts between the fragments. This paper presents the basis of the model, its introduction within the CYRANO3 code and its calibration on a specific analytical experiment. The modelling is then tested against PWR fuel rods deformations from the EDF data base. The results are presented and discussed. (author)

Quantum dynamics of water dissociative chemisorption on rigid Ni(111): An approximate nine-dimensional treatment

International Nuclear Information System (INIS)

Jiang, Bin; Song, Hongwei; Yang, Minghui; Guo, Hua

2016-01-01

The quantum dynamics of water dissociative chemisorption on the rigid Ni(111) surface is investigated using a recently developed nine-dimensional potential energy surface. The quantum dynamical model includes explicitly seven degrees of freedom of D 2 O at fixed surface sites, and the final results were obtained with a site-averaging model. The mode specificity in the site-specific results is reported and analyzed. Finally, the approximate sticking probabilities for various vibrationally excited states of D 2 O are obtained considering surface lattice effects and formally all nine degrees of freedom. The comparison with experiment reveals the inaccuracy of the density functional theory and suggests the need to improve the potential energy surface.

Structural, dynamic, electronic, and vibrational properties of flexible, intermediate, and stressed rigid As-Se glasses and liquids from first principles molecular dynamics

Energy Technology Data Exchange (ETDEWEB)

Bauchy, M. [Department of Civil and Environmental Engineering, University of California, Los Angeles, California 90095-1593 (United States); Kachmar, A. [Laboratoire de Physique Théorique de la Matière Condensée, Université Pierre et Marie Curie, 4 Place Jussieu, F-75252 Paris Cedex 05 (France); Qatar Environment and Energy Research Institute, Qatar Foundation, P.O. Box 5825, Doha (Qatar); Micoulaut, M., E-mail: mmi@lptl.jussieu.fr [Laboratoire de Physique Théorique de la Matière Condensée, Université Pierre et Marie Curie, 4 Place Jussieu, F-75252 Paris Cedex 05 (France)

2014-11-21

The structural, vibrational, electronic, and dynamic properties of amorphous and liquid As{sub x}Se{sub 1-x} (0.10 Dynamics. Within the above range of compositions, thresholds, and anomalies are found in the behavior of reciprocal and real space properties that can be correlated to the experimental location of the Boolchand intermediate phase in these glassy networks, observed at 0.27 dynamical atomic-scale fingerprints for the onset of rigidity within the network, while also providing a much more complex picture than the one derived from mean-field approaches of stiffness transitions.

Dynamic Flight Simulation Utilizing High Fidelity CFD-Based Nonlinear Reduced Order Model, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — The Nonlinear Dynamic Flight Simulation (NL-DFS) system will be developed in the Phase II project by combining the classical nonlinear rigid-body flight dynamics...

About deformation and rigidity in relativity

International Nuclear Information System (INIS)

Coll, Bartolome

2007-01-01

The notion of deformation involves that of rigidity. In relativity, starting from Born's early definition of rigidity, some other ones have been proposed, offering more or less interesting aspects but also accompanied of undesired or even pathological properties. In order to clarify the origin of these difficulties presented by the notion of rigidity in relativity, we analyze with some detail significant aspects of the unambiguous classical, Newtonian, notion. In particular, the relative character of its kinetic definition is pointed out, allowing to predict and to understand the limitations imposed by Herglotz-Noether theorem. Also, its equivalent dynamic definition is obtained and, in contrast, its absolute character is shown. But in spite of this absolute character, the dynamic definition is shown to be not extensible to relativity. The metric deformation of Minkowski space by the presence of a gravitational field is interpreted as a universal deformation, and it is shown that, under natural conditions, only a simple deformation law is possible, relating locally, but in an one-to-one way, gravitational fields and gauge classes of two-forms. We argue that fields of unit vectors associated to the internal gauge class of two-forms of every space-time (and, in particular, of Minkowski space-time) are the relativistic analogues of the classical accelerated observers, i.e. of the classical rigid motions. Some other consequences of the universal law of gravitational deformation are commented

On the existence of global strong solutions to the equations modeling a motion of a rigid body around a viscous fluid

Czech Academy of Sciences Publication Activity Database

Nečasová, Šárka; Wolf, J.

2016-01-01

Roč. 36, č. 3 (2016), s. 1539-1562 ISSN 1078-0947 R&D Projects: GA ČR GA13-00522S Institutional support: RVO:67985840 Keywords : incompressible fluid * motion of rigid body * strong solutions Subject RIV: BA - General Mathematics Impact factor: 1.099, year: 2016 http://www.aimsciences.org/journals/displayArticlesnew.jsp?paperID=11589

Dynamics of human movement

NARCIS (Netherlands)

Koopman, Hubertus F.J.M.

2010-01-01

The part of (bio)mechanics that studies the interaction of forces on the human skeletal system and its effect on the resulting movement is called rigid body dynamics. Some basic concepts are presented: A mathematical formulation to describe human movement and how this relates on the mechanical loads

Hydrodynamics of a flexible plate between pitching rigid plates

Science.gov (United States)

Kim, Junyoung; Kim, Daegyoum

2017-11-01

The dynamics of a flexible plate have been studied as a model problem in swimming and flying of animals and fluid-structure interaction of plants and flags. Motivated by fish schooling and an array of sea grasses, we investigate the dynamics of a flexible plate closely placed between two pitching rigid plates. In most studies on passive deformation of the flexible plate, the plate is immersed in a uniform flow or a wavy flow. However, in this study, the flexible plate experiences periodic deformation by the oscillatory flow generated by the prescribed pitching motion of the rigid plates. In our model, the pitching axes of the rigid plates and the clamping position of the flexible plate are aligned on the same line. The flexible plate shows various responses depending on length and pitching frequency of rigid plates, thickness of a flexible plate, and free-stream velocity. To find the effect of each variable on the response of the flexible plate, amplitude of a trailing edge and modal contribution of a flapping motion are compared, and flow structure around the flexible plate is examined.

Dynamic Anthropometry – Deffning Protocols for Automatic Body Measurement

Directory of Open Access Journals (Sweden)

Slavenka Petrak

2017-12-01

Full Text Available The paper presents the research on possibilities of protocol development for automatic computer-based determination of measurements on a 3D body model in defined dynamic positions. Initially, two dynamic body positions were defined for the research on dimensional changes of targeted body lengths and surface segments during body movement from basic static position into a selected dynamic body position. The assumption was that during body movement, specifi c length and surface dimensions would change significantly from the aspect of clothing construction and functionality of a garment model. 3D body scanning of a female test sample was performed in basic static and two defined dynamic positions. 3D body models were processed and measurement points were defined as a starting point for the determination of characteristic body measurements. The protocol for automatic computer measurement was defined for every dynamic body position by the systematic set of activities based on determined measurement points. The verification of developed protocols was performed by automatic determination of defined measurements on the test sample and by comparing the results with the conventional manual measurement.

Modeling Attitude Dynamics in Simulink: A Study of the Rotational and Translational Motion of a Spacecraft Given Torques and Impulses Generated by RMS Hand Controllers

Science.gov (United States)

Mauldin, Rebecca H.

2010-01-01

In order to study and control the attitude of a spacecraft, it is necessary to understand the natural motion of a body in orbit. Assuming a spacecraft to be a rigid body, dynamics describes the complete motion of the vehicle by the translational and rotational motion of the body. The Simulink Attitude Analysis Model applies the equations of rigid body motion to the study of a spacecraft?s attitude in orbit. Using a TCP/IP connection, Matlab reads the values of the Remote Manipulator System (RMS) hand controllers and passes them to Simulink as specified torque and impulse profiles. Simulink then uses the governing kinematic and dynamic equations of a rigid body in low earth orbit (LE0) to plot the attitude response of a spacecraft for five seconds given known applied torques and impulses, and constant principal moments of inertia.

Diffuse interface immersed boundary method for multi-fluid flows with arbitrarily moving rigid bodies

Science.gov (United States)

Patel, Jitendra Kumar; Natarajan, Ganesh

2018-05-01

We present an interpolation-free diffuse interface immersed boundary method for multiphase flows with moving bodies. A single fluid formalism using the volume-of-fluid approach is adopted to handle multiple immiscible fluids which are distinguished using the volume fractions, while the rigid bodies are tracked using an analogous volume-of-solid approach that solves for the solid fractions. The solution to the fluid flow equations are carried out using a finite volume-immersed boundary method, with the latter based on a diffuse interface philosophy. In the present work, we assume that the solids are filled with a "virtual" fluid with density and viscosity equal to the largest among all fluids in the domain. The solids are assumed to be rigid and their motion is solved using Newton's second law of motion. The immersed boundary methodology constructs a modified momentum equation that reduces to the Navier-Stokes equations in the fully fluid region and recovers the no-slip boundary condition inside the solids. An implicit incremental fractional-step methodology in conjunction with a novel hybrid staggered/non-staggered approach is employed, wherein a single equation for normal momentum at the cell faces is solved everywhere in the domain, independent of the number of spatial dimensions. The scalars are all solved for at the cell centres, with the transport equations for solid and fluid volume fractions solved using a high-resolution scheme. The pressure is determined everywhere in the domain (including inside the solids) using a variable coefficient Poisson equation. The solution to momentum, pressure, solid and fluid volume fraction equations everywhere in the domain circumvents the issue of pressure and velocity interpolation, which is a source of spurious oscillations in sharp interface immersed boundary methods. A well-balanced algorithm with consistent mass/momentum transport ensures robust simulations of high density ratio flows with strong body forces. The

Tidal Evolution of Asteroidal Binaries. Ruled by Viscosity. Ignorant of Rigidity

OpenAIRE

Efroimsky, Michael

2015-01-01

The rate of tidal evolution of asteroidal binaries is defined by the dynamical Love numbers divided by quality factors. Common is the (often illegitimate) approximation of the dynamical Love numbers with their static counterparts. As the static Love numbers are, approximately, proportional to the inverse rigidity, this renders a popular fallacy that the tidal evolution rate is determined by the product of the rigidity by the quality factor: $\\,k_l/Q\\propto 1/(\\mu Q)\\,$. In reality, the dynami...

Calculating ensemble averaged descriptions of protein rigidity without sampling.

Science.gov (United States)

González, Luis C; Wang, Hui; Livesay, Dennis R; Jacobs, Donald J

2012-01-01

Previous works have demonstrated that protein rigidity is related to thermodynamic stability, especially under conditions that favor formation of native structure. Mechanical network rigidity properties of a single conformation are efficiently calculated using the integer body-bar Pebble Game (PG) algorithm. However, thermodynamic properties require averaging over many samples from the ensemble of accessible conformations to accurately account for fluctuations in network topology. We have developed a mean field Virtual Pebble Game (VPG) that represents the ensemble of networks by a single effective network. That is, all possible number of distance constraints (or bars) that can form between a pair of rigid bodies is replaced by the average number. The resulting effective network is viewed as having weighted edges, where the weight of an edge quantifies its capacity to absorb degrees of freedom. The VPG is interpreted as a flow problem on this effective network, which eliminates the need to sample. Across a nonredundant dataset of 272 protein structures, we apply the VPG to proteins for the first time. Our results show numerically and visually that the rigidity characterizations of the VPG accurately reflect the ensemble averaged [Formula: see text] properties. This result positions the VPG as an efficient alternative to understand the mechanical role that chemical interactions play in maintaining protein stability.

Complexified dynamical systems

International Nuclear Information System (INIS)

Bender, Carl M; Holm, Darryl D; Hook, Daniel W

2007-01-01

Many dynamical systems, such as the Lotka-Volterra predator-prey model and the Euler equations for the free rotation of a rigid body, are PT symmetric. The standard and well-known real solutions to such dynamical systems constitute an infinitessimal subclass of the full set of complex solutions. This paper examines a subset of the complex solutions that contains the real solutions, namely those having PT symmetry. The condition of PT symmetry selects out complex solutions that are periodic. (fast track communication)

A navigator-based rigid body motion correction for magnetic resonance imaging

International Nuclear Information System (INIS)

Ullisch, Marcus Goerge

2012-01-01

A novel three-dimensional navigator k-space trajectory for rigid body motion detection for Magnetic Resonance Imaging (MRI) - the Lissajous navigator - was developed and quantitatively compared to the existing spherical navigator trajectory [1]. The spherical navigator cannot sample the complete spherical surface due to slew rate limitations of the scanner hardware. By utilizing a two dimensional Lissajous figure which is projected onto the spherical surface, the Lissajous navigator overcomes this limitation. The complete sampling of the sphere consequently leads to rotation estimates with higher and more isotropic accuracy. Simulations and phantom measurements were performed for both navigators. Both simulations and measurements show a significantly higher overall accuracy of the Lissajous navigator and a higher isotropy of the rotation estimates. Measured under identical conditions with identical postprocessing, the measured mean absolute error of the rotation estimates for the Lissajous navigator was 38% lower (0.3 ) than for the spherical navigator (0.5 ). The maximum error of the Lissajous navigator was reduced by 48% relative to the spherical navigator. The Lissajous navigator delivers higher accuracy of rotation estimation and a higher degree of isotropy than the spherical navigator with no evident drawbacks; these are two decisive advantages, especially for high-resolution anatomical imaging.

A navigator-based rigid body motion correction for magnetic resonance imaging

Energy Technology Data Exchange (ETDEWEB)

Ullisch, Marcus Goerge

2012-01-24

A novel three-dimensional navigator k-space trajectory for rigid body motion detection for Magnetic Resonance Imaging (MRI) - the Lissajous navigator - was developed and quantitatively compared to the existing spherical navigator trajectory [1]. The spherical navigator cannot sample the complete spherical surface due to slew rate limitations of the scanner hardware. By utilizing a two dimensional Lissajous figure which is projected onto the spherical surface, the Lissajous navigator overcomes this limitation. The complete sampling of the sphere consequently leads to rotation estimates with higher and more isotropic accuracy. Simulations and phantom measurements were performed for both navigators. Both simulations and measurements show a significantly higher overall accuracy of the Lissajous navigator and a higher isotropy of the rotation estimates. Measured under identical conditions with identical postprocessing, the measured mean absolute error of the rotation estimates for the Lissajous navigator was 38% lower (0.3 ) than for the spherical navigator (0.5 ). The maximum error of the Lissajous navigator was reduced by 48% relative to the spherical navigator. The Lissajous navigator delivers higher accuracy of rotation estimation and a higher degree of isotropy than the spherical navigator with no evident drawbacks; these are two decisive advantages, especially for high-resolution anatomical imaging.

Thermal shock induced dynamics of a spacecraft with a flexible deploying boom

Science.gov (United States)

Shen, Zhenxing; Li, Huijian; Liu, Xiaoning; Hu, Gengkai

2017-12-01

The dynamics in the process of deployment of a flexible extendible boom as a deployable structure on the spacecraft is studied. For determining the thermally induced vibrations of the boom subjected to an incident solar heat flux, an axially moving thermal-dynamic beam element based on the absolute nodal coordinate formulation which is able to precisely describe the large displacement, rotation and deformation of flexible body is presented. For the elastic forces formulation of variable-length beam element, the enhanced continuum mechanics approach is adopted, which can eliminate the Poisson locking effect, and take into account the tension-bending-torsion coupling deformations. The main body of the spacecraft, modeled as a rigid body, is described using the natural coordinates method. In the derived nonlinear thermal-dynamic equations of rigid-flexible multibody system, the mass matrix is time-variant, and a pseudo damping matrix which is without actual energy dissipation, and a heat conduction matrix which is relative to the moving speed and the number of beam element are arisen. Numerical results give the dynamic and thermal responses of the nonrotating and spinning spacecraft, respectively, and show that thermal shock has a significant influence on the dynamics of spacecraft.

Composite Sliding Mode Control for a Free-Floating Space Rigid-Flexible Coupling Manipulator System

OpenAIRE

Congqing, Wang; Pengfei, Wu; Xin, Zhou; Xiwu, Pei

2013-01-01

The flexible space manipulator is a highly nonlinear and coupled dynamic system. This paper proposes a novel composite sliding mode control to deal with the vibration suppression and trajectory tracking of a free-floating space rigid-flexible coupling manipulator with a rigid payload. First, the dynamic equations of this system are established by using Lagrange and assumed mode methods and in the meantime this dynamic modelling allows consideration of the modelling errors, the external distur...

Path-integral approach to the dynamics of a random chain with rigid constraints

International Nuclear Information System (INIS)

Ferrari, Franco; Paturej, Jaroslaw; Vilgis, Thomas A.

2008-01-01

In this work the dynamics of a chain consisting of a set of beads attached to the ends of segments of fixed lengths is investigated. The chain fluctuates at constant temperature in a viscous medium. For simplicity, all interactions among the beads have been switched off and the number of spatial dimensions has been limited to two. In the limit in which the chain becomes a continuous system, its behavior may be described by a path integral, in which the rigid constraints coming from the infinitesimally small segments are imposed by means of a functional δ function. In this way a model of the dynamics of the chain is obtained, which closely resembles a two-dimensional nonlinear σ model. The partition function of this generalized nonlinear σ model is computed explicitly for a ring-shaped chain in the semiclassical approximation. The behavior of the chain at both long and short scales of time and distances is investigated. The connection between the generalized nonlinear σ model presented here and the Rouse model is discussed

Estimating the angular velocity of a rigid body moving in the plane from tangential and centripetal acceleration measurements

International Nuclear Information System (INIS)

Cardou, Philippe; Angeles, Jorge

2008-01-01

Two methods are available for the estimation of the angular velocity of a rigid body from point-acceleration measurements: (i) the time-integration of the angular acceleration and (ii) the square-rooting of the centripetal acceleration. The inaccuracy of the first method is due mainly to the accumulation of the error on the angular acceleration throughout the time-integration process, which does not prevent that it be used successfully in crash tests with dummies, since these experiments never last more than one second. On the other hand, the error resulting from the second method is stable through time, but becomes inaccurate whenever the rigid body angular velocity approaches zero, which occurs in many applications. In order to take advantage of the complementarity of these two methods, a fusion of their estimates is proposed. To this end, the accelerometer measurements are modeled as exact signals contaminated with bias errors and Gaussian white noise. The relations between the variables at stake are written in the form of a nonlinear state-space system in which the angular velocity and the angular acceleration are state variables. Consequently, a minimum-variance-error estimate of the state vector is obtained by means of extended Kalman filtering. The performance of the proposed estimation method is assessed by means of simulation. Apparently, the resulting estimation method is more robust than the existing accelerometer-only methods and competitive with gyroscope measurements. Moreover, it allows the identification and the compensation of any bias error in the accelerometer measurements, which is a significant advantage over gyroscopes

Is it possible to preserve lumbar lordosis after hybrid stabilization? Preliminary results of a novel rigid-dynamic stabilization system in degenerative lumbar pathologies.

Science.gov (United States)

Formica, Matteo; Cavagnaro, Luca; Basso, Marco; Zanirato, Andrea; Felli, Lamberto; Formica, Carlo

2015-11-01

To evaluate the results of a novel rigid-dynamic stabilization technique in lumbar degenerative segment diseases (DSD), expressly pointing out the preservation of postoperative lumbar lordosis (LL). Forty-one patients with one level lumbar DSD and initial disc degeneration at the adjacent level were treated. Circumferential lumbar arthrodesis and posterior hybrid instrumentation were performed to preserve an initial disc degeneration above the segment that has to be fused. Clinical and spino-pelvic parameters were evaluated pre- and postoperatively. At 2-year follow-up, a significant improvement of clinical outcomes was reported. No statistically significant difference was noted between postoperative and 2-year follow-up in LL and in disc/vertebral body height ratio at the upper adjacent fusion level. When properly selected, this technique leads to good results. A proper LL should be achieved after any hybrid stabilization to preserve the segment above the fusion.

Homogenized rigid body and spring-mass (HRBSM) model for the pushover analysis of out-of-plane loaded unreinforced and FRP reinforced walls

Science.gov (United States)

Bertolesi, Elisa; Milani, Gabriele

2017-07-01

The present paper is devoted to the discussion of a series of unreinforced and FRP retrofitted panels analyzed adopting the Rigid Body and Spring-Mass (HRBSM) model developed by the authors. To this scope, a total of four out of plane loaded masonry walls tested up to failure are considered. At a structural level, the non-linear analyses are conducted replacing the homogenized orthotropic continuum with a rigid element and non-linear spring assemblage by means of which out of plane mechanisms are allowed. FRP retrofitting is modeled adopting two noded truss elements whose mechanical properties are selected in order to describe possible debonding phenomenon or tensile rupture of the strengthening. The outcome provided numerically are compared to the experimental results showing a satisfactory agreement in terms of global pressure-deflection curves and failure mechanisms.

Three-stage classical molecular dynamics model for simulation of heavy-ion fusion

Directory of Open Access Journals (Sweden)

Godre Subodh S.

2015-01-01

Full Text Available A three-stage Classical Molecular Dynamics (3S-CMD approach for heavy-ion fusion is developed. In this approach the Classical Rigid-Body Dynamics simulation for heavy-ion collision involving light deformed nucleus is initiated on their Rutherford trajectories at very large initial separation. Collision simulation is then followed by relaxation of the rigid-body constrains for one or both the colliding nuclei at distances close to the barrier when the trajectories of all the nucleons are obtained in a Classical Molecular Dynamics approach. This 3S-CMD approach explicitly takes into account not only the long range Coulomb reorientation of the deformed collision partner but also the internal vibrational excitations of one or both the nuclei at distances close to the barrier. The results of the dynamical simulation for 24Mg+208Pb collision show significant modification of the fusion barrier and calculated fusion cross sections due to internal excitations.

Calculating ensemble averaged descriptions of protein rigidity without sampling.

Directory of Open Access Journals (Sweden)

Luis C González

Full Text Available Previous works have demonstrated that protein rigidity is related to thermodynamic stability, especially under conditions that favor formation of native structure. Mechanical network rigidity properties of a single conformation are efficiently calculated using the integer body-bar Pebble Game (PG algorithm. However, thermodynamic properties require averaging over many samples from the ensemble of accessible conformations to accurately account for fluctuations in network topology. We have developed a mean field Virtual Pebble Game (VPG that represents the ensemble of networks by a single effective network. That is, all possible number of distance constraints (or bars that can form between a pair of rigid bodies is replaced by the average number. The resulting effective network is viewed as having weighted edges, where the weight of an edge quantifies its capacity to absorb degrees of freedom. The VPG is interpreted as a flow problem on this effective network, which eliminates the need to sample. Across a nonredundant dataset of 272 protein structures, we apply the VPG to proteins for the first time. Our results show numerically and visually that the rigidity characterizations of the VPG accurately reflect the ensemble averaged [Formula: see text] properties. This result positions the VPG as an efficient alternative to understand the mechanical role that chemical interactions play in maintaining protein stability.

Automatic identification of mobile and rigid substructures in molecular dynamics simulations and fractional structural fluctuation analysis.

Directory of Open Access Journals (Sweden)

Leandro Martínez

Full Text Available The analysis of structural mobility in molecular dynamics plays a key role in data interpretation, particularly in the simulation of biomolecules. The most common mobility measures computed from simulations are the Root Mean Square Deviation (RMSD and Root Mean Square Fluctuations (RMSF of the structures. These are computed after the alignment of atomic coordinates in each trajectory step to a reference structure. This rigid-body alignment is not robust, in the sense that if a small portion of the structure is highly mobile, the RMSD and RMSF increase for all atoms, resulting possibly in poor quantification of the structural fluctuations and, often, to overlooking important fluctuations associated to biological function. The motivation of this work is to provide a robust measure of structural mobility that is practical, and easy to interpret. We propose a Low-Order-Value-Optimization (LOVO strategy for the robust alignment of the least mobile substructures in a simulation. These substructures are automatically identified by the method. The algorithm consists of the iterative superposition of the fraction of structure displaying the smallest displacements. Therefore, the least mobile substructures are identified, providing a clearer picture of the overall structural fluctuations. Examples are given to illustrate the interpretative advantages of this strategy. The software for performing the alignments was named MDLovoFit and it is available as free-software at: http://leandro.iqm.unicamp.br/mdlovofit.

Modelling of Rigid-Body and Elastic Aircraft Dynamics for Flight Control Development.

Science.gov (United States)

1986-06-01

AMAT MATSAV AUGMENT MI NV BMAT MMULT EVAL RLPLOT FASTCHG STABDER The subroutines are fairly well commented so that a person familiar with the theory...performed as in a typical flutter solution. C C Subroutine BMAT computes the B matrix from the forcing function C matrix Q. B is a function of dynamic...and BMAT multiplies matrices. C This is used to form the A and B matrices. C C Subroutine EVAL computes the eigenvalues of the A matrix C The

Effect of Semi-Rigid and Soft Ankle Braces on Static and Dynamic Postural Stability in Young Male Adults

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Noriaki Maeda, Yukio Urabe, Shogo Tsutsumi, Shuhei Numano, Miho Morita, Takuya Takeuchi, Shou Iwata, Toshiki Kobayashi

2016-06-01

Full Text Available Ankle braces have been suggested to protect ankle joints from a sprain by restricting inversion and improving proprioception. However, the difference in effects between a semi-rigid brace and a soft brace regarding dynamic postural control after landing is not known. The aim of the present study was to compare the effect of soft (SB and semi-rigid (SRB ankle braces on static and dynamic postural stability in healthy young men. Altogether, 21 male adults (mean age 24.0 ± 1.5 years were assessed for one leg while wearing non-brace (NB, SB or SRB. Balance in single-limb stance on a single-force platform with open eyes and closed eyes were assessed for the non-dominant leg under SB, SRB, and NB conditions. Locus length/second (mm/s and the enveloped area (mm·s-2 surrounded by the circumference of the wave pattern during postural sway were calculated. For assessing dynamic postural stability, the participant jumped and landed on one leg on a force platform, and the Dynamic Postural Stability Index (DPSI and the maximum vertical ground reaction force (vGRFmax were measured. The data were compared among the three conditions with repeated-measures analysis of variance. The correlations between locus length/second, enveloped area, DPSI values (DPSI, Anterior-Posterior Stability Index, Medial-Lateral Stability Index, and Vertical Stability Index, and vGRFmax were then calculated. The results indicated that locus length/second and enveloped area with open eyes and closed eyes were not significantly different for each condition. However, a significant lower in the DPSI and Vertical Stability Index were observed with the SRB in comparison to the SB and NB. A significant improvement in vGRFmax was also observed with the SRB in comparison to NB. SRB demonstrated a positive effect on dynamic postural stability after landing on a single leg and may improve balance by increasing dynamic postural stability.

Rigid-body-spring model numerical analysis of joint performance of engineered cementitious composites and concrete

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Khmurovska, Y.; Štemberk, P.; Křístek, V.

2017-09-01

This paper presents a numerical investigation of effectiveness of using engineered cementitious composites with polyvinyl alcohol fibers for concrete cover layer repair. A numerical model of a monolithic concaved L-shaped concrete structural detail which is strengthened with an engineered cementitious composite layer with polyvinyl alcohol fibers is created and loaded with bending moment. The numerical analysis employs nonlinear 3-D Rigid-Body-Spring Model. The proposed material model shows reliable results and can be used in further studies. The engineered cementitious composite shows extremely good performance in tension due to the strain-hardening effect. Since durability of the bond can be decreased significantly by its degradation due to the thermal loading, this effect should be also taken into account in the future work, as well as the experimental investigation, which should be performed for validation of the proposed numerical model.

Elastic Multibody Dynamics A Direct Ritz Approach

CERN Document Server

Bremer, H

2008-01-01

This textbook is an introduction to and exploration of a number of core topics in the field of applied mechanics: On the basis of Lagrange's Principle, a Central Equation of Dynamics is presented which yields a unified view on existing methods. From these, the Projection Equation is selected for the derivation of the motion equations of holonomic and of non-holonomic systems. The method is applied to rigid multibody systems where the rigid body is defined such that, by relaxation of the rigidity constraints, one can directly proceed to elastic bodies. A decomposition into subsystems leads to a minimal representation and to a recursive representation, respectively, of the equations of motion. Applied to elastic multibody systems one obtains, along with the use of spatial operators, a straight-on procedure for the interconnected partial and ordinary differential equations and the corresponding boundary conditions. The spatial operators are eventually applied to a RITZ series for approximation. The resulting equ...

Numerical study of acoustically driven bubble cloud dynamics near a rigid wall.

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Ma, Jingsen; Hsiao, Chao-Tsung; Chahine, Georges L

2018-01-01

The dynamics of a bubble cloud excited by a sinusoidal pressure field near a rigid wall is studied using a novel Eulerian/Lagrangian two-phase flow model. The effects of key parameters such as the amplitude and frequency of the excitation pressure, the cloud and bubble sizes, the void fraction, and the initial standoff distance on the bubbles' collective behavior and the resulting pressure loads on the nearby wall are investigated. The study shows that nonlinear bubble cloud dynamics becomes more pronounced and results in higher pressure loading at the wall as the excitation pressure amplitude increases. The strongest collective bubble behavior occurs at a preferred resonance frequency. At this resonance frequency, pressure peaks orders of magnitudes higher than the excitation pressure result from the bubble interaction when the amplitude of the pressure excitation is high. The numerically obtained resonance frequency is significantly different from the reported natural frequency of a spherical cloud derived from linear theory, which assumes small amplitude oscillations in an unbounded medium. At high amplitudes of the excitation, the resonance frequency decreases almost linearly with the ratio of excitation pressure amplitude to ambient pressure until the ratio is larger than one. Copyright © 2017 Elsevier B.V. All rights reserved.

Constraint elimination in dynamical systems

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Singh, R. P.; Likins, P. W.

1989-01-01

Large space structures (LSSs) and other dynamical systems of current interest are often extremely complex assemblies of rigid and flexible bodies subjected to kinematical constraints. A formulation is presented for the governing equations of constrained multibody systems via the application of singular value decomposition (SVD). The resulting equations of motion are shown to be of minimum dimension.

A rigidity transition and glassy dynamics in a model for confluent 3D tissues

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Merkel, Matthias; Manning, M. Lisa

The origin of rigidity in disordered materials is an outstanding open problem in statistical physics. Recently, a new type of rigidity transition was discovered in a family of models for 2D biological tissues, but the mechanisms responsible for rigidity remain unclear. This is not just a statistical physics problem, but also relevant for embryonic development, cancer growth, and wound healing. To gain insight into this rigidity transition and make new predictions about biological bulk tissues, we have developed a fully 3D self-propelled Voronoi (SPV) model. The model takes into account shape, elasticity, and self-propelled motion of the individual cells. We find that in the absence of self-propulsion, this model exhibits a rigidity transition that is controlled by a dimensionless model parameter describing the preferred cell shape, with an accompanying structural order parameter. In the presence of self-propulsion, the rigidity transition appears as a glass-like transition featuring caging and aging effects. Given the similarities between this transition and jamming in particulate solids, it is natural to ask if the two transitions are related. By comparing statistics of Voronoi geometries, we show the transitions are surprisingly close but demonstrably distinct. Furthermore, an index theorem used to identify topologically protected mechanical modes in jammed systems can be extended to these vertex-type models. In our model, residual stresses govern the transition and enter the index theorem in a different way compared to jammed particles, suggesting the origin of rigidity may be different between the two.

Many-Body Localization Dynamics from Gauge Invariance

Science.gov (United States)

Brenes, Marlon; Dalmonte, Marcello; Heyl, Markus; Scardicchio, Antonello

2018-01-01

We show how lattice gauge theories can display many-body localization dynamics in the absence of disorder. Our starting point is the observation that, for some generic translationally invariant states, the Gauss law effectively induces a dynamics which can be described as a disorder average over gauge superselection sectors. We carry out extensive exact simulations on the real-time dynamics of a lattice Schwinger model, describing the coupling between U(1) gauge fields and staggered fermions. Our results show how memory effects and slow, double-logarithmic entanglement growth are present in a broad regime of parameters—in particular, for sufficiently large interactions. These findings are immediately relevant to cold atoms and trapped ion experiments realizing dynamical gauge fields and suggest a new and universal link between confinement and entanglement dynamics in the many-body localized phase of lattice models.

Comparison of the load-sharing characteristics between pedicle-based dynamic and rigid rod devices

International Nuclear Information System (INIS)

Ahn, Yoon-Ho; Chen, W-M; Lee, Kwon-Yong; Park, Kyung-Woo; Lee, Sung-Jae

2008-01-01

Recently, numerous types of posterior dynamic stabilization (PDS) devices have been introduced as an alternative to the fusion devices for the surgical treatment of degenerative lumbar spine. It is hypothesized that the use of 'compliant' materials such as Nitinol (Ni-Ti alloy, elastic modulus = 75 GPa) or polyether-etherketone (PEEK, elastic modulus = 3.2 GPa) in PDS can restore stability of the lumbar spine without adverse stress-shielding effects that have often been found with 'rigid' fusion devices made of 'rigid' Ti alloys (elastic modulus = 114 GPa). Previous studies have shown that suitably designed PDS devices made of more compliant material may be able to help retain kinematic behavior of the normal spine with optimal load sharing between the anterior and posterior spinal elements. However, only a few studies on their biomechanical efficacies are available. In this study, we conducted a finite-element (FE) study to investigate changes in load-sharing characteristics of PDS devices. The implanted models were constructed after modifying the previously validated intact model of L3-4 spine. Posterior lumbar fusion with three different types of pedicle screw systems was simulated: a conventional rigid fixation system (Ti6Al4V, Φ = 6.0 mm) and two kinds of PDS devices (one with Nitinol rod with a three-coiled turn manner, Φ = 4.0 mm; the other with PEEK rod with a uniform cylindrical shape, Φ = 6.0 mm). To simulate the load on the lumbar spine in a neutral posture, an axial compressive load (400 N) was applied. Subsequently, the changes in load-sharing characteristics and stresses were investigated. When the compressive load was applied on the implanted models (Nitinol rod, PEEK rod, Ti-alloy rod), the predicted axial compressive loads transmitted through the devices were 141.8 N, 109.8 N and 266.8 N, respectively. Axial forces across the PDS devices (Nitinol rod, PEEK rod) and rigid system (Ti-alloy rod) with facet joints were predicted to take over 41%, 33

Knowledge-in-action: a study on the integration of forces and energy in a rigid body

Directory of Open Access Journals (Sweden)

Consuelo Escudero

2009-03-01

Full Text Available This paper intends to go on with the study of problem solving in a compatible way with the theories of conceptual fields (TCC of Vergnaud (1990,1994,1998 and mental models of Johnson-Laird (1983,1990. Together with findings of another study (Escudero & Jaime 2007, some achievements and difficulties of freshmore engineering students when solving problems of the motion of rigid body in terms of the knowledge-in-action are analysed. The research methodology under a qualitative paradigm grouped data into categories which are not provided a priori by the theoretical framework. It can be said that the quality of the conceptual representation has been explicit in the quality of the proposed solution. Some meanings introduced by students in their problem solving activities can be characterized as operational invariants.

Dynamic response and stability of semi-rigid frames

Science.gov (United States)

Abu-Yasein, Omar Ali

This dissertation presents a method to determine the load capacity as well as end member forces and deformations of frames with partial rigid joint connections by using the direct stiffness method. The connections are modeled as rotational springs attached at the ends of framed members. The lumped mass method, which is an approximate method, and the distributed mass method, which is an exact method, are also presented to compute the natural frequency of frames. The effects of the axial forces and the flexibility of joint connections are both included. Furthermore, the time-dependent response of semi-rigid frames subjected to periodic axial forces is formulated. The harmonic function is approximated by dividing the periodic function into n intervals and the periodic axial forces are evaluated at each time interval as constant forces using 'piecewise approximation'. The regions of instability of frames with different joint stiffness were determined using the characteristic equation method. The time-dependent part of the differential equation for free vibration of a framed member subjected to a harmonic force can be written in the form of the Mathieu-Hill equation where all characteristics of the Mathieu-Hill equation solutions can be used to determine the boundaries of instability regions.

Functionally rigid bistable [2]rotaxanes

DEFF Research Database (Denmark)

Nygaard, Sune; Leung, Ken C-F; Aprahamian, Ivan

2007-01-01

defines an unambiguous distance of 1.5 nm over which the ring moves between the MPTTF and NP units. The degenerate NP/NP [2]rotaxane was used to investigate the shuttling barrier by dynamic 1H NMR spectroscopy for the movement of the CBPQT4+ ring across the new rigid spacer. It is evident from...... better control over the position of the ring component in the ground state but also for control over the location of the CBPQT4+ ring during solution-state switching experiments, triggered either chemically (1H NMR) or electrochemically (cyclic voltammetry). In this instance, the use of the rigid spacer......Two-station [2]rotaxanes in the shape of a degenerate naphthalene (NP) shuttle and a nondegenerate monopyrrolotetrathiafulvalene (MPTTF)/NP redox-controllable switch have been synthesized and characterized in solution. Their dumbbell-shaped components are composed of polyether chains interrupted...

Multiscale multiphysics and multidomain models—Flexibility and rigidity

International Nuclear Information System (INIS)

Xia, Kelin; Opron, Kristopher; Wei, Guo-Wei

2013-01-01

The emerging complexity of large macromolecules has led to challenges in their full scale theoretical description and computer simulation. Multiscale multiphysics and multidomain models have been introduced to reduce the number of degrees of freedom while maintaining modeling accuracy and achieving computational efficiency. A total energy functional is constructed to put energies for polar and nonpolar solvation, chemical potential, fluid flow, molecular mechanics, and elastic dynamics on an equal footing. The variational principle is utilized to derive coupled governing equations for the above mentioned multiphysical descriptions. Among these governing equations is the Poisson-Boltzmann equation which describes continuum electrostatics with atomic charges. The present work introduces the theory of continuum elasticity with atomic rigidity (CEWAR). The essence of CEWAR is to formulate the shear modulus as a continuous function of atomic rigidity. As a result, the dynamics complexity of a macromolecular system is separated from its static complexity so that the more time-consuming dynamics is handled with continuum elasticity theory, while the less time-consuming static analysis is pursued with atomic approaches. We propose a simple method, flexibility-rigidity index (FRI), to analyze macromolecular flexibility and rigidity in atomic detail. The construction of FRI relies on the fundamental assumption that protein functions, such as flexibility, rigidity, and energy, are entirely determined by the structure of the protein and its environment, although the structure is in turn determined by all the interactions. As such, the FRI measures the topological connectivity of protein atoms or residues and characterizes the geometric compactness of the protein structure. As a consequence, the FRI does not resort to the interaction Hamiltonian and bypasses matrix diagonalization, which underpins most other flexibility analysis methods. FRI's computational complexity is of O

A modal analysis of flexible aircraft dynamics with handling qualities implications

Science.gov (United States)

Schmidt, D. K.

1983-01-01

A multivariable modal analysis technique is presented for evaluating flexible aircraft dynamics, focusing on meaningful vehicle responses to pilot inputs and atmospheric turbulence. Although modal analysis is the tool, vehicle time response is emphasized, and the analysis is performed on the linear, time-domain vehicle model. In evaluating previously obtained experimental pitch tracking data for a family of vehicle dynamic models, it is shown that flexible aeroelastic effects can significantly affect pitch attitude handling qualities. Consideration of the eigenvalues alone, of both rigid-body and aeroelastic modes, does not explain the simulation results. Modal analysis revealed, however, that although the lowest aeroelastic mode frequency was still three times greater than the short-period frequency, the rigid-body attitude response was dominated by this aeroelastic mode. This dominance was defined in terms of the relative magnitudes of the modal residues in selected vehicle responses.

A Component Mode Synthesis Algorithm for Multibody Dynamics of Wind Turbines

DEFF Research Database (Denmark)

Holm-Jørgensen, Kristian; Nielsen, Søren R.K.

2009-01-01

A system reduction scheme related to a multibody formulation of wind turbine dynamics is devised. Each substructure is described in its own frame of reference, which is moving freely in the vicinity of the moving substructure, in principle without any constraints to the rigid body part of the mot......A system reduction scheme related to a multibody formulation of wind turbine dynamics is devised. Each substructure is described in its own frame of reference, which is moving freely in the vicinity of the moving substructure, in principle without any constraints to the rigid body part...... of the motion of the substructure. The system reduction is based on a component mode synthesis method, where the response of the internal degrees of freedom of the substructure is described as the quasi-static response induced by the boundary degrees of freedom via the constraint modes superimposed...

Does Semi-Rigid Instrumentation Using Both Flexion and Extension Dampening Spacers Truly Provide an Intermediate Level of Stabilization?

Directory of Open Access Journals (Sweden)

Dilip Sengupta

2013-01-01

Full Text Available Conventional posterior dynamic stabilization devices demonstrated a tendency towards highly rigid stabilization approximating that of titanium rods in flexion. In extension, they excessively offload the index segment, making the device as the sole load-bearing structure, with concerns of device failure. The goal of this study was to compare the kinematics and intradiscal pressure of monosegmental stabilization utilizing a new device that incorporates both a flexion and extension dampening spacer to that of rigid internal fixation and a conventional posterior dynamic stabilization device. The hypothesis was the new device would minimize the overloading of adjacent levels compared to rigid and conventional devices which can only bend but not stretch. The biomechanics were compared following injury in a human cadaveric lumbosacral spine under simulated physiological loading conditions. The stabilization with the new posterior dynamic stabilization device significantly reduced motion uniformly in all loading directions, but less so than rigid fixation. The evaluation of adjacent level motion and pressure showed some benefit of the new device when compared to rigid fixation. Posterior dynamic stabilization designs which both bend and stretch showed improved kinematic and load-sharing properties when compared to rigid fixation and when indirectly compared to existing conventional devices without a bumper.

Planar rigid-flexible coupling spacecraft modeling and control considering solar array deployment and joint clearance

Science.gov (United States)

Li, Yuanyuan; Wang, Zilu; Wang, Cong; Huang, Wenhu

2018-01-01

Based on Nodal Coordinate Formulation (NCF) and Absolute Nodal Coordinate Formulation (ANCF), this paper establishes rigid-flexible coupling dynamic model of the spacecraft with large deployable solar arrays and multiple clearance joints to analyze and control the satellite attitude under deployment disturbance. Considering torque spring, close cable loop (CCL) configuration and latch mechanisms, a typical spacecraft composed of a rigid main-body described by NCF and two flexible panels described by ANCF is used as a demonstration case. Nonlinear contact force model and modified Coulomb friction model are selected to establish normal contact force and tangential friction model, respectively. Generalized elastic force are derived and all generalized forces are defined in the NCF-ANCF frame. The Newmark-β method is used to solve system equations of motion. The availability and superiority of the proposed model is verified through comparing with numerical co-simulations of Patran and ADAMS software. The numerical results reveal the effects of panel flexibility, joint clearance and their coupling on satellite attitude. The effects of clearance number, clearance size and clearance stiffness on satellite attitude are investigated. Furthermore, a proportional-differential (PD) attitude controller of spacecraft is designed to discuss the effect of attitude control on the dynamic responses of the whole system.

Large scale Brownian dynamics of confined suspensions of rigid particles

Science.gov (United States)

Sprinkle, Brennan; Balboa Usabiaga, Florencio; Patankar, Neelesh A.; Donev, Aleksandar

2017-12-01

We introduce methods for large-scale Brownian Dynamics (BD) simulation of many rigid particles of arbitrary shape suspended in a fluctuating fluid. Our method adds Brownian motion to the rigid multiblob method [F. Balboa Usabiaga et al., Commun. Appl. Math. Comput. Sci. 11(2), 217-296 (2016)] at a cost comparable to the cost of deterministic simulations. We demonstrate that we can efficiently generate deterministic and random displacements for many particles using preconditioned Krylov iterative methods, if kernel methods to efficiently compute the action of the Rotne-Prager-Yamakawa (RPY) mobility matrix and its "square" root are available for the given boundary conditions. These kernel operations can be computed with near linear scaling for periodic domains using the positively split Ewald method. Here we study particles partially confined by gravity above a no-slip bottom wall using a graphical processing unit implementation of the mobility matrix-vector product, combined with a preconditioned Lanczos iteration for generating Brownian displacements. We address a major challenge in large-scale BD simulations, capturing the stochastic drift term that arises because of the configuration-dependent mobility. Unlike the widely used Fixman midpoint scheme, our methods utilize random finite differences and do not require the solution of resistance problems or the computation of the action of the inverse square root of the RPY mobility matrix. We construct two temporal schemes which are viable for large-scale simulations, an Euler-Maruyama traction scheme and a trapezoidal slip scheme, which minimize the number of mobility problems to be solved per time step while capturing the required stochastic drift terms. We validate and compare these schemes numerically by modeling suspensions of boomerang-shaped particles sedimented near a bottom wall. Using the trapezoidal scheme, we investigate the steady-state active motion in dense suspensions of confined microrollers, whose

Substructured multibody molecular dynamics.

Energy Technology Data Exchange (ETDEWEB)

Grest, Gary Stephen; Stevens, Mark Jackson; Plimpton, Steven James; Woolf, Thomas B. (Johns Hopkins University, Baltimore, MD); Lehoucq, Richard B.; Crozier, Paul Stewart; Ismail, Ahmed E.; Mukherjee, Rudranarayan M. (Rensselaer Polytechnic Institute, Troy, NY); Draganescu, Andrei I.

2006-11-01

We have enhanced our parallel molecular dynamics (MD) simulation software LAMMPS (Large-scale Atomic/Molecular Massively Parallel Simulator, lammps.sandia.gov) to include many new features for accelerated simulation including articulated rigid body dynamics via coupling to the Rensselaer Polytechnic Institute code POEMS (Parallelizable Open-source Efficient Multibody Software). We use new features of the LAMMPS software package to investigate rhodopsin photoisomerization, and water model surface tension and capillary waves at the vapor-liquid interface. Finally, we motivate the recipes of MD for practitioners and researchers in numerical analysis and computational mechanics.

Fokker-type dynamics with three-body correlations

International Nuclear Information System (INIS)

Salas, A.; Sanchez-Ron, J.M.

1981-01-01

Dynamical systems of N point particles without internal degrees of freedom are studied. Their equations of motion are derived from a Fokker-type variational principle with n-body correlations (n = 2,3,...,N), with special emphasis on the case n = 3. The distinction between n-body correlation and n-body effective force is analyzed in detail, with the help of an example. Maximal sets of independent three-body Poincare-invariant scalars are given. An example of three-body correlation formally similar to the usual two-body long-range scalar correlation is given and discussed. (author)

Second-Order Inelastic Dynamic Analysis of 3D Semi-Rigid Steel Frames Under Earthquake Loads with Three Components

International Nuclear Information System (INIS)

Ozakgul, Kadir

2008-01-01

In this study, it has been presented an algorithm for second-order elastoplastic dynamic time-history analysis of three dimensional frames that have steel members with semirigid joints. The proposed analysis accounts for material, geometric and connection nonlinearities. Material nonlinearity have been modeled by the Ramberg-Osgood relation. While the geometric nonlinearity caused by axial force has been described by the use of the geometric stiffness matrix, the nonlinearity caused by the interaction between the axial force and bending moment has been also described by the use of the stability functions. The independent hardening model has been used to describe the nonlinear behaviour of semi-rigid connections. Dynamic equation of motion has been solved by Newmark's constant acceleration method in time history domain

Dipteran insect flight dynamics. Part 1 Longitudinal motion about hover.

Science.gov (United States)

Faruque, Imraan; Sean Humbert, J

2010-05-21

This paper presents a reduced-order model of longitudinal hovering flight dynamics for dipteran insects. The quasi-steady wing aerodynamics model is extended by including perturbation states from equilibrium and paired with rigid body equations of motion to create a nonlinear simulation of a Drosophila-like insect. Frequency-based system identification tools are used to identify the transfer functions from biologically inspired control inputs to rigid body states. Stability derivatives and a state space linear system describing the dynamics are also identified. The vehicle control requirements are quantified with respect to traditional human pilot handling qualities specification. The heave dynamics are found to be decoupled from the pitch/fore/aft dynamics. The haltere-on system revealed a stabilized system with a slow (heave) and fast subsidence mode, and a stable oscillatory mode. The haltere-off (bare airframe) system revealed a slow (heave) and fast subsidence mode and an unstable oscillatory mode, a modal structure in agreement with CFD studies. The analysis indicates that passive aerodynamic mechanisms contribute to stability, which may help explain how insects are able to achieve stable locomotion on a very small computational budget. Copyright (c) 2010. Published by Elsevier Ltd.

Exploiting short-term memory in soft body dynamics as a computational resource.

Science.gov (United States)

Nakajima, K; Li, T; Hauser, H; Pfeifer, R

2014-11-06

Soft materials are not only highly deformable, but they also possess rich and diverse body dynamics. Soft body dynamics exhibit a variety of properties, including nonlinearity, elasticity and potentially infinitely many degrees of freedom. Here, we demonstrate that such soft body dynamics can be employed to conduct certain types of computation. Using body dynamics generated from a soft silicone arm, we show that they can be exploited to emulate functions that require memory and to embed robust closed-loop control into the arm. Our results suggest that soft body dynamics have a short-term memory and can serve as a computational resource. This finding paves the way towards exploiting passive body dynamics for control of a large class of underactuated systems. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

Dynamic analysis of horizontal axis wind turbine by thin-walled beam theory

Science.gov (United States)

Wang, Jianhong; Qin, Datong; Lim, Teik C.

2010-08-01

A mixed flexible-rigid multi-body mathematical model is applied to predict the dynamic performance of a wind turbine system. Since the tower and rotor are both flexible thin-walled structures, a consistent expression for their deformations is applied, which employs a successive series of transformations to locate any point on the blade and tower relative to an inertial coordinate system. The kinetic and potential energy terms of each flexible body and rigid body are derived for use in the Lagrange approach to formulate the wind turbine system's governing equation. The mode shapes are then obtained from the free vibration solution, while the distributions of dynamic stress and displacement of the tower and rotor are computed from the forced vibration response analysis. Using this dynamic model, the influence of the tower's stiffness on the blade tip deformation is studied. From the analysis, it is evident that the proposed model not only inherits the simplicity of the traditional 1-D beam element, but also able to provide detailed information about the tower and rotor response due to the incorporation of the flexible thin-walled beam theory.

Super rigid nature of super-deformed bands

International Nuclear Information System (INIS)

Sharma, Neha; Mittal, H.M.; Jain, A.K.

2012-01-01

The phenomenon of high-spin super-deformation represents one of the most remarkable discoveries in nuclear physics. A large number of SD bands have been observed in A = 60, 80, 130, 150, 190 mass regions. The cascades of SD bands are known to be connected by electric quadruple E2 transitions. Because of absence of linking transitions between superdeformed (SD) and normal deformed (ND) levels, the spin assignments of most of these bands carry a minimum uncertainty ≈ 1-2ħ. It was found in an analysis of SD bands in the context of semi classical approach that moment of inertia comes close to the rigid body value in most of the cases. Lack of knowledge of spins has led to an emphasis on the study of dynamical moment of inertia of SD bands and systematic of kinematic moment of inertia has not been examined so far. In this paper, we extract the band moment of inertia J 0 and softness parameter (σ) of all the SD bands corresponding to axes ratio (x) = 1.5 and present their systematic

A High Performance Computing Approach to the Simulation of Fluid Solid Interaction Problems with Rigid and Flexible Components (Open Access Publisher’s Version)

Science.gov (United States)

2014-08-01

enhances flow incompressibility [20]. This correction takes into account the velocity of neighboring markers through a mean velocity evaluated within...interactions between individual markers; i.e., the right hand side of Eqs. (7) and (8), are accounted for, the total rigid body force and torque due to the...coordinate formulation. In: Proceedings of the ASME 2005 IDETC/ CIE . Orlando, Florida (2005). [35] Shabana A.: Flexible multibody dynamics: Review of

Understanding geological processes: Visualization of rigid and non-rigid transformations

Science.gov (United States)

Shipley, T. F.; Atit, K.; Manduca, C. A.; Ormand, C. J.; Resnick, I.; Tikoff, B.

2012-12-01

Visualizations are used in the geological sciences to support reasoning about structures and events. Research in cognitive sciences offers insights into the range of skills of different users, and ultimately how visualizations might support different users. To understand the range of skills needed to reason about earth processes we have developed a program of research that is grounded in the geosciences' careful description of the spatial and spatiotemporal patterns associated with earth processes. In particular, we are pursuing a research program that identifies specific spatial skills and investigates whether and how they are related to each other. For this study, we focus on a specific question: Is there an important distinction in the geosciences between rigid and non-rigid deformation? To study a general spatial thinking skill we employed displays with non-geological objects that had been altered by rigid change (rotation), and two types of non-rigid change ("brittle" (or discontinuous) and "ductile" (or continuous) deformation). Disciplinary scientists (geosciences and chemistry faculty), and novices (non-science faculty and undergraduate psychology students) answered questions that required them to visualize the appearance of the object before the change. In one study, geologists and chemists were found to be superior to non-science faculty in reasoning about rigid rotations (e.g., what an object would look like from a different perspective). Geologists were superior to chemists in reasoning about brittle deformations (e.g., what an object looked like before it was broken - here the object was a word cut into many fragments displaced in different directions). This finding is consistent with two hypotheses: 1) Experts are good at visualizing the types of changes required for their domain; and 2) Visualization of rigid and non-rigid changes are not the same skill. An additional important finding is that there was a broad range of skill in both rigid and non-rigid

DNA looping by FokI: the impact of twisting and bending rigidity on protein-induced looping dynamics

Science.gov (United States)

Laurens, Niels; Rusling, David A.; Pernstich, Christian; Brouwer, Ineke; Halford, Stephen E.; Wuite, Gijs J. L.

2012-01-01

Protein-induced DNA looping is crucial for many genetic processes such as transcription, gene regulation and DNA replication. Here, we use tethered-particle motion to examine the impact of DNA bending and twisting rigidity on loop capture and release, using the restriction endonuclease FokI as a test system. To cleave DNA efficiently, FokI bridges two copies of an asymmetric sequence, invariably aligning the sites in parallel. On account of the fixed alignment, the topology of the DNA loop is set by the orientation of the sites along the DNA. We show that both the separation of the FokI sites and their orientation, altering, respectively, the twisting and the bending of the DNA needed to juxtapose the sites, have profound effects on the dynamics of the looping interaction. Surprisingly, the presence of a nick within the loop does not affect the observed rigidity of the DNA. In contrast, the introduction of a 4-nt gap fully relaxes all of the torque present in the system but does not necessarily enhance loop stability. FokI therefore employs torque to stabilise its DNA-looping interaction by acting as a ‘torsional’ catch bond. PMID:22373924

Network rigidity and properties of SiO2 and GeO2 glasses under pressure.

Science.gov (United States)

Trachenko, Kostya; Dove, Martin T; Brazhkin, Vadim; El'kin, F S

2004-09-24

We report in situ studies of SiO2 glass under pressure and find that temperature-induced densification takes place in a pressure window. To explain this effect, we study how rigidity of glasses changes under pressure, with rigidity percolation affecting the dynamics of local relaxation events. We link rigidity percolation in glasses to other effects, including a large increase of crystallization temperature and logarithmic relaxation under pressure.

Analysis of Large Flexible Body Deformation in Multibody Systems Using Absolute Coordinates

Energy Technology Data Exchange (ETDEWEB)

Dombrowski, Stefan von [Institute of Robotics and Mechatronics, German Aerospace Center (DLR) (Germany)], E-mail: stefan.von.dombrowski@dlr.de

2002-11-15

To consider large deformation problems in multibody system simulations a finite element approach, called absolute nodal coordinate.formulation,has been proposed. In this formulation absolute nodal coordinates and their material derivatives are applied to represent both deformation and rigid body motion. The choice of nodal variables allows a fully nonlinear representation of rigid body motion and can provide the exact rigid body inertia in the case of large rotations. The methodology is especially suited for but not limited to modeling of beams, cables and shells in multibody dynamics.This paper summarizes the absolute nodal coordinate formulation for a 3D Euler-Bernoulli beam model, in particular the definition of nodal variables, corresponding generalized elastic and inertia forces and equations of motion. The element stiffness matrix is a nonlinear function of the nodal variables even in the case of linearized strain/displacement relations. Nonlinear strain/displacement relations can be calculated from the global displacements using quadrature formulae.Computational examples are given which demonstrate the capabilities of the applied methodology. Consequences of the choice of shape.functions on the representation of internal forces are discussed. Linearized strain/displacement modeling is compared to the nonlinear approach and significant advantages of the latter, when using the absolute nodal coordinate formulation, are outlined.

Analysis of Large Flexible Body Deformation in Multibody Systems Using Absolute Coordinates

International Nuclear Information System (INIS)

Dombrowski, Stefan von

2002-01-01

To consider large deformation problems in multibody system simulations a finite element approach, called absolute nodal coordinate.formulation,has been proposed. In this formulation absolute nodal coordinates and their material derivatives are applied to represent both deformation and rigid body motion. The choice of nodal variables allows a fully nonlinear representation of rigid body motion and can provide the exact rigid body inertia in the case of large rotations. The methodology is especially suited for but not limited to modeling of beams, cables and shells in multibody dynamics.This paper summarizes the absolute nodal coordinate formulation for a 3D Euler-Bernoulli beam model, in particular the definition of nodal variables, corresponding generalized elastic and inertia forces and equations of motion. The element stiffness matrix is a nonlinear function of the nodal variables even in the case of linearized strain/displacement relations. Nonlinear strain/displacement relations can be calculated from the global displacements using quadrature formulae.Computational examples are given which demonstrate the capabilities of the applied methodology. Consequences of the choice of shape.functions on the representation of internal forces are discussed. Linearized strain/displacement modeling is compared to the nonlinear approach and significant advantages of the latter, when using the absolute nodal coordinate formulation, are outlined

Dynamic Model and Vibration Power Flow of a Rigid-Flexible Coupling and Harmonic-Disturbance Exciting System for Flexible Robotic Manipulator with Elastic Joints

Directory of Open Access Journals (Sweden)

Yufei Liu

2015-01-01

Full Text Available This paper investigates the dynamic of a flexible robotic manipulator (FRM which consists of rigid driving base, flexible links, and flexible joints. With considering the motion fluctuations caused by the coupling effect, such as the motor parameters and mechanism inertias, as harmonic disturbances, the system investigated in this paper remains a parametrically excited system. An elastic restraint model of the FRM with elastic joints (FRMEJ is proposed, which considers the elastic properties of the connecting joints between the flexible arm and the driving base, as well as the harmonic disturbances aroused by the electromechanical coupling effect. As a consequence, the FRMEJ accordingly remains a flexible multibody system which conveys the effects of rigid-flexible couple and electromechanical couple. The Lagrangian function and Hamilton’s principle are used to establish the dynamic model of the FRMEJ. Based on the dynamic model proposed, the vibration power flow is introduced to show the vibration energy distribution. Numerical simulations are conducted to investigate the effect of the joint elasticities and the disturbance excitations, and the influences of the structure parameters and motion parameters on the vibration power flow are studied. The results obtained in this paper contribute to the structure design, motion optimization, and vibration control of FRMs.

A 3D, fully Eulerian, VOF-based solver to study the interaction between two fluids and moving rigid bodies using the fictitious domain method

Science.gov (United States)

Pathak, Ashish; Raessi, Mehdi

2016-04-01

We present a three-dimensional (3D) and fully Eulerian approach to capturing the interaction between two fluids and moving rigid structures by using the fictitious domain and volume-of-fluid (VOF) methods. The solid bodies can have arbitrarily complex geometry and can pierce the fluid-fluid interface, forming contact lines. The three-phase interfaces are resolved and reconstructed by using a VOF-based methodology. Then, a consistent scheme is employed for transporting mass and momentum, allowing for simulations of three-phase flows of large density ratios. The Eulerian approach significantly simplifies numerical resolution of the kinematics of rigid bodies of complex geometry and with six degrees of freedom. The fluid-structure interaction (FSI) is computed using the fictitious domain method. The methodology was developed in a message passing interface (MPI) parallel framework accelerated with graphics processing units (GPUs). The computationally intensive solution of the pressure Poisson equation is ported to GPUs, while the remaining calculations are performed on CPUs. The performance and accuracy of the methodology are assessed using an array of test cases, focusing individually on the flow solver and the FSI in surface-piercing configurations. Finally, an application of the proposed methodology in simulations of the ocean wave energy converters is presented.

Real-time motion compensated patient positioning and non-rigid deformation estimation using 4-D shape priors.

Science.gov (United States)

Wasza, Jakob; Bauer, Sebastian; Hornegger, Joachim

2012-01-01

Over the last years, range imaging (RI) techniques have been proposed for patient positioning and respiration analysis in motion compensation. Yet, current RI based approaches for patient positioning employ rigid-body transformations, thus neglecting free-form deformations induced by respiratory motion. Furthermore, RI based respiration analysis relies on non-rigid registration techniques with run-times of several seconds. In this paper we propose a real-time framework based on RI to perform respiratory motion compensated positioning and non-rigid surface deformation estimation in a joint manner. The core of our method are pre-procedurally obtained 4-D shape priors that drive the intra-procedural alignment of the patient to the reference state, simultaneously yielding a rigid-body table transformation and a free-form deformation accounting for respiratory motion. We show that our method outperforms conventional alignment strategies by a factor of 3.0 and 2.3 in the rotation and translation accuracy, respectively. Using a GPU based implementation, we achieve run-times of 40 ms.

Maxwell rigidity and topological constraints in amorphous phase-change networks

International Nuclear Information System (INIS)

Micoulaut, M.; Otjacques, C.; Raty, J.-Y.; Bichara, C.

2011-01-01

By analyzing first-principles molecular-dynamics simulations of different telluride amorphous networks, we develop a method for the enumeration of radial and angular topological constraints, and show that the phase diagram of the most popular system Ge-Sb-Te can be split into two compositional elastic phases: a tellurium rich flexible phase and a stressed rigid phase that contains most of the materials used in phase-change applications. This sound atomic scale insight should open new avenues for the understanding of phase-change materials and other complex amorphous materials from the viewpoint of rigidity.

Intermittent many-body dynamics at equilibrium

Science.gov (United States)

Danieli, C.; Campbell, D. K.; Flach, S.

2017-06-01

The equilibrium value of an observable defines a manifold in the phase space of an ergodic and equipartitioned many-body system. A typical trajectory pierces that manifold infinitely often as time goes to infinity. We use these piercings to measure both the relaxation time of the lowest frequency eigenmode of the Fermi-Pasta-Ulam chain, as well as the fluctuations of the subsequent dynamics in equilibrium. The dynamics in equilibrium is characterized by a power-law distribution of excursion times far off equilibrium, with diverging variance. Long excursions arise from sticky dynamics close to q -breathers localized in normal mode space. Measuring the exponent allows one to predict the transition into nonergodic dynamics. We generalize our method to Klein-Gordon lattices where the sticky dynamics is due to discrete breathers localized in real space.

Lattice dynamics of sapphire (corundum). Pt. 2

International Nuclear Information System (INIS)

Kappus, W.

1975-01-01

Theoretical models of the lattice dynamics of sapphire (α - Al 2 O 3 ), based on the assumption of rigid ions, have been fitted to measured phonons at the Gamma-point of the Brillouin zone. Short range interactions were taken into account by assuming 2-body interactions between touching ions. Additional 3-body interactions could not improve the fit significantly. Calculated dispersion curves are presented and compared with inelastic neutron scattering data. A good agreement for branches along the trigonal axis can be stated. (orig.) [de

Lagrangian relative equilibria for a gyrostat in the three-body problem: bifurcations and stability

Energy Technology Data Exchange (ETDEWEB)

Guirao, Juan L G; Vera, Juan A, E-mail: juan.garcia@upct.e, E-mail: juanantonio.vera@upct.e [Departamento de Matematica Aplicada y EstadIstica, Universidad Politecnica de Cartagena, Hospital de Marina, 30203 Cartagena, Region de Murcia (Spain)

2010-05-14

In this paper we consider the non-canonical Hamiltonian dynamics of a gyrostat in the frame of the three-body problem. Using geometric/mechanic methods we study the approximate dynamics of the truncated Legendre series representation of the potential of an arbitrary order. Working in the reduced problem, we study the existence of relative equilibria that we refer to as Lagrange type following the analogy with the standard techniques. We provide necessary and sufficient conditions for the linear stability of Lagrangian relative equilibria if the gyrostat morphology form is close to a sphere. Thus, we generalize the classical results on equilibria of the three-body problem and many results on them obtained by the classic approach for the case of rigid bodies.

Rigid-Plastic Approximations for Predicting Plastic Deformation of Cylindrical Shells Subject to Dynamic Loading

Directory of Open Access Journals (Sweden)

Michelle S. Hoo Fatt

1996-01-01

Full Text Available A theoretical approach was developed for predicting the plastic deformation of a cylindrical shell subject to asymmetric dynamic loads. The plastic deformation of the leading generator of the shell is found by solving for the transverse deflections of a rigid-plastic beam/string-on-foundation. The axial bending moment and tensile force in the beam/string are equivalent to the longitudinal bending moments and membrane forces of the shell, while the plastic foundation force is equivalent to the shell circumferential bending moment and membrane resistances. Closed-form solutions for the transient and final deformation profile of an impulsive loaded shell when it is in a “string” state were derived using the eigenfunction expansion method. These results were compared to DYNA 3D predictions. The analytical predictions of the transient shell and final centerline deflections were within 25% of the DYNA 3D results.

RIGID AND NON-RIGID KINEMATIC EXCITATION FOR MULTIPLY-SUPPORTED SYSTEM: ONCE MORE ABOUT THE CONTRIBUTION OF DAMPING TO THE DYNAMIC LOADS IN SEISMIC ANALYSIS

Directory of Open Access Journals (Sweden)

Alexander G. Tyapin

2018-03-01

Full Text Available Development of linear equations of motion for seismic analysis is discussed in the paper. The paper continues the discussion: the author does not agree with colleagues putting damping matrix into the right-hand part of the equation of motion describing dynamic loads. This disagreement refers to the most popular case of “rigid” motion of multiple supports. In this paper the author follows the logic of general “non-rigid” support motion and points out a step in the equation development when the transition to “rigid” support motion (as a particular case of “non-rigid” motion is spoiled by the opponents. In the author’s opinion, the mistake is in the implementation of the Rayleigh damping model for the right-hand part of the equation. This is in the contradiction with physical logic, as damping in the Rayleigh model is not really “internal”: due to the participation of mass matrix it works on rigid displacements, which is impossible for internal damping.

Stress, strain, and structural dynamics an interactive handbook of formulas, solutions, and Matlab toolboxes

CERN Document Server

Yang, Bingen

2005-01-01

Stress, Strain, and Structural Dynamics is a comprehensive and definitive reference to statics and dynamics of solids and structures, including mechanics of materials, structural mechanics, elasticity, rigid-body dynamics, vibrations, structural dynamics, and structural controls. This text integrates the development of fundamental theories, formulas and mathematical models with user-friendly interactive computer programs, written in the powerful and popular MATLAB. This unique merger of technical referencing and interactive computing allows instant solution of a variety of engineering problems

Water dissociating on rigid Ni(100): A quantum dynamics study on a full-dimensional potential energy surface

Science.gov (United States)

Liu, Tianhui; Chen, Jun; Zhang, Zhaojun; Shen, Xiangjian; Fu, Bina; Zhang, Dong H.

2018-04-01

We constructed a nine-dimensional (9D) potential energy surface (PES) for the dissociative chemisorption of H2O on a rigid Ni(100) surface using the neural network method based on roughly 110 000 energies obtained from extensive density functional theory (DFT) calculations. The resulting PES is accurate and smooth, based on the small fitting errors and the good agreement between the fitted PES and the direct DFT calculations. Time dependent wave packet calculations also showed that the PES is very well converged with respect to the fitting procedure. The dissociation probabilities of H2O initially in the ground rovibrational state from 9D quantum dynamics calculations are quite different from the site-specific results from the seven-dimensional (7D) calculations, indicating the importance of full-dimensional quantum dynamics to quantitatively characterize this gas-surface reaction. It is found that the validity of the site-averaging approximation with exact potential holds well, where the site-averaging dissociation probability over 15 fixed impact sites obtained from 7D quantum dynamics calculations can accurately approximate the 9D dissociation probability for H2O in the ground rovibrational state.

Efficient Brownian Dynamics of rigid colloids in linear flow fields based on the grand mobility matrix

Science.gov (United States)

Palanisamy, Duraivelan; den Otter, Wouter K.

2018-05-01

We present an efficient general method to simulate in the Stokesian limit the coupled translational and rotational dynamics of arbitrarily shaped colloids subject to external potential forces and torques, linear flow fields, and Brownian motion. The colloid's surface is represented by a collection of spherical primary particles. The hydrodynamic interactions between these particles, here approximated at the Rotne-Prager-Yamakawa level, are evaluated only once to generate the body's (11 × 11) grand mobility matrix. The constancy of this matrix in the body frame, combined with the convenient properties of quaternions in rotational Brownian Dynamics, enables an efficient simulation of the body's motion. Simulations in quiescent fluids yield correct translational and rotational diffusion behaviour and sample Boltzmann's equilibrium distribution. Simulations of ellipsoids and spherical caps under shear, in the absence of thermal fluctuations, yield periodic orbits in excellent agreement with the theories by Jeffery and Dorrepaal. The time-varying stress tensors provide the Einstein coefficient and viscosity of dilute suspensions of these bodies.

A virtual pebble game to ensemble average graph rigidity.

Science.gov (United States)

González, Luis C; Wang, Hui; Livesay, Dennis R; Jacobs, Donald J

2015-01-01

The body-bar Pebble Game (PG) algorithm is commonly used to calculate network rigidity properties in proteins and polymeric materials. To account for fluctuating interactions such as hydrogen bonds, an ensemble of constraint topologies are sampled, and average network properties are obtained by averaging PG characterizations. At a simpler level of sophistication, Maxwell constraint counting (MCC) provides a rigorous lower bound for the number of internal degrees of freedom (DOF) within a body-bar network, and it is commonly employed to test if a molecular structure is globally under-constrained or over-constrained. MCC is a mean field approximation (MFA) that ignores spatial fluctuations of distance constraints by replacing the actual molecular structure by an effective medium that has distance constraints globally distributed with perfect uniform density. The Virtual Pebble Game (VPG) algorithm is a MFA that retains spatial inhomogeneity in the density of constraints on all length scales. Network fluctuations due to distance constraints that may be present or absent based on binary random dynamic variables are suppressed by replacing all possible constraint topology realizations with the probabilities that distance constraints are present. The VPG algorithm is isomorphic to the PG algorithm, where integers for counting "pebbles" placed on vertices or edges in the PG map to real numbers representing the probability to find a pebble. In the VPG, edges are assigned pebble capacities, and pebble movements become a continuous flow of probability within the network. Comparisons between the VPG and average PG results over a test set of proteins and disordered lattices demonstrate the VPG quantitatively estimates the ensemble average PG results well. The VPG performs about 20% faster than one PG, and it provides a pragmatic alternative to averaging PG rigidity characteristics over an ensemble of constraint topologies. The utility of the VPG falls in between the most

Comparative multibody dynamics analysis of falls from playground climbing frames

OpenAIRE

Forero Rueda, Manuel A.; Gilchrist, M. D.

2009-01-01

This paper shows the utility of multibody dynamics in evaluating changes in injury related parameters of the head and lower limbs of children following falls from playground climbing frames. A particular fall case was used as a starting point to analyze the influence of surface properties, posture of the body at impact, and intermediate collisions against the climbing frame before impacting the ground. Simulations were made using the 6-year-old pedestrian MADYMO rigid body model and scaled he...

Dynamic representations of human body movement.

Science.gov (United States)

Kourtzi, Z; Shiffrar, M

1999-01-01

Psychophysical and neurophysiological studies suggest that human body motions can be readily recognized. Human bodies are highly articulated and can move in a nonrigid manner. As a result, we perceive highly dissimilar views of the human form in motion. How does the visual system integrate multiple views of a human body in motion so that we can perceive human movement as a continuous event? The results of a set of priming experiments suggest that motion can readily facilitate the linkage of different views of a moving human. Positive priming was found for novel views of a human body that fell within the path of human movement. However, no priming was observed for novel views outside the path of motion. Furthermore, priming was restricted to those views that satisfied the biomechanical constraints of human movement. These results suggest that visual representation of human movement may be based upon the movement limitations of the human body and may reflect a dynamic interaction of motion and object-recognition processes.

Quasiparticle many-body dynamics of the Anderson model

International Nuclear Information System (INIS)

Kuzemskij, A.L.

1996-01-01

The paper addresses the many-body quasiparticle dynamics of the Anderson impurity model at finite temperatures in the framework of the equation-of-motion method. We find a new exact identity relating the one-particle and many-particle Green's Functions. Using this identity we present a consistent and general scheme for a construction of generalised mean fields (elastic scattering corrections) and self-energy (inelastic scattering) in terms of the Dyson equation. A new approach for the complex expansion for the single-particle propagator in terms of the Coulomb repulsion U and hybridization V is proposed. Using the exact identity, the essentially new many-body dynamical solution of SIAM has been derived. This approach offers a new way for the systematic construction of the approximative interpolating dynamical solutions of the strongly correlated electron systems. 47 refs

On the libration collinear points in the restricted three – body problem

Directory of Open Access Journals (Sweden)

Alzahrani F.

2017-03-01

Full Text Available In the restricted problem of three bodies when the primaries are triaxial rigid bodies, the necessary and sufficient conditions to find the locations of the three libration collinear points are stated. In addition, the Linear stability of these points is studied for the case of the Euler angles of rotational motion being θi = 0, ψi + φi = π/2, i = 1, 2 accordingly. We underline that the model studied in this paper has special importance in space dynamics when the third body moves in gravitational fields of planetary systems and particularly in a Jupiter model or a problem including an irregular asteroid.

Floating substructure flexibility of large-volume 10MW offshore wind turbine platforms in dynamic calculations

DEFF Research Database (Denmark)

Borg, Michael; Hansen, Anders Melchior; Bredmose, Henrik

2016-01-01

to the extent that it becomes relevant to include in addition to the standard rigid body substructure modes which are typically described through linear radiation-diffraction theory. This paper describes a method for the inclusion of substructural flexibility in aero-hydro-servo-elastic dynamic simulations...

Dynamical stability of the one-dimensional rigid Brownian rotator: the role of the rotator’s spatial size and shape

Science.gov (United States)

Jeknić-Dugić, Jasmina; Petrović, Igor; Arsenijević, Momir; Dugić, Miroljub

2018-05-01

We investigate dynamical stability of a single propeller-like shaped molecular cogwheel modelled as the fixed-axis rigid rotator. In the realistic situations, rotation of the finite-size cogwheel is subject to the environmentally-induced Brownian-motion effect that we describe by utilizing the quantum Caldeira-Leggett master equation. Assuming the initially narrow (classical-like) standard deviations for the angle and the angular momentum of the rotator, we investigate the dynamics of the first and second moments depending on the size, i.e. on the number of blades of both the free rotator as well as of the rotator in the external harmonic field. The larger the standard deviations, the less stable (i.e. less predictable) rotation. We detect the absence of the simple and straightforward rules for utilizing the rotator’s stability. Instead, a number of the size-related criteria appear whose combinations may provide the optimal rules for the rotator dynamical stability and possibly control. In the realistic situations, the quantum-mechanical corrections, albeit individually small, may effectively prove non-negligible, and also revealing subtlety of the transition from the quantum to the classical dynamics of the rotator. As to the latter, we detect a strong size-dependence of the transition to the classical dynamics beyond the quantum decoherence process.

System Reduction in Nonlinear Multibody Dynamics of Wind Turbines

DEFF Research Database (Denmark)

Holm-Jørgensen, Kristian; Nielsen, Søren R.K.; Rubak, Rune

2007-01-01

In this paper the system reduction in nonlinear multibody dynamics of wind turbines is investigated for various updating schemes of the moving frame of reference. In one case, the moving frame of reference is updated to a stiff body, relative to which the elastic deformations are fixed at one end....... In the other case, the stiff body motion is defined as the chord line connecting the end points of the beam, and the elastic deformations are simply supported at the end points. The system reduction is performed by discretizing the spatial motion into a set of rigid body modes and linear elastic eigenmodes...

Rigid-beam model of a high-efficiency magnicon

International Nuclear Information System (INIS)

Rees, D.E.; Tallerico, P.J.; Humphries, S.J. Jr.

1993-01-01

The magnicon is a new type of high-efficiency deflection-modulated amplifier developed at the Institute of Nuclear Physics in Novosibirsk, Russia. The prototype pulsed magnicon achieved an output power of 2.4 MW and an efficiency of 73% at 915 MHz. This paper presents the results of a rigid-beam model for a 700-MHz, 2.5-MW 82%-efficient magnicon. The rigid-beam model allows for characterization of the beam dynamics by tracking only a single electron. The magnicon design presented consists of a drive cavity; passive cavities; a pi-mode, coupled-deflection cavity; and an output cavity. It represents an optimized design. The model is fully self-consistent, and this paper presents the details of the model and calculated performance of a 2.5-MW magnicon

A model for an acoustically driven microbubble inside a rigid tube

KAUST Repository

Qamar, Adnan; Samtaney, Ravi

2014-01-01

A theoretical framework to model the dynamics of acoustically driven microbubble inside a rigid tube is presented. The proposed model is not a variant of the conventional Rayleigh-Plesset category of models. It is derived from the reduced Navier

Evaluating a steel beam’s rigid connection to a concrete filled tubular column when submitted to dynamic load

Directory of Open Access Journals (Sweden)

Maritza Uribe Vallejo

2009-01-01

Full Text Available Using prequalified connections during the structural design stage becomes increasingly necessary when developing structural en-gineering projects which include steel elements; this is so that the steel elements’ appropriate behavior can be ensured according to the structural system and seismic demand. Unfortunately, the international entities providing this type of information (i.e. FEMA only have a limit series of prequalified connections and such series do not include rigid connections between steel beams and concrete filled tubular (CFT columns having an extended end plate, which has become a very widespread building practice in Colombia. This paper describes the most important aspects of a study at the Universidad Nacional de Colombia concerning the behavior of a steel beam rigidly connected to a CFT-column, using six physical models having different width-thickness ratio (b/t columns. ANSYS v.10 software was used for studying theoretical models (finite elements analysis for comparative analysis of cyclic test theoretical and experimental results for each specimen presented for the qualification phase. The six tested specimens’ hysteretic curves are presented. Several conclusions are drawn concerning finite element validation for this type of connection and the influence of width-thickness ratio (b/t variation and design recommendations for suitable behavior under dynamic loads when this type of connection was used.

Three-dimensional formulation of rigid-flexible multibody systems with flexible beam elements

International Nuclear Information System (INIS)

Garcia-Vallejo, D.; Mayo, J.; Escalona, J. L.; Dominguez, J.

2008-01-01

Multibody systems generally contain solids with appreciable deformations and which decisively influence the dynamics of the system. These solids have to be modeled by means of special formulations for flexible solids. At the same time, other solids are of such a high stiffness that they may be considered rigid, which simplifies their modeling. For these reasons, for a rigid-flexible multibody system, two types of formulations coexist in the equations of the system. Among the different possibilities provided in the literature on the material, the formulation in natural coordinates and the formulation in absolute nodal coordinates are utilized in this paper to model the rigid and flexible solids, respectively. This paper contains a mixed formulation based on the possibility of sharing coordinates between a rigid solid and a flexible solid. The global mass matrix of the system is shown to be constant and, in addition, many of the constraint equations obtained upon utilizing these formulations are linear and can be eliminated

Free-fall dynamics of a pair of rigidly linked disks

Science.gov (United States)

Kim, Taehyun; Chang, Jaehyeock; Kim, Daegyoum

2018-03-01

We investigate experimentally the free-fall motion of a pair of identical disks rigidly connected to each other. The three-dimensional coordinates of the pair of falling disks were constructed to quantitatively describe its trajectory, and the flow structure formed by the disk pair was identified by using dye visualization. The rigidly linked disk pair exhibits a novel falling pattern that creates a helical path with a conical configuration in which the lower disk rotates in a wider radius than the upper disk with respect to a vertical axis. The helical motion occurs consistently for the range of disk separation examined in this study. The dye visualization reveals that a strong, noticeable helical vortex core is generated from the outer tip of the lower disk during the helical motion. With an increasing length ratio, which is the ratio of the disk separation to the diameter of the disks, the nutation angle and the rate of change in the precession angle that characterize the combined helical and conical kinematics decrease linearly, whereas the pitch of the helical path increases linearly. Although all disk pairs undergo this helical motion, the horizontal-drift patterns of the disk pair depend on the length ratio.

Curvilinear immersed boundary method for simulating fluid structure interaction with complex 3D rigid bodies

Science.gov (United States)

Borazjani, Iman; Ge, Liang; Sotiropoulos, Fotis

2008-08-01

The sharp-interface CURVIB approach of Ge and Sotiropoulos [L. Ge, F. Sotiropoulos, A numerical method for solving the 3D unsteady incompressible Navier-Stokes equations in curvilinear domains with complex immersed boundaries, Journal of Computational Physics 225 (2007) 1782-1809] is extended to simulate fluid structure interaction (FSI) problems involving complex 3D rigid bodies undergoing large structural displacements. The FSI solver adopts the partitioned FSI solution approach and both loose and strong coupling strategies are implemented. The interfaces between immersed bodies and the fluid are discretized with a Lagrangian grid and tracked with an explicit front-tracking approach. An efficient ray-tracing algorithm is developed to quickly identify the relationship between the background grid and the moving bodies. Numerical experiments are carried out for two FSI problems: vortex induced vibration of elastically mounted cylinders and flow through a bileaflet mechanical heart valve at physiologic conditions. For both cases the computed results are in excellent agreement with benchmark simulations and experimental measurements. The numerical experiments suggest that both the properties of the structure (mass, geometry) and the local flow conditions can play an important role in determining the stability of the FSI algorithm. Under certain conditions the FSI algorithm is unconditionally unstable even when strong coupling FSI is employed. For such cases, however, combining the strong coupling iteration with under-relaxation in conjunction with the Aitken's acceleration technique is shown to effectively resolve the stability problems. A theoretical analysis is presented to explain the findings of the numerical experiments. It is shown that the ratio of the added mass to the mass of the structure as well as the sign of the local time rate of change of the force or moment imparted on the structure by the fluid determine the stability and convergence of the FSI

Exotic distributions of rigid unit modes in the reciprocal spaces of framework aluminosilicates

International Nuclear Information System (INIS)

Dove, Martin T; Pryde, Alexandra K A; Heine, Volker; Hammonds, Kenton D

2007-01-01

Until recently it was assumed that rigid unit modes, defined as the zero-frequency solutions to the dynamical equations for an infinite framework of rigid corner-linked tetrahedra, were confined to a small set of normal modes with wavevectors on lines or planes of special symmetry in reciprocal space. Using a search method that explores the full three-dimensional reciprocal space, we have located rigid unit modes with wavevectors on exotic curved surfaces in reciprocal space for a range of silicate minerals. This has led to the realization that the crystal structures of these minerals contain rather more topological floppiness than had previously been realized. The origin of the exotic RUM surfaces remains to be understood

A soft-rigid contact model of MPM for granular flow impact on retaining structures

Science.gov (United States)

Li, Xinpo; Xie, Yanfang; Gutierrez, Marte

2018-02-01

Protective measures against hazards associated with rapid debris avalanches include a variety of retaining structures such as rock/boulder fences, gabions, earthfill barriers and retaining walls. However, the development of analytical and numerical methods for the rational assessment of impact force generated by granular flows is still a challenge. In this work, a soft-rigid contact model is built under the coding framework of MPM which is a hybrid method with Eulerian-Lagrangian description. The soft bodies are discretized into particles (material points), and the rigid bodies are presented by rigid node-based surfaces. Coulomb friction model is used to implement the modeled contact mechanics, and a velocity-dependent friction coefficient is coupled into the model. Simulations of a physical experiment show that the peak and residual value of impact forces are well captured by the MPM model. An idealized scenario of debris avalanche flow down a hillslope and impacting on a retaining wall are analyzed using the MPM model. The calculated forces can provide a quantitative estimate from which mound design could proceed for practical implementation in the field.

Dynamical manifestations of quantum chaos: correlation hole and bulge

Science.gov (United States)

Torres-Herrera, E. J.; Santos, Lea F.

2017-10-01

A main feature of a chaotic quantum system is a rigid spectrum where the levels do not cross. We discuss how the presence of level repulsion in lattice many-body quantum systems can be detected from the analysis of their time evolution instead of their energy spectra. This approach is advantageous to experiments that deal with dynamics, but have limited or no direct access to spectroscopy. Dynamical manifestations of avoided crossings occur at long times. They correspond to a drop, referred to as correlation hole, below the asymptotic value of the survival probability and to a bulge above the saturation point of the von Neumann entanglement entropy and the Shannon information entropy. By contrast, the evolution of these quantities at shorter times reflects the level of delocalization of the initial state, but not necessarily a rigid spectrum. The correlation hole is a general indicator of the integrable-chaos transition in disordered and clean models and as such can be used to detect the transition to the many-body localized phase in disordered interacting systems. This article is part of the themed issue 'Breakdown of ergodicity in quantum systems: from solids to synthetic matter'.

High precision NC lathe feeding system rigid-flexible coupling model reduction technology

Science.gov (United States)

Xuan, He; Hua, Qingsong; Cheng, Lianjun; Zhang, Hongxin; Zhao, Qinghai; Mao, Xinkai

2017-08-01

This paper proposes the use of dynamic substructure method of reduction of order to achieve effective reduction of feed system for high precision NC lathe feeding system rigid-flexible coupling model, namely the use of ADAMS to establish the rigid flexible coupling simulation model of high precision NC lathe, and then the vibration simulation of the period by using the FD 3D damper is very effective for feed system of bolt connection reduction of multi degree of freedom model. The vibration simulation calculation is more accurate, more quickly.

Rigid-body motion correction of the liver in image reconstruction for golden-angle stack-of-stars DCE MRI.

Science.gov (United States)

Johansson, Adam; Balter, James; Cao, Yue

2018-03-01

Respiratory motion can affect pharmacokinetic perfusion parameters quantified from liver dynamic contrast-enhanced MRI. Image registration can be used to align dynamic images after reconstruction. However, intra-image motion blur remains after alignment and can alter the shape of contrast-agent uptake curves. We introduce a method to correct for inter- and intra-image motion during image reconstruction. Sixteen liver dynamic contrast-enhanced MRI examinations of nine subjects were performed using a golden-angle stack-of-stars sequence. For each examination, an image time series with high temporal resolution but severe streak artifacts was reconstructed. Images were aligned using region-limited rigid image registration within a region of interest covering the liver. The transformations resulting from alignment were used to correct raw data for motion by modulating and rotating acquired lines in k-space. The corrected data were then reconstructed using view sharing. Portal-venous input functions extracted from motion-corrected images had significantly greater peak signal enhancements (mean increase: 16%, t-test, P <  0.001) than those from images aligned using image registration after reconstruction. In addition, portal-venous perfusion maps estimated from motion-corrected images showed fewer artifacts close to the edge of the liver. Motion-corrected image reconstruction restores uptake curves distorted by motion. Motion correction also reduces motion artifacts in estimated perfusion parameter maps. Magn Reson Med 79:1345-1353, 2018. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.

Development of collision dynamics models to estimate the results of full-scale rail vehicle impact tests : Tufts University Master's Thesis

Science.gov (United States)

2000-11-01

In an effort to study occupant survivability in train collisions, analyses and tests were conducted to understand and improve the crashworthiness of rail vehicles. A collision dynamics model was developed in order to estimate the rigid body motion of...

Dynamic Analysis of Planar 3-RRR Flexible Parallel Robots with Dynamic Stiffening

Directory of Open Access Journals (Sweden)

Qinghua Zhang

2014-01-01

Full Text Available In consideration of the second-order coupling quantity of the axial displacement caused by the transverse displacement of flexible beam, the first-order approximation coupling model of planar 3-RRR flexible parallel robots is presented, in which the rigid body motion constraints, elastic deformation motion constraints, and dynamic constraints of the moving platform are considered. Based on the different speed of the moving platform, numerical simulation results using the conventional zero-order approximation coupling model and the proposed firstorder approximation coupling model show that the effect of “dynamic stiffening” term on dynamic characteristics of the system is insignificant and can be neglected, and the zero-order approximation coupling model is enough precisely for catching essentially dynamic characteristics of the system. Then, the commercial software ANSYS 13.0 is used to confirm the validity of the zero-order approximation coupling model.

Thermalization dynamics in a quenched many-body state

Science.gov (United States)

Kaufman, Adam; Preiss, Philipp; Tai, Eric; Lukin, Alex; Rispoli, Matthew; Schittko, Robert; Greiner, Markus

2016-05-01

Quantum and classical many-body systems appear to have disparate behavior due to the different mechanisms that govern their evolution. The dynamics of a classical many-body system equilibrate to maximally entropic states and quickly re-thermalize when perturbed. The assumptions of ergodicity and unbiased configurations lead to a successful framework of describing classical systems by a sampling of thermal ensembles that are blind to the system's microscopic details. By contrast, an isolated quantum many-body system is governed by unitary evolution: the system retains memory of past dynamics and constant global entropy. However, even with differing characteristics, the long-term behavior for local observables in quenched, non-integrable quantum systems are often well described by the same thermal framework. We explore the onset of this convergence in a many-body system of bosonic atoms in an optical lattice. Our system's finite size allows us to verify full state purity and measure local observables. We observe rapid growth and saturation of the entanglement entropy with constant global purity. The combination of global purity and thermalized local observables agree with the Eigenstate Thermalization Hypothesis in the presence of a near-volume law in the entanglement entropy.

The dynamical behaviour of SS 433

International Nuclear Information System (INIS)

Collins, G.W. II

1985-01-01

In this paper a dynamical formalism is developed for describing the motion of a distorted object moving under the influence of the gravitational fields present in a close binary system. The object is assumed to be centred about one of the components and to have a form or shape sustained by axial forces such as rotation in addition to tides generated by the companion. Although such a shape will not be temporally constant, the moments of inertia are expressible in terms of the canonical coordinates of the problem and vary in a periodic manner. The dynamical behaviour of this 'elastic' body can be expressed in terms of periodic motion analogous to that found in a rigid body. The details of the resultant motion in turn places constraints on the nature of the components of the system. (author)

Revisiting the Body-Schema Concept in the Context of Whole-Body Postural-Focal Dynamics

Science.gov (United States)

Morasso, Pietro; Casadio, Maura; Mohan, Vishwanathan; Rea, Francesco; Zenzeri, Jacopo

2015-01-01

The body-schema concept is revisited in the context of embodied cognition, further developing the theory formulated by Marc Jeannerod that the motor system is part of a simulation network related to action, whose function is not only to shape the motor system for preparing an action (either overt or covert) but also to provide the self with information on the feasibility and the meaning of potential actions. The proposed computational formulation is based on a dynamical system approach, which is linked to an extension of the equilibrium-point hypothesis, called Passive Motor Paradigm: this dynamical system generates goal-oriented, spatio-temporal, sensorimotor patterns, integrating a direct and inverse internal model in a multi-referential framework. The purpose of such computational model is to operate at the same time as a general synergy formation machinery for planning whole-body actions in humanoid robots and/or for predicting coordinated sensory–motor patterns in human movements. In order to illustrate the computational approach, the integration of simultaneous, even partially conflicting tasks will be analyzed in some detail with regard to postural-focal dynamics, which can be defined as the fusion of a focal task, namely reaching a target with the whole-body, and a postural task, namely maintaining overall stability. PMID:25741274

Revisiting the body-schema concept in the context of whole-body postural-focal dynamics.

Science.gov (United States)

Morasso, Pietro; Casadio, Maura; Mohan, Vishwanathan; Rea, Francesco; Zenzeri, Jacopo

2015-01-01

The body-schema concept is revisited in the context of embodied cognition, further developing the theory formulated by Marc Jeannerod that the motor system is part of a simulation network related to action, whose function is not only to shape the motor system for preparing an action (either overt or covert) but also to provide the self with information on the feasibility and the meaning of potential actions. The proposed computational formulation is based on a dynamical system approach, which is linked to an extension of the equilibrium-point hypothesis, called Passive Motor Paradigm: this dynamical system generates goal-oriented, spatio-temporal, sensorimotor patterns, integrating a direct and inverse internal model in a multi-referential framework. The purpose of such computational model is to operate at the same time as a general synergy formation machinery for planning whole-body actions in humanoid robots and/or for predicting coordinated sensory-motor patterns in human movements. In order to illustrate the computational approach, the integration of simultaneous, even partially conflicting tasks will be analyzed in some detail with regard to postural-focal dynamics, which can be defined as the fusion of a focal task, namely reaching a target with the whole-body, and a postural task, namely maintaining overall stability.

Revisiting the body-schema concept in the context of Whole-Body Postural-Focal Dynamics

Directory of Open Access Journals (Sweden)

Pietro eMorasso

2015-02-01

Full Text Available The body schema concept is revisited in the context of embodied cognition, further developing the theory formulated by Marc Jeannerod that the motor system is part of a simulation network related to action, whose function is not only to shape the motor system for preparing an action (either overt or covert, but also to provide the self with information on the feasibility and the meaning of potential actions. The proposed computational formulation is based on a dynamical system approach, which is linked to an extension of the Equilibrium Point Hypothesis, called Passive Motor Paradigm: this dynamical system generates goal-oriented, spatio-temporal, sensorimotor patterns, integrating a direct and inverse internal model in a multi-referential framework. The purpose of such computational model is to operate at the same time as a general synergy formation machinery for planning whole-body actions in humanoid robots and/or for predicting coordinated sensory-motor patterns in human movements. In order to illustrate the computational approach, the integration of simultaneous, even partially conflicting tasks will be analyzed in some detail with regard to postural-focal dynamics, which can be defined as the fusion of a focal task, namely reaching a target with the whole-body, and a postural task, namely maintaining overall stability.

Rigidly foldable origami gadgets and tessellations

Science.gov (United States)

Evans, Thomas A.; Lang, Robert J.; Magleby, Spencer P.; Howell, Larry L.

2015-01-01

Rigidly foldable origami allows for motion where all deflection occurs at the crease lines and facilitates the application of origami in materials other than paper. In this paper, we use a recently discovered method for determining rigid foldability to identify existing flat-foldable rigidly foldable tessellations, which are also categorized. We introduce rigidly foldable origami gadgets which may be used to modify existing tessellations or to create new tessellations. Several modified and new rigidly foldable tessellations are presented. PMID:26473037

Torsional vibration of crankshaft in an engine propeller nonlinear dynamical system

Science.gov (United States)

Zhang, X.; Yu, S. D.

2009-01-01

Theoretical and experimental studies on torsional vibration of an aircraft engine-propeller system are presented in this paper. Two system models—a rigid body model and a flexible body model, are developed for predicting torsional vibrations of the crankshaft under different engine powers and propeller pitch settings. In the flexible body model, the distributed torsional flexibility and mass moment of inertia of the crankshaft are considered using the finite element method. The nonlinear autonomous equations of motion for the engine-propeller dynamical system are established using the augmented Lagrange equations, and solved using the Runge-Kutta method after a degrees of freedom reduction scheme is applied. Experiments are carried out on a three-cylinder four-stroke engine. Both theoretical and experimental studies reveal that the crankshaft flexibility has significant influence on the system dynamical behavior.

Label-free in situ imaging of oil body dynamics and chemistry in germination.

Science.gov (United States)

Waschatko, Gustav; Billecke, Nils; Schwendy, Sascha; Jaurich, Henriette; Bonn, Mischa; Vilgis, Thomas A; Parekh, Sapun H

2016-10-01

Plant oleosomes are uniquely emulsified lipid reservoirs that serve as the primary energy source during seed germination. These oil bodies undergo significant changes regarding their size, composition and structure during normal seedling development; however, a detailed characterization of these oil body dynamics, which critically affect oil body extractability and nutritional value, has remained challenging because of a limited ability to monitor oil body location and composition during germination in situ Here, we demonstrate via in situ, label-free imaging that oil bodies are highly dynamic intracellular organelles that are morphologically and biochemically remodelled extensively during germination. Label-free, coherent Raman microscopy (CRM) combined with bulk biochemical measurements revealed the temporal and spatial regulation of oil bodies in native soya bean cotyledons during the first eight days of germination. Oil bodies undergo a cycle of growth and shrinkage that is paralleled by lipid and protein compositional changes. Specifically, the total protein concentration associated with oil bodies increases in the first phase of germination and subsequently decreases. Lipids contained within the oil bodies change in saturation and chain length during germination. Our results show that CRM is a well-suited platform to monitor in situ lipid dynamics and local chemistry and that oil bodies are actively remodelled during germination. This underscores the dynamic role of lipid reservoirs in plant development. © 2016 The Authors.

Yaw control for active damping of structural dynamics

Energy Technology Data Exchange (ETDEWEB)

Ekelund, T. [Chalmers Univ. of Technology, Goeteborg (Sweden). Control Engineering Lab.

1996-12-01

Yaw torque control for reduction of structural dynamic loads in a two-bladed wind turbine is investigated. The models are obtained using rigid-body mechanics. Linear quadratic control theory is utilized for design and analysis. The analysis of two simple examples, where the teeter angle and the tower lateral bending motion are regarded, shows that a time-varying controller has some advantages compared with a time-invariant controller. 6 refs, 9 figs

Nuclear many-body correlation dynamics--a nonperturbative approach in quantum many-body theory

International Nuclear Information System (INIS)

Wang Shunjin

1996-01-01

Based on the experimental results and theoretical experience in nuclear physics, the article has explored the basic physical ideas and theoretical methods in nuclear and quantum many-body correlation dynamics. The main theoretical results and important applications are introduced briefly. The paper addresses the fundamental ingredients and physical interpretation of theoretical results in a comprehensive way. Recent new results about correlation dynamics in quantum field theories are also presented. The perspectives of further application are viewed. (91 refs.)

Dynamic contact with Signorini's condition and slip rate dependent friction

Directory of Open Access Journals (Sweden)

Kenneth Kuttler

2004-06-01

Full Text Available Existence of a weak solution for the problem of dynamic frictional contact between a viscoelastic body and a rigid foundation is established. Contact is modelled with the Signorini condition. Friction is described by a slip rate dependent friction coefficient and a nonlocal and regularized contact stress. The existence in the case of a friction coefficient that is a graph, which describes the jump from static to dynamic friction, is established, too. The proofs employ the theory of set-valued pseudomonotone operators applied to approximate problems and a priori estimates.

Flutter Analysis of RX-420 Balistic Rocket Fin Involving Rigid Body Modes of Rocket Structures

Directory of Open Access Journals (Sweden)

Novi Andria

2013-03-01

Full Text Available Flutter is a phenomenon that has brought a catastrophic failure to the flight vehicle structure. In this experiment, flutter was analyzed for its symmetric and antisymmetric configuration to understand the effect of rocket rigid modes to the fin flutter characteristic. This research was also expected to find out the safety level of RX-420 structure design. The analysis was performed using half rocket model. Fin structure used in this research was a fin which has semispan 600 mm, thickness 12 mm, chord root 700 mm, chord tip 400 mm, made by Al 6061-T651, double spar configuration with skin thickness of 2 mm. Structural dynamics and flutter stability were analyzed using finite element software implemented on MSC. Nastran. The analysis shows that the antisymmetric flutter mode is more critical than symmetric flutter mode. At sea level altitude, antisymmetric flutter occurs at 6.4 Mach, and symmetric flutter occurs at 10.15 Mach. Compared to maximum speed of RX-420 which is 4.5 Mach at altitude 11 km or equivalent to 2.1 Mach at sea level, it can be concluded that the RX-420 structure design is safe, and flutter will not occur during flight.

Tile-based rigidization surface parametric design study

Science.gov (United States)

Giner Munoz, Laura; Luntz, Jonathan; Brei, Diann; Kim, Wonhee

2018-03-01

Inflatable technologies have proven useful in consumer goods as well as in more recent applications including civil structures, aerospace, medical, and robotics. However, inflatable technologies are typically lacking in their ability to provide rigid structural support. Particle jamming improves upon this by providing structures which are normally flexible and moldable but become rigid when air is removed. Because these are based on an airtight bladder filled with loose particles, they always occupy the full volume of its rigid state, even when not rigidized. More recent developments in layer jamming have created thin, compact rigidizing surfaces replacing the loose volume of particles with thinly layered surface materials. Work in this area has been applied to several specific applications with positive results but have not generally provided the broader understanding of the rigidization performance as a function of design parameters required for directly adapting layer rigidization technology to other applications. This paper presents a parametric design study of a new layer jamming vacuum rigidization architecture: tile-based vacuum rigidization. This form of rigidization is based on layers of tiles contained within a thin vacuum bladder which can be bent, rolled, or otherwise compactly stowed, but when deployed flat, can be vacuumed and form a large, flat, rigid plate capable of supporting large forces both localized and distributed over the surface. The general architecture and operation detailing rigidization and compliance mechanisms is introduced. To quantitatively characterize the rigidization behavior, prototypes rigidization surfaces are fabricated and an experimental technique is developed based on a 3-point bending test. Performance evaluation metrics are developed to describe the stiffness, load-bearing capacity, and internal slippage of tested prototypes. A set of experimental parametric studies are performed to better understand the impact of

Soft-Body Muscles for Evolved Virtual Creatures: The Next Step on a Bio-Mimetic Path to Meaningful Morphological Complexity

DEFF Research Database (Denmark)

Lessin, Dan; Risi, Sebastian

2015-01-01

In the past, evolved virtual creatures (EVCs) have been developed with rigid, segmented bodies, and with soft bodies, but never before with a combination of the two. In nature, however, creatures combining a rigid skeleton and non-rigid muscles are some of the most complex and successful examples...... of life on earth. Now, for the first time, creatures with fully evolved rigid-body skeletons and soft-body muscles can be developed in the virtual world, as well. By exploiting and re-purposing the capabilities of existing soft-body simulation systems, we can evolve complex and effective simulated muscles...

Missed distal tracheal foreign body in consecutive bronchoscopies in a 6-year-old boy

Directory of Open Access Journals (Sweden)

Oghenevware Joel Eyekpegha

2017-01-01

Full Text Available It is unusual but not uncommon for foreign bodies to be missed at bronchoscopy. This case report highlights the importance of the clinical history in the diagnosis of aspirated foreign bodies and the usefulness of chest imaging modalities. A 6-year-old boy presented with recurrent breathlessness and cough of 2 months. He was said to have aspirated the base cap of a pen at about the time symptoms started. He had two sessions of rigid bronchoscopy and a session of flexible bronchoscopy at three different hospitals. He had an initial rigid bronchoscopy which failed to show the foreign body (FB. A chest computerized tomographic scan demonstrated the FB, which was retrieved at combined flexible/rigid bronchoscopy. Although rigid bronchoscopy is the gold standard for managing airway foreign bodies, there remains a false negative rate for this procedure and where necessary, appropriate imaging may compliment rigid bronchoscopy, especially where there is some confusion.

High-Fidelity Dynamic Modeling of Spacecraft in the Continuum--Rarefied Transition Regime

Science.gov (United States)

Turansky, Craig P.

The state of the art of spacecraft rarefied aerodynamics seldom accounts for detailed rigid-body dynamics. In part because of computational constraints, simpler models based upon the ballistic and drag coefficients are employed. Of particular interest is the continuum-rarefied transition regime of Earth's thermosphere where gas dynamic simulation is difficult yet wherein many spacecraft operate. The feasibility of increasing the fidelity of modeling spacecraft dynamics is explored by coupling rarefied aerodynamics with rigid-body dynamics modeling similar to that traditionally used for aircraft in atmospheric flight. Presented is a framework of analysis and guiding principles which capitalize on the availability of increasing computational methods and resources. Aerodynamic force inputs for modeling spacecraft in two dimensions in a rarefied flow are provided by analytical equations in the free-molecular regime, and the direct simulation Monte Carlo method in the transition regime. The application of the direct simulation Monte Carlo method to this class of problems is examined in detail with a new code specifically designed for engineering-level rarefied aerodynamic analysis. Time-accurate simulations of two distinct geometries in low thermospheric flight and atmospheric entry are performed, demonstrating non-linear dynamics that cannot be predicted using simpler approaches. The results of this straightforward approach to the aero-orbital coupled-field problem highlight the possibilities for future improvements in drag prediction, control system design, and atmospheric science. Furthermore, a number of challenges for future work are identified in the hope of stimulating the development of a new subfield of spacecraft dynamics.

System Theory Aspects of Multi-Body Dynamics.

Science.gov (United States)

1978-08-18

systems are described from a system theory point of view. Various system theory concepts and research topics which have applicability to this class of...systems are identified and briefly described. The subject of multi-body dynamics is presented in a vector space setting and is related to system theory concepts. (Author)

Dynamic whole-body robotic manipulation

Science.gov (United States)

Abe, Yeuhi; Stephens, Benjamin; Murphy, Michael P.; Rizzi, Alfred A.

2013-05-01

The creation of dynamic manipulation behaviors for high degree of freedom, mobile robots will allow them to accomplish increasingly difficult tasks in the field. We are investigating how the coordinated use of the body, legs, and integrated manipulator, on a mobile robot, can improve the strength, velocity, and workspace when handling heavy objects. We envision that such a capability would aid in a search and rescue scenario when clearing obstacles from a path or searching a rubble pile quickly. Manipulating heavy objects is especially challenging because the dynamic forces are high and a legged system must coordinate all its degrees of freedom to accomplish tasks while maintaining balance. To accomplish these types of manipulation tasks, we use trajectory optimization techniques to generate feasible open-loop behaviors for our 28 dof quadruped robot (BigDog) by planning trajectories in a 13 dimensional space. We apply the Covariance Matrix Adaptation (CMA) algorithm to solve for trajectories that optimize task performance while also obeying important constraints such as torque and velocity limits, kinematic limits, and center of pressure location. These open-loop behaviors are then used to generate desired feed-forward body forces and foot step locations, which enable tracking on the robot. Some hardware results for cinderblock throwing are demonstrated on the BigDog quadruped platform augmented with a human-arm-like manipulator. The results are analogous to how a human athlete maximizes distance in the discus event by performing a precise sequence of choreographed steps.

Linked-List-Based Multibody Dynamics (MBDyn) Engine

Science.gov (United States)

MacLean, John; Brain, Thomas; Wuiocho, Leslie; Huynh, An; Ghosh, Tushar

2012-01-01

This new release of MBDyn is a software engine that calculates the dynamics states of kinematic, rigid, or flexible multibody systems. An MBDyn multibody system may consist of multiple groups of articulated chains, trees, or closed-loop topologies. Transient topologies are handled through conservation of energy and momentum. The solution for rigid-body systems is exact, and several configurable levels of nonlinear term fidelity are available for flexible dynamics systems. The algorithms have been optimized for efficiency and can be used for both non-real-time (NRT) and real-time (RT) simulations. Interfaces are currently compatible with NASA's Trick Simulation Environment. This new release represents a significant advance in capability and ease of use. The two most significant new additions are an application programming interface (API) that clarifies and simplifies use of MBDyn, and a link-list infrastructure that allows a single MBDyn instance to propagate an arbitrary number of interacting groups of multibody top ologies. MBDyn calculates state and state derivative vectors for integration using an external integration routine. A Trickcompatible interface is provided for initialization, data logging, integration, and input/output.

Oscillations of manometric tubular springs with rigid end

Science.gov (United States)

Cherentsov, D. A.; Pirogov, S. P.; Dorofeev, S. M.; Ryabova, Y. S.

2018-05-01

The paper presents a mathematical model of attenuating oscillations of manometric tubular springs (MTS) taking into account the rigid tip. The dynamic MTS model is presented in the form of a thin-walled curved rod oscillating in the plane of curvature of the central axis. Equations for MTS oscillations are obtained in accordance with the d’Alembert principle in projections onto the normal and tangential. The Bubnov-Galerkin method is used to solve the equations obtained.

Classical molecular dynamics simulation of weakly-bound projectile heavy-ion reactions

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Morker Mitul R.

2015-01-01

Full Text Available A 3-body classical molecular dynamics approach for heavy-ion reactions involving weakly bound projectiles is developed. In this approach a weakly bound projectile is constructed as a two-body cluster of the constituent tightly bound nuclei in a configuration corresponding to the observed breakup energy. This 3-body system with their individual nucleon configuration in their ground state is dynamically evolved for given initial conditions using the three-stage classical molecular dynamics approach (3S-CMD. Various levels of rigidbody constraints on the projectile constituents and the target are considered at appropriate stages. This 3-dimensional approach explicitly takes into account not only the long range Coulomb reorientation of the deformed collision partner but internal excitations and breakup probabilities at distances close to the barrier also. Dynamical simulations of 6Li+209Bi show all the possible reaction mechanism like complete fusion, incomplete fusion, scattering and breakup scattering. Complete fusion cross sections of 6Li+209Bi and 7Li+209Bi reactions are calculated in this approach with systematic relaxations of the rigid-body constraints on one or more constituent nuclei.

Diagnostic-Photographic Determination of Drag/Lift/Torque Coefficients of High Speed Rigid Body in Water Column

Science.gov (United States)

2008-01-01

various physical processes such as supercavitation and bubbles. A diagnostic- photographic method is developed in this study to determine the drag...nonlinear dynamics, body and multi-phase fluid interaction, supercavitation , and instability theory. The technical application of the hydrodynamics of...uV U ω= = − ×V e e e ei i , (29) where Eq.(9) is used. For a supercavitation area, a correction factor may be

Esophageal Foreign Bodies

Directory of Open Access Journals (Sweden)

Ufuk Cobanoglu

2014-04-01

Full Text Available Esophageal foreign body aspiration is a common event which can cause serious morbidity and mortality in the children and adult population. For that reason, early diagnosis and treatment are crucial for preventing these life threateining complications. Children most often ingest coins and toys whereas adults commonly tend to have problems with meat and bones. Esophageal foreign bodies are located at the cricopharyngeus muscle level in 70%, the thoracic esophagus in 15% and the gastroesophageal junction in the remaining 15%. Symptoms can vary according to the shape and structure of the ingested object, type of location, patient%u2019s age and complications caused by the foreign body. Delay in treatment, esophageal perforation and an underlying esophageal disease are poor prognostic factors. In treatment, observation, foley catheter, rigid or flexible esophagoscopy and removing the foreign body with a Magill forceps, pushing the foreign body into the stomach, giving intravenous glucagon and surgical treatment methods can be used. Rigid esophagoscopy is an effective and safe procedure for foreign body diagnosis and removal. Improved endoscopic experience and clinical management of thoracic surgeons led to reduced morbidity and mortality in recent years. Most of those emergencies of childhood are preventable. Family education is very important.

Gauge theory for finite-dimensional dynamical systems

International Nuclear Information System (INIS)

Gurfil, Pini

2007-01-01

Gauge theory is a well-established concept in quantum physics, electrodynamics, and cosmology. This concept has recently proliferated into new areas, such as mechanics and astrodynamics. In this paper, we discuss a few applications of gauge theory in finite-dimensional dynamical systems. We focus on the concept of rescriptive gauge symmetry, which is, in essence, rescaling of an independent variable. We show that a simple gauge transformation of multiple harmonic oscillators driven by chaotic processes can render an apparently ''disordered'' flow into a regular dynamical process, and that there exists a strong connection between gauge transformations and reduction theory of ordinary differential equations. Throughout the discussion, we demonstrate the main ideas by considering examples from diverse fields, including quantum mechanics, chemistry, rigid-body dynamics, and information theory

Dynamics of Three-Body Correlations in Quenched Unitary Bose Gases

Science.gov (United States)

Colussi, V. E.; Corson, J. P.; D'Incao, J. P.

2018-03-01

We investigate dynamical three-body correlations in the Bose gas during the earliest stages of evolution after a quench to the unitary regime. The development of few-body correlations is theoretically observed by determining the two- and three-body contacts. We find that the growth of three-body correlations is gradual compared to two-body correlations. The three-body contact oscillates coherently, and we identify this as a signature of Efimov trimers. We show that the growth of three-body correlations depends nontrivially on parameters derived from both the density and Efimov physics. These results demonstrate the violation of scaling invariance of unitary bosonic systems via the appearance of log-periodic modulation of three-body correlations.

Experiment and numerical simulation on the characteristics of fluid–structure interactions of non-rigid airships

Directory of Open Access Journals (Sweden)

Xiaocui Wu

2015-11-01

Full Text Available Fluid–structure interaction is an important issue for non-rigid airships with inflated envelopes. In this study, a wind tunnel test is conducted, and a loosely coupled procedure is correspondingly established for numerical simulation based on computational fluid dynamics and nonlinear finite element analysis methods. The typical results of the numerical simulation and wind tunnel experiment, including the overall lift and deformation, are in good agreement with each other. The results obtained indicate that the effect of fluid–structure interaction is noticeable and should be considered for non-rigid airships. Flow-induced deformation can further intensify the upward lift force and pitching moment, which can lead to a large deformation. Under a wind speed of 15 m/s, the lift force of the non-rigid model is increased to approximately 60% compared with that of the rigid model under a high angle of attack.

Rigid-body rotation of an electron cloud in divergent magnetic fields

International Nuclear Information System (INIS)

Fruchtman, A.; Gueroult, R.; Fisch, N. J.

2013-01-01

For a given voltage across a divergent poloidal magnetic field, two electric potential distributions, each supported by a rigid-rotor electron cloud rotating with a different frequency, are found analytically. The two rotation frequencies correspond to the slow and fast rotation frequencies known in uniform plasma. Due to the centrifugal force, the equipotential surfaces, that correspond to the two electric potential distributions, diverge more than the magnetic surfaces do, the equipotential surfaces in the fast mode diverge largely in particular. The departure of the equipotential surfaces from the magnetic field surfaces may have a significant focusing effect on the ions accelerated by the electric field. The focusing effect could be important for laboratory plasma accelerators as well as for collimation of astrophysical jets

Many-body localization dynamics from a one-particle perspective

Energy Technology Data Exchange (ETDEWEB)

Lezama Mergold Love, Talia; Bera, Soumya; Bardarson, Jens Hjorleifur [Max Planck Institute for the Physics of Complex Systems, Dresden (Germany)

2016-07-01

Systems exhibiting many-body localization (Anderson insulators in the presence of interactions) present a novel class of nonergodic phases of matter. The study of entanglement, in terms of both exact eigenstates and its time evolution after quenches, has been useful to reveal the salient signatures of these systems. Similarly to the entanglement entropy of exact eigenstates, the one-particle density matrix can be used as a tool to characterize the many-body localization transition with its eigenvalues showing a Fermi-liquid like step discontinuity in the localized phase. However, this analysis distinguishes the Fock-space structure of the eigenstates from the real space. Here, we present numerical evidence for dynamical signatures of the many-body localized phase for a closed fermionic system, using the one-particle density matrix and its time evolution after a global quench. We discuss and compare our results with the well-known logarithmic spreading of entanglement (a dynamical signature of this phase, absent in the Anderson insulator).

Flexible body dynamics in a local frame with explicitly predicted motion

DEFF Research Database (Denmark)

Kawamoto, A.; Krenk, Steen; Suzuki, A.

2010-01-01

This paper deals with formulation of dynamics of a moving flexible body in a local frame of reference. In a conventional approach the local frame is normally fixed to the corresponding body and always represents the positions and angles of the body: the positions and angles are represented by Car...

Rigidity and symmetry

CERN Document Server

Weiss, Asia; Whiteley, Walter

2014-01-01

This book contains recent contributions to the fields of rigidity and symmetry with two primary focuses: to present the mathematically rigorous treatment of rigidity of structures, and to explore the interaction of geometry, algebra, and combinatorics. Overall, the book shows how researchers from diverse backgrounds explore connections among the various discrete structures with symmetry as the unifying theme.  Contributions present recent trends and advances in discrete geometry, particularly in the theory of polytopes. The rapid development of abstract polytope theory has resulted in a rich theory featuring an attractive interplay of methods and tools from discrete geometry, group theory, classical geometry, hyperbolic geometry and topology.  The volume will also be a valuable source as an introduction to the ideas of both combinatorial and geometric rigidity theory and its applications, incorporating the surprising impact of symmetry. It will appeal to students at both the advanced undergraduate and gradu...

Compliant contact versus rigid contact: A comparison in the context of granular dynamics

Science.gov (United States)

Pazouki, Arman; Kwarta, Michał; Williams, Kyle; Likos, William; Serban, Radu; Jayakumar, Paramsothy; Negrut, Dan

2017-10-01

We summarize and numerically compare two approaches for modeling and simulating the dynamics of dry granular matter. The first one, the discrete-element method via penalty (DEM-P), is commonly used in the soft matter physics and geomechanics communities; it can be traced back to the work of Cundall and Strack [P. Cundall, Proc. Symp. ISRM, Nancy, France 1, 129 (1971); P. Cundall and O. Strack, Geotechnique 29, 47 (1979), 10.1680/geot.1979.29.1.47]. The second approach, the discrete-element method via complementarity (DEM-C), considers the grains perfectly rigid and enforces nonpenetration via complementarity conditions; it is commonly used in robotics and computer graphics applications and had two strong promoters in Moreau and Jean [J. J. Moreau, in Nonsmooth Mechanics and Applications, edited by J. J. Moreau and P. D. Panagiotopoulos (Springer, Berlin, 1988), pp. 1-82; J. J. Moreau and M. Jean, Proceedings of the Third Biennial Joint Conference on Engineering Systems and Analysis, Montpellier, France, 1996, pp. 201-208]. The DEM-P and DEM-C are manifestly unlike each other: They use different (i) approaches to model the frictional contact problem, (ii) sets of model parameters to capture the physics of interest, and (iii) classes of numerical methods to solve the differential equations that govern the dynamics of the granular material. Herein, we report numerical results for five experiments: shock wave propagation, cone penetration, direct shear, triaxial loading, and hopper flow, which we use to compare the DEM-P and DEM-C solutions. This exercise helps us reach two conclusions. First, both the DEM-P and DEM-C are predictive, i.e., they predict well the macroscale emergent behavior by capturing the dynamics at the microscale. Second, there are classes of problems for which one of the methods has an advantage. Unlike the DEM-P, the DEM-C cannot capture shock-wave propagation through granular media. However, the DEM-C is proficient at handling arbitrary grain

An Improved Rigid Multibody Model for the Dynamic Analysis of the Planetary Gearbox in a Wind Turbine

Directory of Open Access Journals (Sweden)

Wenguang Yang

2016-01-01

Full Text Available This paper proposes an improved rigid multibody model for the dynamic analysis of the planetary gearbox in a wind turbine. The improvements mainly include choosing the inertia frame as the reference frame of the carrier, the ring, and the sun and adding a new degree of freedom for each planet. An element assembly method is introduced to build the model, and a time-varying mesh stiffness model is presented. A planetary gear study case is employed to verify the validity of the improved model. Comparisons between the improvement model and the traditional model show that the natural characteristics are very close; the improved model can obtain the right equivalent moment of inertia of the planetary gear in the transient simulation, and all the rotation speeds satisfy the transmission relationships well; harmonic resonance and resonance modulation phenomena can be found in their vibration signals. The improved model is applied in a multistage gearbox dynamics analysis to reveal the prospects of the model. Modal analysis and transient analysis with and without time-varying mesh stiffness considered are conducted. The rotation speeds from the transient analysis are consistent with the theory, and resonance modulation can be found in the vibration signals.

Birationally rigid varieties

CERN Document Server

Pukhlikov, Aleksandr

2013-01-01

Birational rigidity is a striking and mysterious phenomenon in higher-dimensional algebraic geometry. It turns out that certain natural families of algebraic varieties (for example, three-dimensional quartics) belong to the same classification type as the projective space but have radically different birational geometric properties. In particular, they admit no non-trivial birational self-maps and cannot be fibred into rational varieties by a rational map. The origins of the theory of birational rigidity are in the work of Max Noether and Fano; however, it was only in 1970 that Iskovskikh and Manin proved birational superrigidity of quartic three-folds. This book gives a systematic exposition of, and a comprehensive introduction to, the theory of birational rigidity, presenting in a uniform way, ideas, techniques, and results that so far could only be found in journal papers. The recent rapid progress in birational geometry and the widening interaction with the neighboring areas generate the growing interest ...

Comparison of rigid and flexible endoscopy for removing esophageal foreign bodies in an emergency.

Science.gov (United States)

Tseng, Chia-Chen; Hsiao, Tzu-Yu; Hsu, Wei-Chung

2016-08-01

Despite the effectiveness of endoscopies in removing ingested foreign bodies (FBs) impacted in the esophagus, the merits and limitations of flexible endoscopy (FE) and rigid endoscopy (RE) remain unclear. Therefore, this study compares the advantages and disadvantages of both endoscopic procedures from a clinical perspective. A retrospective review was made of 273 patients suspected of esophageal FBs in emergency consultations of a tertiary medical referral center from March 2010 to March 2014. All patients received routine physical examinations, otolaryngological examinations, and X-rays of the neck and chest. The door-to-endoscopy time, procedure time, postendoscopic hospital stay, successful removal rates, and complications were analyzed as well. In this study, the most common esophageal FBs were fish and animal bones (76%) in adults and coins (74%) in children. The patients with existing esophageal FBs had significantly more frequent symptoms of dysphagia and signs of linear opacity as detected with lateral neck radiography than those without FB. Additionally, the door-to-endoscopy time, procedure time, and postendoscopic hospital stay was significantly shorter in FE patients than in RE patients. However, both RE and FE patients had high rates of successful FB removal (95%) and low complication rates (2%). Both FE and RE remove esophageal FBs successfully, as evidenced by their high success rates, low complication rates, and high detection rates. Although FE under local anesthesia is a less time-consuming procedure for adults, RE under general anesthesia may be preferable for children and can serve as an alternative to FE. Copyright © 2015. Published by Elsevier B.V.

Classical dynamics of particles and systems

CERN Document Server

Marion, Jerry B

1965-01-01

Classical Dynamics of Particles and Systems presents a modern and reasonably complete account of the classical mechanics of particles, systems of particles, and rigid bodies for physics students at the advanced undergraduate level. The book aims to present a modern treatment of classical mechanical systems in such a way that the transition to the quantum theory of physics can be made with the least possible difficulty; to acquaint the student with new mathematical techniques and provide sufficient practice in solving problems; and to impart to the student some degree of sophistication in handl

Dynamic Modelling Of A SCARA Robot

Science.gov (United States)

Turiel, J. Perez; Calleja, R. Grossi; Diez, V. Gutierrez

1987-10-01

This paper describes a method for modelling industrial robots that considers dynamic approach to manipulation systems motion generation, obtaining the complete dynamic model for the mechanic part of the robot and taking into account the dynamic effect of actuators acting at the joints. For a four degree of freedom SCARA robot we obtain the dynamic model for the basic (minimal) configuration, that is, the three degrees of freedom that allow us to place the robot end effector in a desired point, using the Lagrange Method to obtain the dynamic equations in matrix form. The manipulator is considered to be a set of rigid bodies inter-connected by joints in the form of simple kinematic pairs. Then, the state space model is obtained for the actuators that move the robot joints, uniting the models of the single actuators, that is, two DC permanent magnet servomotors and an electrohydraulic actuator. Finally, using a computer simulation program written in FORTRAN language, we can compute the matrices of the complete model.

The discrete null space method for the energy-consistent integration of constrained mechanical systems. Part III: Flexible multibody dynamics

International Nuclear Information System (INIS)

Leyendecker, Sigrid; Betsch, Peter; Steinmann, Paul

2008-01-01

In the present work, the unified framework for the computational treatment of rigid bodies and nonlinear beams developed by Betsch and Steinmann (Multibody Syst. Dyn. 8, 367-391, 2002) is extended to the realm of nonlinear shells. In particular, a specific constrained formulation of shells is proposed which leads to the semi-discrete equations of motion characterized by a set of differential-algebraic equations (DAEs). The DAEs provide a uniform description for rigid bodies, semi-discrete beams and shells and, consequently, flexible multibody systems. The constraints may be divided into two classes: (i) internal constraints which are intimately connected with the assumption of rigidity of the bodies, and (ii) external constraints related to the presence of joints in a multibody framework. The present approach thus circumvents the use of rotational variables throughout the whole time discretization, facilitating the design of energy-momentum methods for flexible multibody dynamics. After the discretization has been completed a size-reduction of the discrete system is performed by eliminating the constraint forces. Numerical examples dealing with a spatial slider-crank mechanism and with intersecting shells illustrate the performance of the proposed method

Rigidity of Glasses and Macromolecules

Science.gov (United States)

Thorpe, M. F.

1998-03-01

The simple yet powerful ideas of percolation theory have found their way into many different areas of research. In this talk we show how RIGIDITY PERCOLATION can be studied at a similar level of sophistication, using a powerful new program THE PEBBLE GAME (D. J. Jacobs and M. F. Thorpe, Phys. Rev. E) 53, 3682 (1996). that uses an integer algorithm. This program can analyse the rigidity of two and three dimensional networks containing more than one million bars and joints. We find the total number of floppy modes, and find the critical behavior as the network goes from floppy to rigid as more bars are added. We discuss the relevance of this work to network glasses, and how it relates to experiments that involve the mechanical properties like hardness and elasticity of covalent glassy networks like Ge_xAs_ySe_1-x-y and dicuss recent experiments that suggest that the rigidity transition may be first order (Xingwei Feng, W. J.Bresser and P. Boolchand, Phys. Rev. Lett 78), 4422 (1997).. This approach is also useful in macromolecules and proteins, where detailed information about the rigid domain structure can be obtained.

Nonlinear Slewing Spacecraft Control Based on Exergy, Power Flow, and Static and Dynamic Stability

Science.gov (United States)

Robinett, Rush D.; Wilson, David G.

2009-10-01

This paper presents a new nonlinear control methodology for slewing spacecraft, which provides both necessary and sufficient conditions for stability by identifying the stability boundaries, rigid body modes, and limit cycles. Conservative Hamiltonian system concepts, which are equivalent to static stability of airplanes, are used to find and deal with the static stability boundaries: rigid body modes. The application of exergy and entropy thermodynamic concepts to the work-rate principle provides a natural partitioning through the second law of thermodynamics of power flows into exergy generator, dissipator, and storage for Hamiltonian systems that is employed to find the dynamic stability boundaries: limit cycles. This partitioning process enables the control system designer to directly evaluate and enhance the stability and performance of the system by balancing the power flowing into versus the power dissipated within the system subject to the Hamiltonian surface (power storage). Relationships are developed between exergy, power flow, static and dynamic stability, and Lyapunov analysis. The methodology is demonstrated with two illustrative examples: (1) a nonlinear oscillator with sinusoidal damping and (2) a multi-input-multi-output three-axis slewing spacecraft that employs proportional-integral-derivative tracking control with numerical simulation results.

Rigidity-tuning conductive elastomer

Science.gov (United States)

Shan, Wanliang; Diller, Stuart; Tutcuoglu, Abbas; Majidi, Carmel

2015-06-01

We introduce a conductive propylene-based elastomer (cPBE) that rapidly and reversibly changes its mechanical rigidity when powered with electrical current. The elastomer is rigid in its natural state, with an elastic (Young’s) modulus of 175.5 MPa, and softens when electrically activated. By embedding the cPBE in an electrically insulating sheet of polydimethylsiloxane (PDMS), we create a cPBE-PDMS composite that can reversibly change its tensile modulus between 37 and 1.5 MPa. The rigidity change takes ˜6 s and is initiated when a 100 V voltage drop is applied across the two ends of the cPBE film. This magnitude of change in elastic rigidity is similar to that observed in natural skeletal muscle and catch connective tissue. We characterize the tunable load-bearing capability of the cPBE-PDMS composite with a motorized tensile test and deadweight experiment. Lastly, we demonstrate the ability to control the routing of internal forces by embedding several cPBE-PDMS ‘active tendons’ into a soft robotic pneumatic bending actuator. Selectively activating the artificial tendons controls the neutral axis and direction of bending during inflation.

Rigidity-tuning conductive elastomer

International Nuclear Information System (INIS)

Shan, Wanliang; Diller, Stuart; Tutcuoglu, Abbas; Majidi, Carmel

2015-01-01

We introduce a conductive propylene-based elastomer (cPBE) that rapidly and reversibly changes its mechanical rigidity when powered with electrical current. The elastomer is rigid in its natural state, with an elastic (Young’s) modulus of 175.5 MPa, and softens when electrically activated. By embedding the cPBE in an electrically insulating sheet of polydimethylsiloxane (PDMS), we create a cPBE–PDMS composite that can reversibly change its tensile modulus between 37 and 1.5 MPa. The rigidity change takes ∼6 s and is initiated when a 100 V voltage drop is applied across the two ends of the cPBE film. This magnitude of change in elastic rigidity is similar to that observed in natural skeletal muscle and catch connective tissue. We characterize the tunable load-bearing capability of the cPBE–PDMS composite with a motorized tensile test and deadweight experiment. Lastly, we demonstrate the ability to control the routing of internal forces by embedding several cPBE–PDMS ‘active tendons’ into a soft robotic pneumatic bending actuator. Selectively activating the artificial tendons controls the neutral axis and direction of bending during inflation. (paper)

Two-Dimensional Self-Propelled Fish Motion in Medium: An Integrated Method for Deforming Body Dynamics and Unsteady Fluid Dynamics

International Nuclear Information System (INIS)

Yan, Yang; Yong-Liang, Yu; Bing-Gang, Tong; Guan-Hao, Wu

2008-01-01

We present (1) the dynamical equations of deforming body and (2) an integrated method for deforming body dynamics and unsteady fluid dynamics, to investigate a modelled freely self-propelled fish. The theoretical model and practical method is applicable for studies on the general mechanics of animal locomotion such as flying in air and swimming in water, particularly of free self-propulsion. The present results behave more credibly than the previous numerical studies and are close to the experimental results, and the aligned vortices pattern is discovered in cruising swimming

Algorithm for simulation of quantum many-body dynamics using dynamical coarse-graining

International Nuclear Information System (INIS)

Khasin, M.; Kosloff, R.

2010-01-01

An algorithm for simulation of quantum many-body dynamics having su(2) spectrum-generating algebra is developed. The algorithm is based on the idea of dynamical coarse-graining. The original unitary dynamics of the target observables--the elements of the spectrum-generating algebra--is simulated by a surrogate open-system dynamics, which can be interpreted as weak measurement of the target observables, performed on the evolving system. The open-system state can be represented by a mixture of pure states, localized in the phase space. The localization reduces the scaling of the computational resources with the Hilbert-space dimension n by factor n 3/2 (ln n) -1 compared to conventional sparse-matrix methods. The guidelines for the choice of parameters for the simulation are presented and the scaling of the computational resources with the Hilbert-space dimension of the system is estimated. The algorithm is applied to the simulation of the dynamics of systems of 2x10 4 and 2x10 6 cold atoms in a double-well trap, described by the two-site Bose-Hubbard model.

Many-body dynamics with cold atoms and molecules in optical lattices

International Nuclear Information System (INIS)

Schachenmayer, J.

2012-01-01

Systems of cold atoms or molecules, trapped in a periodic potential formed from standing waves of laser light, provide an experimental possibility to study strongly correlated many-body lattice models, which are traditionally used in condensed matter physics. Due to the relatively weak energy scales in these ''optical lattices'' (next-neighbor tunneling energies are typically on the order of tens of Hertz), the time-scales of the dynamics in these systems is relatively slow and can be observed in experiments. Furthermore, the microscopic parameters of the models can be very well controlled by lattice laser intensities and external fields. Thus, optical lattices provide an excellent framework to study many-body quantum non-equilibrium dynamics, which on the theoretical level is the topic of this thesis. This thesis contains a study of many-body dynamics in optical lattices for both idealized isolated models and realistic models with imperfections. It is centered around four main topics: The first two topics are studies of coherent many-body dynamics. This contains explicitly: (i) an analysis of the possibility to dynamically prepare crystalline states of Rydberg atoms or polar molecules by adiabatically tuning laser parameters; and (ii) a study of the collapses and revivals of the momentum-distribution of a Bose-Einstein condensate with a fixed number of atoms, which is suddenly loaded into a deep optical lattice. The third main topic is entanglement and specifically the dynamical growth of entanglement between portions of an optical lattice in quench experiments. A method to create and measure large-scale entanglement is presented in this thesis. The fourth main topic addresses classical noise. Specifically, a system of atoms in an optical lattice, which is created from lasers with intensity fluctuations, is analyzed in this work. The noisy evolution of many-body correlation functions is studied and a method to cancel this noise in a realistic experimental setup is

On flexible and rigid nouns

DEFF Research Database (Denmark)

Rijkhoff, Jan

2010-01-01

classes. Finally this article wants to claim that the distinction between rigid and flexible noun categories (a) adds a new dimension to current classifications of parts of speech systems, (b) correlates with certain grammatical phenomena (e.g. so-called number discord), and (c) helps to explain the parts......This article argues that in addition to the major flexible lexical categories in Hengeveld’s classification of parts of speech systems (Contentive, Non-Verb, Modifier), there are also flexible word classes within the rigid lexical category Noun (Set Noun, Sort Noun, General Noun). Members...... by the flexible item in the external world. I will then argue that flexible word classes constitute a proper category (i.e. they are not the result of a merger of some rigid word classes) in that members of flexible word categories display the same properties regarding category membership as members of rigid word...

The Contact Dynamics method: A nonsmooth story

Science.gov (United States)

Dubois, Frédéric; Acary, Vincent; Jean, Michel

2018-03-01

When velocity jumps are occurring, the dynamics is said to be nonsmooth. For instance, in collections of contacting rigid bodies, jumps are caused by shocks and dry friction. Without compliance at the interface, contact laws are not only non-differentiable in the usual sense but also multi-valued. Modeling contacting bodies is of interest in order to understand the behavior of numerous mechanical systems such as flexible multi-body systems, granular materials or masonry. These granular materials behave puzzlingly either like a solid or a fluid and a description in the frame of classical continuous mechanics would be welcome though far to be satisfactory nowadays. Jean-Jacques Moreau greatly contributed to convex analysis, functions of bounded variations, differential measure theory, sweeping process theory, definitive mathematical tools to deal with nonsmooth dynamics. He converted all these underlying theoretical ideas into an original nonsmooth implicit numerical method called Contact Dynamics (CD); a robust and efficient method to simulate large collections of bodies with frictional contacts and impacts. The CD method offers a very interesting complementary alternative to the family of smoothed explicit numerical methods, often called Distinct Elements Method (DEM). In this paper developments and improvements of the CD method are presented together with a critical comparative review of advantages and drawbacks of both approaches. xml:lang="fr"

Uncommon, undeclared oesophageal foreign bodies

African Journals Online (AJOL)

2011-05-11

May 11, 2011 ... presented with a sudden onset of total dysphagia and history of ingestion of foreign bodies was not volunteered by any despite direct questioning. Plain radiograph of the neck and chest in either case did not reveal presence of foreign body. Both were successfully removed through rigid oesophagoscopy.

Fullrmc, a rigid body Reverse Monte Carlo modeling package enabled with machine learning and artificial intelligence.

Science.gov (United States)

Aoun, Bachir

2016-05-05

A new Reverse Monte Carlo (RMC) package "fullrmc" for atomic or rigid body and molecular, amorphous, or crystalline materials is presented. fullrmc main purpose is to provide a fully modular, fast and flexible software, thoroughly documented, complex molecules enabled, written in a modern programming language (python, cython, C and C++ when performance is needed) and complying to modern programming practices. fullrmc approach in solving an atomic or molecular structure is different from existing RMC algorithms and software. In a nutshell, traditional RMC methods and software randomly adjust atom positions until the whole system has the greatest consistency with a set of experimental data. In contrast, fullrmc applies smart moves endorsed with reinforcement machine learning to groups of atoms. While fullrmc allows running traditional RMC modeling, the uniqueness of this approach resides in its ability to customize grouping atoms in any convenient way with no additional programming efforts and to apply smart and more physically meaningful moves to the defined groups of atoms. In addition, fullrmc provides a unique way with almost no additional computational cost to recur a group's selection, allowing the system to go out of local minimas by refining a group's position or exploring through and beyond not allowed positions and energy barriers the unrestricted three dimensional space around a group. © 2016 Wiley Periodicals, Inc.

Dynamic whole-body PET parametric imaging: II. Task-oriented statistical estimation.

Science.gov (United States)

Karakatsanis, Nicolas A; Lodge, Martin A; Zhou, Y; Wahl, Richard L; Rahmim, Arman

2013-10-21

In the context of oncology, dynamic PET imaging coupled with standard graphical linear analysis has been previously employed to enable quantitative estimation of tracer kinetic parameters of physiological interest at the voxel level, thus, enabling quantitative PET parametric imaging. However, dynamic PET acquisition protocols have been confined to the limited axial field-of-view (~15-20 cm) of a single-bed position and have not been translated to the whole-body clinical imaging domain. On the contrary, standardized uptake value (SUV) PET imaging, considered as the routine approach in clinical oncology, commonly involves multi-bed acquisitions, but is performed statically, thus not allowing for dynamic tracking of the tracer distribution. Here, we pursue a transition to dynamic whole-body PET parametric imaging, by presenting, within a unified framework, clinically feasible multi-bed dynamic PET acquisition protocols and parametric imaging methods. In a companion study, we presented a novel clinically feasible dynamic (4D) multi-bed PET acquisition protocol as well as the concept of whole-body PET parametric imaging employing Patlak ordinary least squares (OLS) regression to estimate the quantitative parameters of tracer uptake rate Ki and total blood distribution volume V. In the present study, we propose an advanced hybrid linear regression framework, driven by Patlak kinetic voxel correlations, to achieve superior trade-off between contrast-to-noise ratio (CNR) and mean squared error (MSE) than provided by OLS for the final Ki parametric images, enabling task-based performance optimization. Overall, whether the observer's task is to detect a tumor or quantitatively assess treatment response, the proposed statistical estimation framework can be adapted to satisfy the specific task performance criteria, by adjusting the Patlak correlation-coefficient (WR) reference value. The multi-bed dynamic acquisition protocol, as optimized in the preceding companion study

Dynamic whole-body PET parametric imaging: II. Task-oriented statistical estimation

International Nuclear Information System (INIS)

Karakatsanis, Nicolas A; Lodge, Martin A; Zhou, Y; Wahl, Richard L; Rahmim, Arman

2013-01-01

In the context of oncology, dynamic PET imaging coupled with standard graphical linear analysis has been previously employed to enable quantitative estimation of tracer kinetic parameters of physiological interest at the voxel level, thus, enabling quantitative PET parametric imaging. However, dynamic PET acquisition protocols have been confined to the limited axial field-of-view (∼15–20 cm) of a single-bed position and have not been translated to the whole-body clinical imaging domain. On the contrary, standardized uptake value (SUV) PET imaging, considered as the routine approach in clinical oncology, commonly involves multi-bed acquisitions, but is performed statically, thus not allowing for dynamic tracking of the tracer distribution. Here, we pursue a transition to dynamic whole-body PET parametric imaging, by presenting, within a unified framework, clinically feasible multi-bed dynamic PET acquisition protocols and parametric imaging methods. In a companion study, we presented a novel clinically feasible dynamic (4D) multi-bed PET acquisition protocol as well as the concept of whole-body PET parametric imaging employing Patlak ordinary least squares (OLS) regression to estimate the quantitative parameters of tracer uptake rate K i and total blood distribution volume V. In the present study, we propose an advanced hybrid linear regression framework, driven by Patlak kinetic voxel correlations, to achieve superior trade-off between contrast-to-noise ratio (CNR) and mean squared error (MSE) than provided by OLS for the final K i parametric images, enabling task-based performance optimization. Overall, whether the observer's task is to detect a tumor or quantitatively assess treatment response, the proposed statistical estimation framework can be adapted to satisfy the specific task performance criteria, by adjusting the Patlak correlation-coefficient (WR) reference value. The multi-bed dynamic acquisition protocol, as optimized in the preceding companion

CT-3DRA registration for radiosurgery treatments: a comparison among rigid, affine and non rigid approaches

International Nuclear Information System (INIS)

Stancanello, J.; Loeckx, D.; Francescon, P.; Calvedon, C.; Avanzo, M.; Cora, S.; Scalchi, P.; Cerveri, P.; Ferrigno, G.

2004-01-01

This work aims at comparing rigid, affine and Local Non Rigid (LNR) CT-3D Rotational Angiography (CT-3DRA) registrations based on mutual information. 10 cranial and 1 spinal cases have been registered by rigid and affine transformations; while LNR has been applied to the cases where residual deformation must be corrected. An example of CT-3DRA registration without regularization term and an example of LNR using the similarity criterion and the regularization term as well as 3D superposition of the 3DRA before and after the registration without the regularization term are presented. All the registrations performed by rigid transformation converged to an acceptable solution. The results about the robustness test in axial direction are reported. Conclusions: For cranial cases, affine transformation endowed with threshold-segmentation pre-processing can be considered the most favourable solution for almost all registrations; for some cases, LNR provides more accurate results. For the spinal case rigid transformation is the most suitable when immobilizing patient during examinations; in this case the increase of accuracy by using LNR registrations seems to be not significant

Torsional Rigidity of Minimal Submanifolds

DEFF Research Database (Denmark)

Markvorsen, Steen; Palmer, Vicente

2006-01-01

We prove explicit upper bounds for the torsional rigidity of extrinsic domains of minimal submanifolds $P^m$ in ambient Riemannian manifolds $N^n$ with a pole $p$. The upper bounds are given in terms of the torsional rigidities of corresponding Schwarz symmetrizations of the domains in warped...

Masticatory biomechanics in the rabbit: a multi-body dynamics analysis.

Science.gov (United States)

Watson, Peter J; Gröning, Flora; Curtis, Neil; Fitton, Laura C; Herrel, Anthony; McCormack, Steven W; Fagan, Michael J

2014-10-06

Multi-body dynamics is a powerful engineering tool which is becoming increasingly popular for the simulation and analysis of skull biomechanics. This paper presents the first application of multi-body dynamics to analyse the biomechanics of the rabbit skull. A model has been constructed through the combination of manual dissection and three-dimensional imaging techniques (magnetic resonance imaging and micro-computed tomography). Individual muscles are represented with multiple layers, thus more accurately modelling muscle fibres with complex lines of action. Model validity was sought through comparing experimentally measured maximum incisor bite forces with those predicted by the model. Simulations of molar biting highlighted the ability of the masticatory system to alter recruitment of two muscle groups, in order to generate shearing or crushing movements. Molar shearing is capable of processing a food bolus in all three orthogonal directions, whereas molar crushing and incisor biting are predominately directed vertically. Simulations also show that the masticatory system is adapted to process foods through several cycles with low muscle activations, presumably in order to prevent rapidly fatiguing fast fibres during repeated chewing cycles. Our study demonstrates the usefulness of a validated multi-body dynamics model for investigating feeding biomechanics in the rabbit, and shows the potential for complementing and eventually reducing in vivo experiments.

Flexible and rigid cystoscopy in women.

Science.gov (United States)

Gee, Jason R; Waterman, Bradley J; Jarrard, David F; Hedican, Sean P; Bruskewitz, Reginald C; Nakada, Stephen Y

2009-01-01

Previous studies have evaluated the tolerability of rigid versus flexible cystoscopy in men. Similar studies, however, have not been performed in women. We sought to determine whether office-based flexible cystoscopy was better tolerated than rigid cystoscopy in women. Following full IRB approval, women were prospectively randomized in a single-blind manner. Patients were randomized to flexible or rigid cystoscopy and draped in the lithotomy position to maintain blinding of the study. Questionnaires evaluated discomfort before, during, and after cystoscopy. Thirty-six women were randomized to flexible (18) or rigid (18) cystoscopy. Indications were surveillance (16), hematuria (15), recurrent UTIs (2), voiding dysfunction (1), and other (2). All questionnaires were returned by 31/36 women. Using a 10-point visual analog scale (VAS), median discomfort during the procedure for flexible and rigid cystoscopy were 1.4 and 1.8, respectively, in patients perceiving pain. Median recalled pain 1 week later was similar at 0.8 and 1.15, respectively. None of these differences were statistically significant. Flexible and rigid cystoscopy are well tolerated in women. Discomfort during and after the procedure is minimal in both groups. Urologists should perform either procedure in women based on their preference and skill level.

Effects of three-body interactions on the dynamics of entanglement in spin chains

International Nuclear Information System (INIS)

Shi Cuihua; Wu Yinzhong; Li Zhenya

2009-01-01

With the consideration of three-body interaction, dynamics of pairwise entanglement in spin chains is studied. The dependence of pairwise entanglement dynamics on the type of coupling, and distance between the spins is analyzed in a finite chain for different initial states. It is found that, for an Ising chain, three-body interactions are not in favor of preparing entanglement between the nearest neighbor spins, while three-body interactions are favorable for creating entanglement between remote spins from a separable initial state. For an isotropic Heisenberg chain, the pairwise concurrence will decrease when three-body interactions are considered both for a separable initial state and for a maximally entangled initial state, however, three-body interactions will retard the decay of the concurrence in an Ising chain when the initial state takes the maximally entangled state.

Crack identification for rigid pavements using unmanned aerial vehicles

Science.gov (United States)

Bahaddin Ersoz, Ahmet; Pekcan, Onur; Teke, Turker

2017-09-01

Pavement condition assessment is an essential piece of modern pavement management systems as rehabilitation strategies are planned based upon its outcomes. For proper evaluation of existing pavements, they must be continuously and effectively monitored using practical means. Conventionally, truck-based pavement monitoring systems have been in-use in assessing the remaining life of in-service pavements. Although such systems produce accurate results, their use can be expensive and data processing can be time consuming, which make them infeasible considering the demand for quick pavement evaluation. To overcome such problems, Unmanned Aerial Vehicles (UAVs) can be used as an alternative as they are relatively cheaper and easier-to-use. In this study, we propose a UAV based pavement crack identification system for monitoring rigid pavements’ existing conditions. The system consists of recently introduced image processing algorithms used together with conventional machine learning techniques, both of which are used to perform detection of cracks on rigid pavements’ surface and their classification. Through image processing, the distinct features of labelled crack bodies are first obtained from the UAV based images and then used for training of a Support Vector Machine (SVM) model. The performance of the developed SVM model was assessed with a field study performed along a rigid pavement exposed to low traffic and serious temperature changes. Available cracks were classified using the UAV based system and obtained results indicate it ensures a good alternative solution for pavement monitoring applications.

Non-rigid registration of tomographic images with Fourier transforms

International Nuclear Information System (INIS)

Osorio, Ar; Isoardi, Ra; Mato, G

2007-01-01

Spatial image registration of deformable body parts such as thorax and abdomen has important medical applications, but at the same time, it represents an important computational challenge. In this work we propose an automatic algorithm to perform non-rigid registration of tomographic images using a non-rigid model based on Fourier transforms. As a measure of similarity, we use the correlation coefficient, finding that the optimal order of the transformation is n = 3 (36 parameters). We apply this method to a digital phantom and to 7 pairs of patient images corresponding to clinical CT scans. The preliminary results indicate a fairly good agreement according to medical experts, with an average registration error of 2 mm for the case of clinical images. For 2D images (dimensions 512x512), the average running time for the algorithm is 15 seconds using a standard personal computer. Summarizing, we find that intra-modality registration of the abdomen can be achieved with acceptable accuracy for slight deformations and can be extended to 3D with a reasonable execution time

Therapeutic rigid bronchoscopy at a tertiary care center in North India: Initial experience and systematic review of Indian literature

Directory of Open Access Journals (Sweden)

Karan Madan

2014-01-01

Full Text Available Background and Aim: Rigid bronchoscopy is often an indispensable procedure in the therapeutic management of a wide variety of tracheobronchial disorders. However, it is performed at only a few centers in adult patients in India. Herein, we report our initial 1-year experience with this procedure. Materials and Methods: A prospective observational study on the indications, outcomes, and safety of various rigid bronchoscopy procedures performed between November 2009 and October 2010. Improvement in dyspnea, cough, and the overall quality of life was recorded on a visual analog scale from 0 to 100 mm. A systematic review of PubMed was performed to identify studies reporting the use of rigid bronchoscopy from India. Results: Thirty-eight rigid bronchoscopies (50 procedures were performed in 19 patients during the study period. The commonest indication was benign tracheal stenosis followed by central airway tumor, and the procedures performed were rigid bronchoplasty, tumor debulking, and stent placement. The median procedure duration was 45 (range, 30-65 min. There was significant improvement in quality of life associated with therapeutic rigid bronchoscopy. Minor procedural complications were encountered in 18 bronchoscopies, and there was no procedural mortality. The systematic review identified 15 studies, all on the role of rigid bronchoscopy in foreign body removal. Conclusions: Rigid bronchoscopy is a safe and effective modality for treatment of a variety of tracheobronchial disorders. There is a dire need of rigid bronchoscopy training at teaching hospitals in India.

Stable and Unstable Rotational Dynamics of a Smartphone

Science.gov (United States)

Loth, Matthew; Gibbons, Chad; Belaiter, Sami; Clarage, James B.

2017-01-01

One of the canonical, and memorable, classroom demonstrations from an upper-division mechanics course is to toss a rigid body with three distinct principal moments of inertia into the air, giving it a spin along one of its three principal axes. A student's mechanics textbook itself works great for the body, secured rigidly shut with a rubber band.…

Dynamic Modeling and Analysis of the Large-Scale Rotary Machine with Multi-Supporting

Directory of Open Access Journals (Sweden)

Xuejun Li

2011-01-01

Full Text Available The large-scale rotary machine with multi-supporting, such as rotary kiln and rope laying machine, is the key equipment in the architectural, chemistry, and agriculture industries. The body, rollers, wheels, and bearings constitute a chain multibody system. Axis line deflection is a vital parameter to determine mechanics state of rotary machine, thus body axial vibration needs to be studied for dynamic monitoring and adjusting of rotary machine. By using the Riccati transfer matrix method, the body system of rotary machine is divided into many subsystems composed of three elements, namely, rigid disk, elastic shaft, and linear spring. Multiple wheel-bearing structures are simplified as springs. The transfer matrices of the body system and overall transfer equation are developed, as well as the response overall motion equation. Taken a rotary kiln as an instance, natural frequencies, modal shape, and response vibration with certain exciting axis line deflection are obtained by numerical computing. The body vibration modal curves illustrate the cause of dynamical errors in the common axis line measurement methods. The displacement response can be used for further measurement dynamical error analysis and compensation. The response overall motion equation could be applied to predict the body motion under abnormal mechanics condition, and provide theory guidance for machine failure diagnosis.

Simulation of granular soil behaviour using the bullet physics library

OpenAIRE

Izadi, Ehsan; Bezuijen, Adam

2015-01-01

A physics engine is computer software which provides a simulation of certain physical systems, such as rigid body dynamics, soft body dynamics and fluid dynamics. Physics engines were firstly developed for using in animation and gaming industry ; nevertheless, due to fast calculation speed they are attracting more and more attetion from researchers of the engineering fields. Since physics engines are capable of performing fast calculations on multibody rigid dynamic systems, soil particles ca...

Torsional rigidity, isospectrality and quantum graphs

International Nuclear Information System (INIS)

Colladay, Don; McDonald, Patrick; Kaganovskiy, Leon

2017-01-01

We study torsional rigidity for graph and quantum graph analogs of well-known pairs of isospectral non-isometric planar domains. We prove that such isospectral pairs are distinguished by torsional rigidity. (paper)

Management of rigid post-traumatic kyphosis.

Science.gov (United States)

Wu, S S; Hwa, S Y; Lin, L C; Pai, W M; Chen, P Q; Au, M K

1996-10-01

Rigid post-traumatic kyphosis after fracture of the thoracolumbar and lumbar spine represents a failure of initial management of the injury. Kyphosis moves the center of gravity anterior. The kyphosis and instability may result in pain, deformity, and increased neurologic deficits. Management for symptomatic post-traumatic kyphosis always has presented a challenge to orthopedic surgeons. To evaluate the surgical results of one stage posterior correction for rigid symptomatic post-traumatic kyphosis of the thoracolumbar and lumbar spine. The management for post-traumatic kyphosis remains controversial. Anterior, posterior, or combined anterior and posterior procedures have been advocated by different authors and show various degrees of success. One vertebra immediately above and below the level of the deformity was instrumented posteriorly by a transpedicular system (internal fixator AO). Posterior decompression was performed by excision of the spinal process and bilateral laminectomy. With the deformed vertebra through the pedicle, the vertebral body carefully is removed around the pedicle level, approximating a wedge shape. The extent to which the deformed vertebral body should be removed is determined by the attempted correction. Correction of the deformity is achieved by manipulation of the operating table and compression of the adjacent Schanz screws above and below the lesion. Thirteen patients with post-traumatic kyphosis with symptoms of fatigue and pain caused by slow progression of kyphotic deformities received posterior decompression, correction, and stabilization as a definitive treatment. The precorrection kyphosis ranged from 30-60 degrees, with a mean of 40 degrees +/- 10.8 degrees. After correction, kyphosis was reduced to an average of 1.5 degrees +/- 3.8 degrees, with a range from -5 degrees to 5 degrees. The average angle of correction was 38.8 degrees +/- 10.4 degrees, with a range from 25 degrees to 60 degrees. Significant difference was found

Brownian dynamics simulations of a flexible polymer chain which includes continuous resistance and multibody hydrodynamic interactions

Science.gov (United States)

Butler, Jason E.; Shaqfeh, Eric S. G.

2005-01-01

Using methods adapted from the simulation of suspension dynamics, we have developed a Brownian dynamics algorithm with multibody hydrodynamic interactions for simulating the dynamics of polymer molecules. The polymer molecule is modeled as a chain composed of a series of inextensible, rigid rods with constraints at each joint to ensure continuity of the chain. The linear and rotational velocities of each segment of the polymer chain are described by the slender-body theory of Batchelor [J. Fluid Mech. 44, 419 (1970)]. To include hydrodynamic interactions between the segments of the chain, the line distribution of forces on each segment is approximated by making a Legendre polynomial expansion of the disturbance velocity on the segment, where the first two terms of the expansion are retained in the calculation. Thus, the resulting linear force distribution is specified by a center of mass force, couple, and stresslet on each segment. This method for calculating the hydrodynamic interactions has been successfully used to simulate the dynamics of noncolloidal suspensions of rigid fibers [O. G. Harlen, R. R. Sundararajakumar, and D. L. Koch, J. Fluid Mech. 388, 355 (1999); J. E. Butler and E. S. G. Shaqfeh, J. Fluid Mech. 468, 204 (2002)]. The longest relaxation time and center of mass diffusivity are among the quantities calculated with the simulation technique. Comparisons are made for different levels of approximation of the hydrodynamic interactions, including multibody interactions, two-body interactions, and the "freely draining" case with no interactions. For the short polymer chains studied in this paper, the results indicate a difference in the apparent scaling of diffusivity with polymer length for the multibody versus two-body level of approximation for the hydrodynamic interactions.

Effects of gear modifications on the dynamic characteristics of wind turbine gearbox considering elastic support of the gearbox

Energy Technology Data Exchange (ETDEWEB)

Wang, Shuaishuai; Zhu, Caichao; Song, Chaosheng; Liu, Huachao; Tan, Jianjun [Chongqing University, Chongqing (China); Bai, Houyi [Chongqing Wangjiang Industrial Co., Ltd., Chongqing (China)

2017-03-15

The reliability and service life of wind turbines are directly influenced by the dynamic performance of the gearbox under the time varying wind loads. The control of vibration behavior is essential for the achievement of a 20-year service life. We developed a rigid flexible coupled dynamic model for a wind turbine gearbox. The planet carrier, the housing, and the bed plate are modelled as flexibilities while other components are assumed as rigid bodies. The actual three points elastic supporting are considered and a strip based mesh model is used to represent the engagement of the gear pairs. The effects of gear tooth modifications on the dynamics were investigated. Finally, we conducted a dynamic test for the wind turbine gearbox in the wind field. Results showed that the contact characteristics of gear pairs were improved significantly; the peak-to-peak value of transmission error of each gear pair was reduced; the amplitudes of the vibration acceleration and the structural noise of the wind turbine gearbox were lowered after suitable tooth modification.

Dynamical Studies of N-Body Gravity and Tidal Dissipation in the TRAPPIST-1 Star System

Science.gov (United States)

Nayak, Michael; Kuettel, Donald H.; Stebler, Shane T.; Udrea, Bogdan

2018-01-01

To date, we have discovered a total of 2,729 planetary systems that contain more than 3,639 known exoplanets [1]. A majority of these are defined as compact systems, containing multiple exoplanets within 0.25 AU of the central star. It has been shown that tightly packed exoplanets avoid colliding due to long-term resonance-induced orbit stability [2]. However, due to extreme proximity, these planets experience intense gravitational forces from each other that are unprecedented within our own solar system, which makes the existence of exomoons doubtful. We present the results of an initial study evaluating dynamical stability of potential exomoons within such highly compact systems.This work is baselined around TRAPPIST-1, an ultra-cool dwarf star that hosts seven temperate terrestrial planets, three of which are in the habitable zone, orbiting within 0.06 AU [3]. N-body simulations place a grid of test particles varying semi-major axis, eccentricity, and inclination around the three habitable zone planets. We find that most exomoons with semi-major axes less than half the Hill sphere of their respective planet are stable over 10 kyrs, with several stable over 300 kyrs.However, in compact systems, tidal influences from other planets can compete with tidal effects from the primary planet, resulting in possible instabilities and massive amounts of tidal dissipation. We investigate these effects with a large grid search that incorporates exomoon radius, tidal quality factor and a range of planet rigidities. Results of simulations that combine n-body gravity effects with both planetary and satellite tides are presented and contrasted with n-body results. Finally, we examine long-term stability (> 1Myrs) of the stable subset of test particles from the n-body simulation with the addition of tidal dissipation, to determine if exomoons can survive around planets e, f, and g in the TRAPPIST-1 system.[1] Schneider (2017). The Extrasolar Planets Encyclopedia. http

Rigidity of monodromies for Appell's hypergeometric functions

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Yoshishige Haraoka

2015-01-01

Full Text Available For monodromy representations of holonomic systems, the rigidity can be defined. We examine the rigidity of the monodromy representations for Appell's hypergeometric functions, and get the representations explicitly. The results show how the topology of the singular locus and the spectral types of the local monodromies work for the study of the rigidity.

Molecular dynamics with deterministic and stochastic numerical methods

CERN Document Server

Leimkuhler, Ben

2015-01-01

This book describes the mathematical underpinnings of algorithms used for molecular dynamics simulation, including both deterministic and stochastic numerical methods. Molecular dynamics is one of the most versatile and powerful methods of modern computational science and engineering and is used widely in chemistry, physics, materials science and biology. Understanding the foundations of numerical methods means knowing how to select the best one for a given problem (from the wide range of techniques on offer) and how to create new, efficient methods to address particular challenges as they arise in complex applications.  Aimed at a broad audience, this book presents the basic theory of Hamiltonian mechanics and stochastic differential equations, as well as topics including symplectic numerical methods, the handling of constraints and rigid bodies, the efficient treatment of Langevin dynamics, thermostats to control the molecular ensemble, multiple time-stepping, and the dissipative particle dynamics method...

List-mode-based reconstruction for respiratory motion correction in PET using non-rigid body transformations

International Nuclear Information System (INIS)

Lamare, F; Carbayo, M J Ledesma; Cresson, T; Kontaxakis, G; Santos, A; Rest, C Cheze Le; Reader, A J; Visvikis, D

2007-01-01

Respiratory motion in emission tomography leads to reduced image quality. Developed correction methodology has been concentrating on the use of respiratory synchronized acquisitions leading to gated frames. Such frames, however, are of low signal-to-noise ratio as a result of containing reduced statistics. In this work, we describe the implementation of an elastic transformation within a list-mode-based reconstruction for the correction of respiratory motion over the thorax, allowing the use of all data available throughout a respiratory motion average acquisition. The developed algorithm was evaluated using datasets of the NCAT phantom generated at different points throughout the respiratory cycle. List-mode-data-based PET-simulated frames were subsequently produced by combining the NCAT datasets with Monte Carlo simulation. A non-rigid registration algorithm based on B-spline basis functions was employed to derive transformation parameters accounting for the respiratory motion using the NCAT dynamic CT images. The displacement matrices derived were subsequently applied during the image reconstruction of the original emission list mode data. Two different implementations for the incorporation of the elastic transformations within the one-pass list mode EM (OPL-EM) algorithm were developed and evaluated. The corrected images were compared with those produced using an affine transformation of list mode data prior to reconstruction, as well as with uncorrected respiratory motion average images. Results demonstrate that although both correction techniques considered lead to significant improvements in accounting for respiratory motion artefacts in the lung fields, the elastic-transformation-based correction leads to a more uniform improvement across the lungs for different lesion sizes and locations

On Hydroelastic Body-Boundary Condition of Floating Structures

DEFF Research Database (Denmark)

Xia, Jinzhu

1996-01-01

A general linear body boundary condition of hydroelastic analysis of arbitrary shaped floating structures generalizes the classic kinematic rigid-body (Timman-Newman) boundary condition for seakeeping problems. The new boundary condition is consistent with the existing theories under certain...

Research of vibration resistance of non-rigid shafts turning with various technological set-ups

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Vasilevykh Sergey L.

2017-01-01

Full Text Available The article considers the definition of the stability range of a dynamic system for turning non-rigid shafts with different technological set-ups: standard and developed ones; they are improved as a result of this research. The topicality of the study is due to the fact that processing such parts is associated with significant difficulties caused by deformation of the workpiece under the cutting force as well as occurrence of vibration of the part during processing, they are so intense and in practice they force to significantly reduce the cutting regime, recur to multiple-pass operation, lead to premature deterioration of the cutter, as a result, reduce the productivity of machining shafts on metal-cutting machines. In this connection, the purpose of the present research is to determine the boundaries of the stability regions with intensive turning of non-rigid shafts. In the article the basic theoretical principles of construction of a mathematical system focused on the process of non-free cutting of a dynamic machine are justified. By means of the developed mathematical model interrelations are established and legitimacies of influence of various technological set-ups on stability of the dynamic system of the machine-tool-device-tool-blank are revealed. The conducted researches allow to more objectively represent difficult processes that occur in a closed dynamic system of a machine.

Infrared and Raman Spectroscopy of Liquid Water through "First-Principles" Many-Body Molecular Dynamics.

Science.gov (United States)

Medders, Gregory R; Paesani, Francesco

2015-03-10

Vibrational spectroscopy is a powerful technique to probe the structure and dynamics of water. However, deriving an unambiguous molecular-level interpretation of the experimental spectral features remains a challenge due to the complexity of the underlying hydrogen-bonding network. In this contribution, we present an integrated theoretical and computational framework (named many-body molecular dynamics or MB-MD) that, by systematically removing uncertainties associated with existing approaches, enables a rigorous modeling of vibrational spectra of water from quantum dynamical simulations. Specifically, we extend approaches used to model the many-body expansion of interaction energies to develop many-body representations of the dipole moment and polarizability of water. The combination of these "first-principles" representations with centroid molecular dynamics simulations enables the simulation of infrared and Raman spectra of liquid water under ambient conditions that, without relying on any ad hoc parameters, are in good agreement with the corresponding experimental results. Importantly, since the many-body energy, dipole, and polarizability surfaces employed in the simulations are derived independently from accurate fits to correlated electronic structure data, MB-MD allows for a systematic analysis of the calculated spectra in terms of both electronic and dynamical contributions. The present analysis suggests that, while MB-MD correctly reproduces both the shifts and the shapes of the main spectroscopic features, an improved description of quantum dynamical effects possibly combined with a dissociable water potential may be necessary for a quantitative representation of the OH stretch band.

Structural rigidity in the capsid assembly of cowpea chlorotic mottle virus

International Nuclear Information System (INIS)

Hespenheide, B M; Jacobs, D J; Thorpe, M F

2004-01-01

The cowpea chlorotic mottle virus (CCMV) has a protein cage, or capsid, which encloses its genetic material. The structure of the capsid consists of 180 copies of a single protein that self-assemble inside a cell to form a complete capsid with icosahedral symmetry. The icosahedral surface can be naturally divided into pentagonal and hexagonal faces, and the formation of either of these faces has been proposed to be the first step in the capsid assembly process. We have used the software FIRST to analyse the rigidity of pentameric and hexameric substructures of the complete capsid to explore the viability of certain capsid assembly pathways. FIRST uses the 3D pebble game to determine structural rigidity, and a brief description of this algorithm, as applied to body-bar networks, is given here. We find that the pentameric substructure, which corresponds to a pentagonal face on the icosahedral surface, provides the best structural properties for nucleating the capsid assembly process, consistent with experimental observations

Structural rigidity in the capsid assembly of cowpea chlorotic mottle virus

Science.gov (United States)

Hespenheide, B. M.; Jacobs, D. J.; Thorpe, M. F.

2004-11-01

The cowpea chlorotic mottle virus (CCMV) has a protein cage, or capsid, which encloses its genetic material. The structure of the capsid consists of 180 copies of a single protein that self-assemble inside a cell to form a complete capsid with icosahedral symmetry. The icosahedral surface can be naturally divided into pentagonal and hexagonal faces, and the formation of either of these faces has been proposed to be the first step in the capsid assembly process. We have used the software FIRST to analyse the rigidity of pentameric and hexameric substructures of the complete capsid to explore the viability of certain capsid assembly pathways. FIRST uses the 3D pebble game to determine structural rigidity, and a brief description of this algorithm, as applied to body-bar networks, is given here. We find that the pentameric substructure, which corresponds to a pentagonal face on the icosahedral surface, provides the best structural properties for nucleating the capsid assembly process, consistent with experimental observations.

Structural rigidity in the capsid assembly of cowpea chlorotic mottle virus

Energy Technology Data Exchange (ETDEWEB)

Hespenheide, B M [Department of Physics and Astronomy, Arizona State University, PO Box 871504, Tempe, AZ 85287-1504 (United States); Jacobs, D J [Department of Physics and Astronomy, California State University, 18111 Nordhoff Street, Northridge, CA 91330-8268 (United States); Thorpe, M F [Department of Physics and Astronomy, Arizona State University, PO Box 871504, Tempe, AZ 85287-1504 (United States)

2004-11-10

The cowpea chlorotic mottle virus (CCMV) has a protein cage, or capsid, which encloses its genetic material. The structure of the capsid consists of 180 copies of a single protein that self-assemble inside a cell to form a complete capsid with icosahedral symmetry. The icosahedral surface can be naturally divided into pentagonal and hexagonal faces, and the formation of either of these faces has been proposed to be the first step in the capsid assembly process. We have used the software FIRST to analyse the rigidity of pentameric and hexameric substructures of the complete capsid to explore the viability of certain capsid assembly pathways. FIRST uses the 3D pebble game to determine structural rigidity, and a brief description of this algorithm, as applied to body-bar networks, is given here. We find that the pentameric substructure, which corresponds to a pentagonal face on the icosahedral surface, provides the best structural properties for nucleating the capsid assembly process, consistent with experimental observations.

From Wage Rigidities to Labour Market Rigidities: A Turning-Point in Explaining Equilibrium Unemployment?

OpenAIRE

Marco Guerrazzi; Nicola Meccheri

2009-01-01

This paper offers a critical discussion of the concept of labour market rigidity relevant to explaining unemployment. Starting from Keynes’s own view, we discuss how the concept of labour market flexibility has changed over time, involving nominal or real wage flexibility, contract flexibility or labour market institution flexibility. We also provide a critical assessment of the factors that lead the search framework highlighting labour market rigidities (frictions) to challenge the more wide...

Multibody dynamic analysis using a rotation-free shell element with corotational frame

Science.gov (United States)

Shi, Jiabei; Liu, Zhuyong; Hong, Jiazhen

2018-03-01

Rotation-free shell formulation is a simple and effective method to model a shell with large deformation. Moreover, it can be compatible with the existing theories of finite element method. However, a rotation-free shell is seldom employed in multibody systems. Using a derivative of rigid body motion, an efficient nonlinear shell model is proposed based on the rotation-free shell element and corotational frame. The bending and membrane strains of the shell have been simplified by isolating deformational displacements from the detailed description of rigid body motion. The consistent stiffness matrix can be obtained easily in this form of shell model. To model the multibody system consisting of the presented shells, joint kinematic constraints including translational and rotational constraints are deduced in the context of geometric nonlinear rotation-free element. A simple node-to-surface contact discretization and penalty method are adopted for contacts between shells. A series of analyses for multibody system dynamics are presented to validate the proposed formulation. Furthermore, the deployment of a large scaled solar array is presented to verify the comprehensive performance of the nonlinear shell model.

Foreign Body Retrieval

Medline Plus

Full Text Available ... provides real-time imaging, making it a good tool for guiding removal procedures. In some cases, it is potentially more harmful to remove the ... provides real-time imaging, making it a good tool for guiding foreign body removal ... rare cases, the general anesthesia used during rigid esophagoscopy can ...

Impact Behaviour of Soft Body Projectiles

Science.gov (United States)

Kalam, Sayyad Abdul; Rayavarapu, Vijaya Kumar; Ginka, Ranga Janardhana

2018-02-01

Bird strike analysis is a common type of analysis done during the design and analysis of primary structures such as engine cowlings or fuselage panels. These simulations are done in order to predict whether various designs will pass the necessary certification tests. Composite materials are increasingly being used in aerospace industry and bird strike is a major threat which may lead to serious structural damage of those materials. Such phenomenon may arise from numerous impact scenarios. The focus of current study is on the finite element modeling for composite structures and simulation of high velocity impact loads from soft body projectiles with an explicit dynamics code AUTODYN. This paper investigates the methodology which can be utilized to certify an aircraft for bird strike resistance using computational technique by first demonstrating the accuracy of the method for bird impact on rigid target modeling and then applies the developed model to a more complex problem. The model developed for bird strike threat assessment incorporates parameters of bird number (bird density), bird body mass, equation of state (EOS) and bird path during impact.

Dynamics of the nuclear one-body density: small amplitude regime

International Nuclear Information System (INIS)

Nemes, M.C.; Toledo Piza, A.F.R. de.

1984-01-01

A microscopic treatment for the small amplitude limite of the equations of motion for the nuclear one-body density is presented. These were derived previously by means of projection techniques, and allow for the explicit separation of mean-field and collision effects which result from the dynamics of many-body correlations. The form of the nuclear response in the presence of collision effects is derived. An illustrative application to a soluble model is discussed. (Author) [pt

Identifying Floppy and Rigid Regions in Proteins

Science.gov (United States)

Jacobs, D. J.; Thorpe, M. F.; Kuhn, L. A.

1998-03-01

In proteins it is possible to separate hard covalent forces involving bond lengths and bond angles from other weak forces. We model the microstructure of the protein as a generic bar-joint truss framework, where the hard covalent forces and strong hydrogen bonds are regarded as rigid bar constraints. We study the mechanical stability of proteins using FIRST (Floppy Inclusions and Rigid Substructure Topography) based on a recently developed combinatorial constraint counting algorithm (the 3D Pebble Game), which is a generalization of the 2D pebble game (D. J. Jacobs and M. F. Thorpe, ``Generic Rigidity: The Pebble Game'', Phys. Rev. Lett.) 75, 4051-4054 (1995) for the special class of bond-bending networks (D. J. Jacobs, "Generic Rigidity in Three Dimensional Bond-bending Networks", Preprint Aug (1997)). This approach is useful in identifying rigid motifs and flexible linkages in proteins, and thereby determines the essential degrees of freedom. We will show some preliminary results from the FIRST analysis on the myohemerythrin and lyozyme proteins.

Finite-difference analysis of shells impacting rigid barriers

International Nuclear Information System (INIS)

Pirotin, S.D.; Witmer, E.A.

1977-01-01

Nuclear power plants must be protected from the adverse effects of missile impacts. A significant category of missile impact involves deformable structures (pressure vessel components, whipping pipes) striking relatively rigid targets (concrete walls, bumpers) which act as protective devices. The response and interaction of these structures is needed to assess the adequacy of these barriers for protecting vital safety related equipment. The present investigation represents an initial attempt to develop an efficient numerical procedure for predicting the deformations and impact force time-histories of shells which impact upon a rigid target. The general large-deflection equations of motion of the shell are expressed in finite-difference form in space and integrated in time through application of the central-difference temporal operator. The effect of material nonlinearities is treated by a mechanical sublayer material model which handles the strain-hardening, Bauschinger, and strain-rate effects. The general adequacy of this shell treatment has been validated by comparing predictions with the results of various experiments in which structures have been subjected to well-defined transient forcing functions (typically high-explosive impulse loading). The 'new' ingredient addressed in the present study involves an accounting for impact interaction and response of both the target structure and the attacking body. (Auth.)

Effects of upper body parameters on biped walking efficiency studied by dynamic optimization

Directory of Open Access Journals (Sweden)

Kang An

2016-12-01

Full Text Available Walking efficiency is one of the considerations for designing biped robots. This article uses the dynamic optimization method to study the effects of upper body parameters, including upper body length and mass, on walking efficiency. Two minimal actuations, hip joint torque and push-off impulse, are used in the walking model, and minimal constraints are set in a free search using the dynamic optimization. Results show that there is an optimal solution of upper body length for the efficient walking within a range of walking speed and step length. For short step length, walking with a lighter upper body mass is found to be more efficient and vice versa. It is also found that for higher speed locomotion, the increase of the upper body length and mass can make the walking gait optimal rather than other kind of gaits. In addition, the typical strategy of an optimal walking gait is that just actuating the swing leg at the beginning of the step.

Dynamic Modeling and Vibration Analysis for the Vehicles with Rigid Wheels Based on Wheel-Terrain Interaction Mechanics

Directory of Open Access Journals (Sweden)

Jianfeng Wang

2015-01-01

Full Text Available The contact mechanics for a rigid wheel and deformable terrain are complicated owing to the rigid flexible coupling characteristics. Bekker’s equations are used as the basis to establish the equations of the sinking rolling wheel, to vertical load pressure relationship. Since vehicle movement on the Moon is a complex and on-going problem, the researcher is poised to simplify this problem of vertical loading of the wheel. In this paper, the quarter kinetic models of a manned lunar rover, which are both based on the rigid road and deformable lunar terrain, are used as the simulation models. With these kinetic models, the vibration simulations were conducted. The simulation results indicate that the quarter kinetic model based on the deformable lunar terrain accurately reflects the deformable terrain’s influence on the vibration characteristics of a manned lunar rover. Additionally, with the quarter kinetic model of the deformable terrain, the vibration simulations of a manned lunar rover were conducted, which include a parametric analysis of the wheel parameters, vehicle speed, and suspension parameters. The results show that a manned lunar rover requires a lower damping value and stiffness to achieve better vibration performance.

Homogenization for rigid suspensions with random velocity-dependent interfacial forces

KAUST Repository

Gorb, Yuliya

2014-12-01

We study suspensions of solid particles in a viscous incompressible fluid in the presence of random velocity-dependent interfacial forces. The flow at a small Reynolds number is modeled by the Stokes equations, coupled with the motion of rigid particles arranged in a periodic array. The objective is to perform homogenization for the given suspension and obtain an equivalent description of a homogeneous (effective) medium, the macroscopic effect of the interfacial forces and the effective viscosity are determined using the analysis on a periodicity cell. In particular, the solutions uωε to a family of problems corresponding to the size of microstructure ε and describing suspensions of rigid particles with random surface forces imposed on the interface, converge H1-weakly as ε→0 a.s. to a solution of a Stokes homogenized problem, with velocity dependent body forces. A corrector to a homogenized solution that yields a strong H1-convergence is also determined. The main technical construction is built upon the Γ-convergence theory. © 2014 Elsevier Inc.

Dynamics of rings around elongated bodies

Science.gov (United States)

Sicardy, Bruno; Leiva, Rodrigo; Ortiz, Jose Luis; Santos Sanz, Pablo; Renner, Stefan; El Moutamid, Maryame; Berard, Diane; Desmars, Josselin; Meza, Erick; Rossi, Gustavo; Braga-Ribas, Felipe; Camargo, Julio; Vieira-Martins, Roberto; Morales, Nicolas; Duffard, Rene; Colas, Francois; Maquet, Lucie; Bouley, Sylvain; Bath, Karl-Ludwig; Beisker, Wolfgang; Dauverge, Jean-Luc; Kretlow, Mike; Chariklo Occultations Team; Haumea Occultation Team

2017-10-01

Dense and narrow rings are encountered around small bodies like the Centaur object Chariklo, and possibly Chiron. The rings and central bodies can be studied in great details thanks to stellar occultations, which accuracies at the km-level. Here we present new results from three high-quality occultations by Chariklo observed in 2017. They provide new insights on the ring geometry and Chariklo's shape. Data are currently being analyzed, but preliminary results are consistent with a triaxial model for Chariklo, with semi-axes a>b>c, where (a-b) may reach values as large as 10-15 km, depending on the model.Such large values induce a strong coupling between the body and an initial collisional debris disk from which the rings emerged. This coupling stems from Lindblad resonances between the ring particle mean motion and Chariklo's spin rate. We find that the resonances clear the corotation zone (estimated to lie at about 215 km from Chariklo's center) in very short time scales (centuries) and pushes the material well beyond the 3/2 resonance - that lies at an estimated radius of 280 km, thus consistent with the radius of Chariklo's main ring C1R, 390 km.Other cases will be examined in view of multi-chord stellar occultations by Trans-Neptunian Objects successfully observed in 2017, as they provide constraints for the presence of material around these bodies. Results and dynamical implications will be presented.Part of this work has received funding from the European Research Council under the European Community's H2020 2014-2020 ERC grant Agreement n°669416 "Lucky Star"

Simulation Methods in the Contact with Impact of Rigid Bodies

Directory of Open Access Journals (Sweden)

Cristina Basarabă-Opritescu

2007-10-01

Full Text Available The analysis of impacts of elastic bodies is topical and it has many applications, practical and theoretical, too. The elastic character of collision is put in evidence, especially by the velocities of some parts of a particular body, named “ring”. In the presented paper, the situation of elastic collisions is put in evidence by the simulation with the help of the program ANSYS and it refers to the particular case of the ring, with the mechanical characteristics, given in the paper

Relationship Between Elderly Body Composition Indices and Static and Dynamic Balance in Relation to Their Rate of Falling

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Elham Azimzadeh

2013-01-01

Full Text Available Objectives: The purpose of this study was to investigate relationship between body composition indices with static and dynamic balance and rate of falling in active elderly people. Methods & Materials: This research was a correlation study. Active elderly women volunteered for participation in this research (n=45. Body composition indices (body fat mass, fat free mass, body mass index, waist to hip ratio measured with the body composition analyzer. Static and dynamic balance measured by Biodex, with postural stability and fall risk tests, respectively. Also, the rate of falling in the previous 1- year asked for subjects. Statically analyses performed with the Pearson correlation test, significant level was set at P≤0.05. SPSS software was used. Results: The results of this study showed all of body composition indices have significant correlation with static and dynamic balance and rate of falling (P≤0.05. Conclusion: The finding of this research showed that all of body composition indices have significant correlation with static and dynamic balance and rate of falling in active elderly people. Therefore, it seems physical activity through improvement of body composition indices in active elderly people, causes improvement of static and dynamic balance and lowering the rate of falling.

On the atmosphere of a moving body

DEFF Research Database (Denmark)

Pedersen, Johan Rønby; Aref, Hassan

2010-01-01

We explore whether a rigid body moving freely with no circulation around it in a two-dimensional ideal fluid can carry a fluid "atmosphere" with it in its motion. Somewhat surprisingly, the answer appears to be "yes." When the body is elongated and the motion is dominated by rotation, we demonstr...

On the atmosphere of a moving body

DEFF Research Database (Denmark)

Pedersen, Johan Rønby; Aref, Hassan

2010-01-01

We have explored whether a rigid body moving freely with no circulation around it in a two-dimensional ideal fluid can carry a fluid ``atmosphere'' with it in its motion. Somewhat surprisingly, the answer appears to be ``yes''. When the body is elongated and the motion is dominated by rotation, w...

Development of an Integrated Nonlinear Aeroservoelastic Flight Dynamic Model of the NASA Generic Transport Model

Science.gov (United States)

Nguyen, Nhan; Ting, Eric

2018-01-01

This paper describes a recent development of an integrated fully coupled aeroservoelastic flight dynamic model of the NASA Generic Transport Model (GTM). The integrated model couples nonlinear flight dynamics to a nonlinear aeroelastic model of the GTM. The nonlinearity includes the coupling of the rigid-body aircraft states in the partial derivatives of the aeroelastic angle of attack. Aeroservoelastic modeling of the control surfaces which are modeled by the Variable Camber Continuous Trailing Edge Flap is also conducted. The R.T. Jones' method is implemented to approximate unsteady aerodynamics. Simulations of the GTM are conducted with simulated continuous and discrete gust loads..

A coated rigid elliptical inclusion loaded by a couple in the presence of uniform interfacial and hoop stresses

Science.gov (United States)

Wang, Xu; Schiavone, Peter

2018-06-01

We consider a confocally coated rigid elliptical inclusion, loaded by a couple and introduced into a remote uniform stress field. We show that uniform interfacial and hoop stresses along the inclusion-coating interface can be achieved when the two remote normal stresses and the remote shear stress each satisfy certain conditions. Our analysis indicates that: (i) the uniform interfacial tangential stress depends only on the area of the inclusion and the moment of the couple; (ii) the rigid-body rotation of the rigid inclusion depends only on the area of the inclusion, the coating thickness, the shear moduli of the composite and the moment of the couple; (iii) for given remote normal stresses and material parameters, the coating thickness and the aspect ratio of the inclusion are required to satisfy a particular relationship; (iv) for prescribed remote shear stress, moment and given material parameters, the coating thickness, the size and aspect ratio of the inclusion are also related. Finally, a harmonic rigid inclusion emerges as a special case if the coating and the matrix have identical elastic properties.

Engineering model for low-velocity impacts of multi-material cylinder on a rigid boundary

Directory of Open Access Journals (Sweden)

Delvare F.

2012-08-01

Full Text Available Modern ballistic problems involve the impact of multi-material projectiles. In order to model the impact phenomenon, different levels of analysis can be developed: empirical, engineering and simulation models. Engineering models are important because they allow the understanding of the physical phenomenon of the impact materials. However, some simplifications can be assumed to reduce the number of variables. For example, some engineering models have been developed to approximate the behavior of single cylinders when impacts a rigid surface. However, the cylinder deformation depends of its instantaneous velocity. At this work, an analytical model is proposed for modeling the behavior of a unique cylinder composed of two different metals cylinders over a rigid surface. Material models are assumed as rigid-perfectly plastic. Differential equation systems are solved using a numerical Runge-Kutta method. Results are compared with computational simulations using AUTODYN 2D hydrocode. It was found a good agreement between engineering model and simulation results. Model is limited by the impact velocity which is transition at the interface point given by the hydro dynamical pressure proposed by Tate.

Dynamic interactions of components, structure, and foundation of nuclear power facilities

International Nuclear Information System (INIS)

Pajuhesh, J.; Hadjian, A.H.

1977-01-01

A solution is formulated for the dynamic analysis of structures and components with different stiffness and damping characteristics, including the consideration of soil-structure interaction effects. Composite structures are often analysed approximately, in particular with regards to damping. For example, the reactor and other equipment in nuclear power plant structures are often analysed by assuming them uncoupled from the supporting structures. To achieve a better accuracy, the coupled system is hereby analysed as a composite component-structure-soil system. Although derivation of mass and stiffness matrices for the component-structure-soil system is a simple problem, the determination of the damping characteristics of such a system is more complex. This emphasis on the proper evaluation of system damping is warranted on the grounds that, when resonance conditions occur, the response amplitude is governed to a significant degree by the system damping. The damping information is usually available for each sub-structure separately with its based fixed or devoid of rigid-body modes of motion. The rigid-body motions are often free of damping resistance but sometimes, such as in the case of soil-structure interaction, or in the case of aerodynamic resistance, are uniquely defined. The composite damping matrix for the complete structure is hereby derived from the above-mentioned information. Thus, the damping matrix is first obtained for the free-free model of each sub-structure (the model containing the structural degrees of freedom together with rigid-body modes of motion), and then the submatrices for the free-free models are assembled to form the composite damping matrix in acccordance with an assembly technique relating the sub-structure coordinates to the global coordinates of the composite structure

A Rigid Mid-Lift-to-Drag Ratio Approach to Human Mars Entry, Descent, and Landing

Science.gov (United States)

Cerimele, Christopher J.; Robertson, Edward A.; Sostaric, Ronald R.; Campbell, Charles H.; Robinson, Phil; Matz, Daniel A.; Johnson, Breanna J.; Stachowiak, Susan J.; Garcia, Joseph A.; Bowles, Jeffrey V.;

System Reduction in Multibody Dynamics of Wind Turbines

DEFF Research Database (Denmark)

Holm-Jørgensen, Kristian; Nielsen, Søren R.K.

2009-01-01

Abstract A system reduction scheme is devised related to a multibody formulation from which the dynamic response of a wind turbine is determined. In this formulation each substructure is described in its own frame of reference, which is moving freely in the vicinity of the moving substructure....... The Ritz bases spanning the reduced system comprises of rigid body modes and some dynamic low-frequency elastic eigenmodes compatible to the kinematic constraints of the related substructure. The high-frequency elastic modes are presumed to cause merely quasi-static displacements, and thus are included...... in the expansion via a quasi-static correction. The results show that by using the derived reduction scheme it is only necessary with 2 dynamical modes for the blade substructure when the remaining modes are treated as quasi-static. Moreover, it is shown that it has little to none effect if the gyroscopic...

Foreign body in children?s airways

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Cassol Vitor

2003-01-01

Full Text Available OBJECTIVE: To determine the clinical characteristics and the results of bronchoscopic treatment of children due to foreign body aspiration in a university hospital. METHOD: Time series of children who underwent bronchoscopies for foreign bodies aspirated into the airway between March 1993 and July 2002. Each patient was analyzed for age, sex, initial clinical diagnosis, nature and location of the foreign body, duration of symptoms between aspiration and bronchoscopy, radiological findings, results of bronchoscopic removal, complications of bronchoscopy and presence of foreign bodies in the airways. RESULTS: Thirty-four children, 20 (59% boys, ages ranging from nine months to nine years (median = 23 months. In 32 (94% children the foreign body was removed by rigid bronchoscope, and two resulted in thoracotomy. Foreign bodies were more frequent in children under three years of age (66%. A clinical history of foreign body inhalation was obtained in 27 (80% cases. Most of the foreign bodies removed were organic (65% and more frequently found in the right bronchial tree (59%. Foreign bodies were removed within 24 hours in 18 (53% cases. The most frequent radiographic findings were: unilateral air trapping, atelectasis and radiopac foreign body. Major bronchoscopy complications occurred in seven children (22%, and there were no deaths. CONCLUSIONS: More attention is necessary to the respiratory symptoms of aspirations, mainly in boys at early ages, with clinical history and compatible radiological findings. Most foreign bodies removed were of organic nature. In this case series, therapeutic rigid bronchoscopy was effective with few complications.

1H-detected MAS solid-state NMR experiments enable the simultaneous mapping of rigid and dynamic domains of membrane proteins

Science.gov (United States)

Gopinath, T.; Nelson, Sarah E. D.; Veglia, Gianluigi

2017-12-01

Magic angle spinning (MAS) solid-state NMR (ssNMR) spectroscopy is emerging as a unique method for the atomic resolution structure determination of native membrane proteins in lipid bilayers. Although 13C-detected ssNMR experiments continue to play a major role, recent technological developments have made it possible to carry out 1H-detected experiments, boosting both sensitivity and resolution. Here, we describe a new set of 1H-detected hybrid pulse sequences that combine through-bond and through-space correlation elements into single experiments, enabling the simultaneous detection of rigid and dynamic domains of membrane proteins. As proof-of-principle, we applied these new pulse sequences to the membrane protein phospholamban (PLN) reconstituted in lipid bilayers under moderate MAS conditions. The cross-polarization (CP) based elements enabled the detection of the relatively immobile residues of PLN in the transmembrane domain using through-space correlations; whereas the most dynamic region, which is in equilibrium between folded and unfolded states, was mapped by through-bond INEPT-based elements. These new 1H-detected experiments will enable one to detect not only the most populated (ground) states of biomacromolecules, but also sparsely populated high-energy (excited) states for a complete characterization of protein free energy landscapes.

Stable and Unstable Rotational Dynamics of a Smartphone

Science.gov (United States)

Loth, Matthew; Gibbons, Chad; Belaiter, Sami; Clarage, James B.

2017-10-01

One of the canonical, and memorable, classroom demonstrations from an upper-division mechanics course is to toss a rigid body with three distinct principal moments of inertia into the air, giving it a spin along one of its three principal axes. A student's mechanics textbook itself works great for the body, secured rigidly shut with a rubber band. The book will spin stably about its longest and shortest dimensions, just like a top or gyroscope. What is surprising is that any attempt to spin the book about its intermediate axis (the axis parallel to the book's lines of text) will result in a wildly unstable and chaotic tumbling, which most students find curious enough to warrant staying awake for a subsequent derivation of Euler's equations. However, now that most students read their text "books" off of a tablet or phone, this demonstration may seem outdated. Or is it? Like a textbook, a phone or tablet also has three distinct principal moments. Better still, not only do these solid state devices require no rubber band, but these bodies can collect detailed data on their dynamical state, turning a demonstration into an actual experiment. This article reports the results of this modern version of the classical "book toss" demonstration, fittingly carried out by a team composed of both an old physics professor and a youthful group of three undergraduate students studying physics and engineering.

Chaotic itinerancy within the coupled dynamics between a physical body and neural oscillator networks.

Science.gov (United States)

Park, Jihoon; Mori, Hiroki; Okuyama, Yuji; Asada, Minoru

2017-01-01

Chaotic itinerancy is a phenomenon in which the state of a nonlinear dynamical system spontaneously explores and attracts certain states in a state space. From this perspective, the diverse behavior of animals and its spontaneous transitions lead to a complex coupled dynamical system, including a physical body and a brain. Herein, a series of simulations using different types of non-linear oscillator networks (i.e., regular, small-world, scale-free, random) with a musculoskeletal model (i.e., a snake-like robot) as a physical body are conducted to understand how the chaotic itinerancy of bodily behavior emerges from the coupled dynamics between the body and the brain. A behavior analysis (behavior clustering) and network analysis for the classified behavior are then applied. The former consists of feature vector extraction from the motions and classification of the movement patterns that emerged from the coupled dynamics. The network structures behind the classified movement patterns are revealed by estimating the "information networks" different from the given non-linear oscillator networks based on the transfer entropy which finds the information flow among neurons. The experimental results show that: (1) the number of movement patterns and their duration depend on the sensor ratio to control the balance of strength between the body and the brain dynamics and on the type of the given non-linear oscillator networks; and (2) two kinds of information networks are found behind two kinds movement patterns with different durations by utilizing the complex network measures, clustering coefficient and the shortest path length with a negative and a positive relationship with the duration periods of movement patterns. The current results seem promising for a future extension of the method to a more complicated body and environment. Several requirements are also discussed.

Chaotic itinerancy within the coupled dynamics between a physical body and neural oscillator networks.

Directory of Open Access Journals (Sweden)

Jihoon Park

Full Text Available Chaotic itinerancy is a phenomenon in which the state of a nonlinear dynamical system spontaneously explores and attracts certain states in a state space. From this perspective, the diverse behavior of animals and its spontaneous transitions lead to a complex coupled dynamical system, including a physical body and a brain. Herein, a series of simulations using different types of non-linear oscillator networks (i.e., regular, small-world, scale-free, random with a musculoskeletal model (i.e., a snake-like robot as a physical body are conducted to understand how the chaotic itinerancy of bodily behavior emerges from the coupled dynamics between the body and the brain. A behavior analysis (behavior clustering and network analysis for the classified behavior are then applied. The former consists of feature vector extraction from the motions and classification of the movement patterns that emerged from the coupled dynamics. The network structures behind the classified movement patterns are revealed by estimating the "information networks" different from the given non-linear oscillator networks based on the transfer entropy which finds the information flow among neurons. The experimental results show that: (1 the number of movement patterns and their duration depend on the sensor ratio to control the balance of strength between the body and the brain dynamics and on the type of the given non-linear oscillator networks; and (2 two kinds of information networks are found behind two kinds movement patterns with different durations by utilizing the complex network measures, clustering coefficient and the shortest path length with a negative and a positive relationship with the duration periods of movement patterns. The current results seem promising for a future extension of the method to a more complicated body and environment. Several requirements are also discussed.

Can segmental model reductions quantify whole-body balance accurately during dynamic activities?

Science.gov (United States)

Jamkrajang, Parunchaya; Robinson, Mark A; Limroongreungrat, Weerawat; Vanrenterghem, Jos

2017-07-01

When investigating whole-body balance in dynamic tasks, adequately tracking the whole-body centre of mass (CoM) or derivatives such as the extrapolated centre of mass (XCoM) can be crucial but add considerable measurement efforts. The aim of this study was to investigate whether reduced kinematic models can still provide adequate CoM and XCoM representations during dynamic sporting tasks. Seventeen healthy recreationally active subjects (14 males and 3 females; age, 24.9±3.2years; height, 177.3±6.9cm; body mass 72.6±7.0kg) participated in this study. Participants completed three dynamic movements, jumping, kicking, and overarm throwing. Marker-based kinematic data were collected with 10 optoelectronic cameras at 250Hz (Oqus Qualisys, Gothenburg, Sweden). The differences between (X)CoM from a full-body model (gold standard) and (X)CoM representations based on six selected model reductions were evaluated using a Bland-Altman approach. A threshold difference was set at ±2cm to help the reader interpret which model can still provide an acceptable (X)CoM representation. Antero-posterior and medio-lateral displacement profiles of the CoM representation based on lower limbs, trunk and upper limbs showed strong agreement, slightly reduced for lower limbs and trunk only. Representations based on lower limbs only showed less strong agreement, particularly for XCoM in kicking. Overall, our results provide justification of the use of certain model reductions for specific needs, saving measurement effort whilst limiting the error of tracking (X)CoM trajectories in the context of whole-body balance investigation. Copyright © 2017 Elsevier B.V. All rights reserved.

A LARGE FOREIGN BODY IN THE TRACHEA (SEWING NEEDLE

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P. D. Pryanikov

2017-01-01

Full Text Available The authors present a case study: an unusual foreign body (sewing needle in the trachea. Despite the large size and unusual shape of a foreign body, we managed to remove it through the airways with rigid upper traheobronchoscopy, avoiding complications.

Analysis of Flexible Car Body of Straddle Monorail Vehicle

Science.gov (United States)

Zhong, Yuanmu

2018-03-01

Based on the finite element model of straddle monorail vehicle, a rigid-flexible coupling dynamic model considering vehicle body’s flexibility is established. The influence of vertical stiffness and vertical damping of the running wheel on the modal parameters of the car body is analyzed. The effect of flexible car body on modal parameters and vehicle ride quality is also studied. The results show that when the vertical stiffness of running wheel is less than 1 MN / m, the car body bounce and pitch frequency increase with the increasing of the vertical stiffness of the running wheel, when the running wheel vertical stiffness is 1MN / m or more, car body bounce and pitch frequency remained unchanged; When the vertical stiffness of the running wheel is below 1.8 MN / m, the vehicle body bounce and pitch damping ratio increase with the increasing of the vertical stiffness of the running wheel; When the running wheel vertical stiffness is 1.8MN / m or more, the car body bounce and pitch damping ratio remained unchanged; The running wheel vertical damping on the car body bounce and pitch frequency has no effect; Car body bounce and pitch damping ratio increase with the increasing of the vertical damping of the running wheel. The flexibility of the car body has no effect on the modal parameters of the car, which will improve the vehicle ride quality index.

Introduction to Hamiltonian dynamical systems and the N-body problem

CERN Document Server

Meyer, Kenneth R

2017-01-01

This third edition text provides expanded material on the restricted three body problem and celestial mechanics. With each chapter containing new content, readers are provided with new material on reduction, orbifolds, and the regularization of the Kepler problem, all of which are provided with applications. The previous editions grew out of graduate level courses in mathematics, engineering, and physics given at several different universities. The courses took students who had some background in differential equations and lead them through a systematic grounding in the theory of Hamiltonian mechanics from a dynamical systems point of view. This text provides a mathematical structure of celestial mechanics ideal for beginners, and will be useful to graduate students and researchers alike. Reviews of the second edition: "The primary subject here is the basic theory of Hamiltonian differential equations studied from the perspective of differential dynamical systems. The N-body problem is used as the primary exa...

Dynamic recruitment of active proteasomes into polyglutamine initiated inclusion bodies.

Science.gov (United States)

Schipper-Krom, Sabine; Juenemann, Katrin; Jansen, Anne H; Wiemhoefer, Anne; van den Nieuwendijk, Rianne; Smith, Donna L; Hink, Mark A; Bates, Gillian P; Overkleeft, Hermen; Ovaa, Huib; Reits, Eric

2014-01-03

Neurodegenerative disorders such as Huntington's disease are hallmarked by neuronal intracellular inclusion body formation. Whether proteasomes are irreversibly recruited into inclusion bodies in these protein misfolding disorders is a controversial subject. In addition, it has been proposed that the proteasomes may become clogged by the aggregated protein fragments, leading to impairment of the ubiquitin-proteasome system. Here, we show by fluorescence pulse-chase experiments in living cells that proteasomes are dynamically and reversibly recruited into inclusion bodies. As these recruited proteasomes remain catalytically active and accessible to substrates, our results challenge the concept of proteasome sequestration and impairment in Huntington's disease, and support the reported absence of proteasome impairment in mouse models of Huntington's disease. Copyright © 2013 Federation of European Biochemical Societies. All rights reserved.

Dynamic-MLC leaf control utilizing on-flight intensity calculations: A robust method for real-time IMRT delivery over moving rigid targets

International Nuclear Information System (INIS)

McMahon, Ryan; Papiez, Lech; Rangaraj, Dharanipathy

2007-01-01

An algorithm is presented that allows for the control of multileaf collimation (MLC) leaves based entirely on real-time calculations of the intensity delivered over the target. The algorithm is capable of efficiently correcting generalized delivery errors without requiring the interruption of delivery (self-correcting trajectories), where a generalized delivery error represents anything that causes a discrepancy between the delivered and intended intensity profiles. The intensity actually delivered over the target is continually compared to its intended value. For each pair of leaves, these comparisons are used to guide the control of the following leaf and keep this discrepancy below a user-specified value. To demonstrate the basic principles of the algorithm, results of corrected delivery are shown for a leading leaf positional error during dynamic-MLC (DMLC) IMRT delivery over a rigid moving target. It is then shown that, with slight modifications, the algorithm can be used to track moving targets in real time. The primary results of this article indicate that the algorithm is capable of accurately delivering DMLC IMRT over a rigid moving target whose motion is (1) completely unknown prior to delivery and (2) not faster than the maximum MLC leaf velocity over extended periods of time. These capabilities are demonstrated for clinically derived intensity profiles and actual tumor motion data, including situations when the target moves in some instances faster than the maximum admissible MLC leaf velocity. The results show that using the algorithm while calculating the delivered intensity every 50 ms will provide a good level of accuracy when delivering IMRT over a rigid moving target translating along the direction of MLC leaf travel. When the maximum velocities of the MLC leaves and target were 4 and 4.2 cm/s, respectively, the resulting error in the two intensity profiles used was 0.1±3.1% and -0.5±2.8% relative to the maximum of the intensity profiles. For

Influence of the model's degree of freedom on human body dynamics identification.

Science.gov (United States)

Maita, Daichi; Venture, Gentiane

2013-01-01

In fields of sports and rehabilitation, opportunities of using motion analysis of the human body have dramatically increased. To analyze the motion dynamics, a number of subject specific parameters and measurements are required. For example the contact forces measurement and the inertial parameters of each segment of the human body are necessary to compute the joint torques. In this study, in order to perform accurate dynamic analysis we propose to identify the inertial parameters of the human body and to evaluate the influence of the model's number of degrees of freedom (DoF) on the results. We use a method to estimate the inertial parameters without torque sensor, using generalized coordinates of the base link, joint angles and external forces information. We consider a 34DoF model, a 58DoF model, as well as the case when the human is manipulating a tool (here a tennis racket). We compare the obtained in results in terms of contact force estimation.

Role of active site rigidity in activity: MD simulation and fluorescence study on a lipase mutant.

Directory of Open Access Journals (Sweden)

Md Zahid Kamal

Full Text Available Relationship between stability and activity of enzymes is maintained by underlying conformational flexibility. In thermophilic enzymes, a decrease in flexibility causes low enzyme activity while in less stable proteins such as mesophiles and psychrophiles, an increase in flexibility is associated with enhanced enzyme activity. Recently, we identified a mutant of a lipase whose stability and activity were enhanced simultaneously. In this work, we probed the conformational dynamics of the mutant and the wild type lipase, particularly flexibility of their active site using molecular dynamic simulations and time-resolved fluorescence techniques. In contrast to the earlier observations, our data show that active site of the mutant is more rigid than wild type enzyme. Further investigation suggests that this lipase needs minimal reorganization/flexibility of active site residues during its catalytic cycle. Molecular dynamic simulations suggest that catalytically competent active site geometry of the mutant is relatively more preserved than wild type lipase, which might have led to its higher enzyme activity. Our study implies that widely accepted positive correlation between conformation flexibility and enzyme activity need not be stringent and draws attention to the possibility that high enzyme activity can still be accomplished in a rigid active site and stable protein structures. This finding has a significant implication towards better understanding of involvement of dynamic motions in enzyme catalysis and enzyme engineering through mutations in active site.

Body dynamics and hydrodynamics of swimming larvae: a computational study

NARCIS (Netherlands)

Li, G.; Müller, U.K.; Leeuwen, van J.L.; Liu, H.

2012-01-01

To understand the mechanics of fish swimming, we need to know the forces exerted by the fluid and how these forces affect the motion of the fish. To this end, we developed a 3-D computational approach that integrates hydrodynamics and body dynamics. This study quantifies the flow around a swimming

Thermostability in rubredoxin and its relationship to mechanical rigidity

Science.gov (United States)

Rader, A. J.

2010-03-01

The source of increased stability in proteins from organisms that thrive in extreme thermal environments is not well understood. Previous experimental and theoretical studies have suggested many different features possibly responsible for such thermostability. Many of these thermostabilizing mechanisms can be accounted for in terms of structural rigidity. Thus a plausible hypothesis accounting for this remarkable stability in thermophilic enzymes states that these enzymes have enhanced conformational rigidity at temperatures below their native, functioning temperature. Experimental evidence exists to both support and contradict this supposition. We computationally investigate the relationship between thermostability and rigidity using rubredoxin as a case study. The mechanical rigidity is calculated using atomic models of homologous rubredoxin structures from the hyperthermophile Pyrococcus furiosus and mesophile Clostridium pasteurianum using the FIRST software. A global increase in structural rigidity (equivalently a decrease in flexibility) corresponds to an increase in thermostability. Locally, rigidity differences (between mesophilic and thermophilic structures) agree with differences in protection factors.

Thermostability in rubredoxin and its relationship to mechanical rigidity

International Nuclear Information System (INIS)

Rader, A J

2010-01-01

The source of increased stability in proteins from organisms that thrive in extreme thermal environments is not well understood. Previous experimental and theoretical studies have suggested many different features possibly responsible for such thermostability. Many of these thermostabilizing mechanisms can be accounted for in terms of structural rigidity. Thus a plausible hypothesis accounting for this remarkable stability in thermophilic enzymes states that these enzymes have enhanced conformational rigidity at temperatures below their native, functioning temperature. Experimental evidence exists to both support and contradict this supposition. We computationally investigate the relationship between thermostability and rigidity using rubredoxin as a case study. The mechanical rigidity is calculated using atomic models of homologous rubredoxin structures from the hyperthermophile Pyrococcus furiosus and mesophile Clostridium pasteurianum using the FIRST software. A global increase in structural rigidity (equivalently a decrease in flexibility) corresponds to an increase in thermostability. Locally, rigidity differences (between mesophilic and thermophilic structures) agree with differences in protection factors

Solutions Stability of Initial Boundary Problem, Modeling of Dynamics of Some Discrete Continuum Mechanical System

Directory of Open Access Journals (Sweden)

D. A. Eliseev

2015-01-01

Full Text Available The solution stability of an initial boundary problem for a linear hybrid system of differential equations, which models the rotation of a rigid body with two elastic rods located in the same plane is studied in the paper. To an axis passing through the mass center of the rigid body perpendicularly to the rods location plane is applied the stabilizing moment proportional to the angle of the system rotation, derivative of the angle, integral of the angle. The external moment provides a feedback. A method of studying the behavior of solutions of the initial boundary problem is proposed. This method allows to exclude from the hybrid system of differential equations partial differential equations, which describe the dynamics of distributed elements of a mechanical system. It allows us to build one equation for an angle of the system rotation. Its characteristic equation defines the stability of solutions of all the system. In the space of feedback-coefficients the areas that provide the asymptotic stability of solutions of the initial boundary problem are built up.

49 CFR 587.18 - Dimensions of fixed rigid barrier.

Science.gov (United States)

2010-10-01

... TRAFFIC SAFETY ADMINISTRATION, DEPARTMENT OF TRANSPORTATION (CONTINUED) DEFORMABLE BARRIERS Offset Deformable Barrier § 587.18 Dimensions of fixed rigid barrier. (a) The fixed rigid barrier has a mass of not... 49 Transportation 7 2010-10-01 2010-10-01 false Dimensions of fixed rigid barrier. 587.18 Section...

A new technique for dynamic load distribution when two manipulators mutually lift a rigid object. Part 1, The proposed technique

Energy Technology Data Exchange (ETDEWEB)

Unseren, M.A.

1994-04-01

A general framework for solving the dynamic load distribution when two manipulators hold a rigid object is proposed. The underspecified problem of solving for the contact forces and torques based on the object`s equations of motion is transformed into a well specified problem. This is accomplished by augmenting the object`s equations of motion with additional equations which relate a new vector variable quantifying the internal contact force and torque degrees of freedom (DOF) as a linear function of the contact forces and torques. The resulting augmented system yields a well specified solution for the contact forces and torques in which they are separated into their motion inducing and internal components. A particular solution is suggested which enables the designer to conveniently specify what portion of the payload`s mass each manipulator is to bear. It is also shown that the results of the previous work are just a special case of the general load distribution framework described here.

RIGIDITY, SENSITIVITY AND QUALITY OF ATTACHMENT - THE ROLE OF MATERNAL RIGIDITY IN THE EARLY SOCIOEMOTIONAL DEVELOPMENT OF PREMATURE-INFANTS

NARCIS (Netherlands)

BUTCHER, PR; KALVERBOER, A; MINDERAA, RB; VANDOORMAAL, EF; TENWOLDE, Y

1993-01-01

The associations between a mother's rigidity, her sensitivity in early (3 month) interaction and the quality of her premature infant's attachment at 13 months were investigated. Rigidity as a personality characteristic was not found to be significantly associated with sensitivity or quality of

Biomechanics of Posterior Dynamic Fusion Systems in the Lumbar Spine: Implications for Stabilization With Improved Arthrodesis.

Science.gov (United States)

Yu, Alexander K; Siegfried, Catherine M; Chew, Brandon; Hobbs, Joseph; Sabersky, Abraham; Jho, Diana J; Cook, Daniel J; Bellotte, Jonathan Brad; Whiting, Donald M; Cheng, Boyle C

2016-08-01

A comparative biomechanical human cadaveric spine study of a dynamic fusion rod and a traditional titanium rod. The purpose of this study was to measure and compare the biomechanical metrics associated with a dynamic fusion device, Isobar TTL Evolution, and a rigid rod. Dynamic fusion rods may enhance arthrodesis compared with a rigid rod. Wolff's law implies that bone remodeling and growth may be enhanced through anterior column loading (AL). This is important for dynamic fusion rods because their purpose is to increase AL. Six fresh-frozen lumbar cadaveric specimens were used. Each untreated specimen (Intact) underwent biomechanical testing. Next, each specimen had a unilateral transforaminal lumbar interbody fusion performed at L3-L4 using a cage with an integrated load cell. Pedicle screws were also placed at this time. Subsequently, the Isobar was implanted and tested, and finally, a rigid rod replaced the Isobar in the same pedicle screw arrangement. In terms of range of motion, the Isobar performed comparably to the rigid rod and there was no statistical difference found between Isobar and rigid rod. There was a significant difference between the intact and rigid rod and also between intact and Isobar conditions in flexion extension. For interpedicular displacement, there was a significant increase in flexion extension (P=0.017) for the Isobar compared with the rigid rod. Isobar showed increased AL under axial compression compared with the rigid rod (P=0.024). Isobar provided comparable stabilization to a rigid rod when using range of motion as the metric, however, AL was increased because of the greater interpedicular displacement of dynamic rod compared with a rigid rod. By increasing interpedicular displacement and AL, it potentially brings clinical benefit to procedures relying on arthrodesis.

The geomagnetic cutoff rigidities at high latitudes for different solar wind and geomagnetic conditions

International Nuclear Information System (INIS)

Chu, W.; Univ. of Chinese Academy of Sciences, Beijing; Qin, G.

2016-01-01

Studying the access of the cosmic rays (CRs) into the magnetosphere is important to understand the coupling between the magnetosphere and the solar wind. In this paper we numerically studied CRs' magnetospheric access with vertical geomagnetic cutoff rigidities using the method proposed by Smart and Shea (1999). By the study of CRs' vertical geomagnetic cutoff rigidities at high latitudes we obtain the CRs' window (CRW) whose boundary is determined when the vertical geomagnetic cutoff rigidities drop to a value lower than a threshold value. Furthermore, we studied the area of CRWs and found out they are sensitive to different parameters, such as the z component of interplanetary magnetic field (IMF), the solar wind dynamic pressure, AE index, and Dst index. It was found that both the AE index and Dst index have a strong correlation with the area of CRWs during strong geomagnetic storms. However, during the medium storms, only AE index has a strong correlation with the area of CRWs, while Dst index has a much weaker correlation with the area of CRWs. This result on the CRW can be used for forecasting the variation of the cosmic rays during the geomagnetic storms.

Mid-Lift-to-Drag Ratio Rigid Vehicle Control System Design and Simulation for Human Mars Entry

Science.gov (United States)

Johnson, Breanna J.; Cerimele, Christopher J.; Stachowiak, Susan J.; Sostaric, Ronald R.; Matz, Daniel A.; Lu, Ping

2018-01-01

The Mid-Lift-to-Drag Ratio Rigid Vehicle (MRV) is a proposed candidate in the NASA Evolvable Mars Campaign's (EMC) Pathfinder Entry, Descent, and Landing (EDL) architecture study. The purpose of the study is to design a mission and vehicle capable of transporting a 20mt payload to the surface of Mars. The MRV is unique in its rigid, asymmetrical lifting-body shape which enables a higher lift-to-drag ratio (L/D) than the typical robotic Mars entry capsule vehicles that carry much less mass. This paper presents the formulation and six-degree-of-freedom (6DOF) performance of the MRV's control system, which uses both aerosurfaces and a propulsive reaction control system (RCS) to affect longitudinal and lateral directional behavior.

The dynamics of rings around small, irregular bodies

Science.gov (United States)

Sicardy, Bruno

2017-06-01

Stellar occultations revealed the presence of two dense rings around the Centaur object (10199) Chariklo (Braga-Ribas et al., Nature 508, 72, 2014). This is the first ring system discovered around an object that is not a giant planet, suggesting that rings may exist around numerous bodies in the solar system. Chariklo's rings roughly reside at the outer limit of the Roche zone of the body. Moreover, the main ring has sharp edges, which call for the presence of putative shepherd satellites. Those characteristics give an image of Chariklo's rings that are rather similar, in terms of dynamics, to those surrounding the gaseous planets.An important difference exists, however, between giant planets and small bodies: the formers are highly axisymmetric, while the latters can support mass anomalies (eg surface topographic features) or non-spherical shapes (eg an ellipsoidal figure of equilibrium) that involve masses, relative to the body itself, as large as 10-4-10-3.We investigate the effect of non-axisymmetric terms in the potential of the body upon a collisional debris disk that initially surrounds a small irregular body. We show that the corotation points being maxima of energy, dissipative collisions remove the particles from the corotation zone over short time scales (< 106 years). Moreover, the Lindblad resonances inside the corotation radius create torques that drive the particles onto the surface of the central body. Conversely, the outer Lindblad resonances push the disk material beyond the outer 3/2 and 2/1 Lindblad resonances.Taking as an example Chariklo's ring system, for which recent data have been obtained from stellar occultations, we show that the Lindblad resonant torques actuate over short time scales (< 106 years). This general picture offers a natural explanation of the presence of dense rings at the outer limit of Chariklo's Roche zone, and their absence closer to the body.The work leading to this results has received funding from the European

Dynamics of many-body localization in the presence of particle loss

Science.gov (United States)

van Nieuwenburg, EPL; Yago Malo, J.; Daley, AJ; Fischer, MH

2018-01-01

At long times, residual couplings to the environment become relevant even in the most isolated experiments, a crucial difficulty for the study of fundamental aspects of many-body dynamics. A particular example is many-body localization in a cold-atom setting, where incoherent photon scattering introduces both dephasing and particle loss. Whereas dephasing has been studied in detail and is known to destroy localization already on the level of non-interacting particles, the effect of particle loss is less well understood. A difficulty arises due to the ‘non-local’ nature of the loss process, complicating standard numerical tools using matrix product decomposition. Utilizing symmetries of the Lindbladian dynamics, we investigate the particle loss on both the dynamics of observables, as well as the structure of the density matrix and the individual states. We find that particle loss in the presence of interactions leads to dissipation and a strong suppression of the (operator space) entanglement entropy. Our approach allows for the study of the interplay of dephasing and loss for pure and mixed initial states to long times, which is important for future experiments using controlled coupling of the environment.

Rotation of small clusters in sheared metallic glasses

International Nuclear Information System (INIS)

Delogu, Francesco

2011-01-01

Graphical abstract: When a Cu 50 Ti 50 metallic glass is shear-deformed, the irreversible rearrangement of local structures allows the rigid body rotation of clusters. Highlights: → A shear-deformed Cu 50 Ti 50 metallic glass was studied by molecular dynamics. → Atomic displacements occur at irreversible rearrangements of local structures. → The dynamics of such events includes the rigid body rotation of clusters. → Relatively large clusters can undergo two or more complete rotations. - Abstract: Molecular dynamics methods were used to simulate the response of a Cu 50 Ti 50 metallic glass to shear deformation. Attention was focused on the atomic displacements taking place during the irreversible rearrangement of local atomic structures. It is shown that the apparently disordered dynamics of such events hides the rigid body rotation of small clusters. Cluster rotation was investigated by evaluating rotation angle, axis and lifetimes. This permitted to point out that relatively large clusters can undergo two or more complete rotations.

Dynamics of pre-strained bi-material elastic systems linearized three-dimensional approach

CERN Document Server

Akbarov, Surkay D

2015-01-01

This book deals with dynamics of pre-stressed or pre-strained bi-material elastic systems consisting of stack of pre-stressed layers, stack of pre-stressed layers and pre-stressed half space (or half plane), stack of pre-stressed layers as well as absolute rigid foundation, pre-stressed compound solid and hollow cylinders and pre-stressed sandwich hollow cylinders. The problems considered in the book relate to the dynamics of a moving and oscillating moving load, forced vibration caused by linearly located or point located time-harmonic forces acting to the foregoing systems. Moreover, a considerable part of the book relate to the problems regarding the near surface, torsional and axisymmetric longitudinal waves propagation and dispersion in the noted above bi-material elastic systems. The book carries out the investigations within the framework of the piecewise homogeneous body model with the use of the Three-Dimensional Linearized Theory of Elastic Waves in Initially Stressed Bodies.

General relativistic dynamics of an extreme mass-ratio binary interacting with an external body

Science.gov (United States)

Yang, Huan; Casals, Marc

2017-10-01

We study the dynamics of a hierarchical three-body system in the general relativistic regime: an extreme mass-ratio inner binary under the tidal influence of an external body. The inner binary consists of a central Schwarzschild black hole and a test body moving around it. We discuss three types of tidal effects on the orbit of the test body. First, the angular momentum of the inner binary precesses around the angular momentum of the outer binary. Second, the tidal field drives a "transient resonance" when the radial and azimuthal frequencies are commensurable. In contrast with resonances driven by the gravitational self-force, this tidal-driven resonance may boost the orbital angular momentum and eccentricity (a relativistic version of the Kozai-Lidov effect). Finally, for an orbit-dynamical effect during the nonresonant phase, we calculate the correction to the innermost stable circular (mean) orbit due to the tidal interaction. Hierarchical three-body systems are potential sources for future space-based gravitational wave missions, and the tidal effects that we find could contribute significantly to their waveform.

Biomimetic model systems of rigid hair beds: Part II - Experiment

Science.gov (United States)

Jammalamadaka, Mani S. S.; Hood, Kaitlyn; Hosoi, Anette

2017-11-01

Crustaceans - such as lobsters, crabs and stomapods - have hairy appendages that they use to recognize and track odorants in the surrounding fluid. An array of rigid hairs impedes flow at different rates depending on the spacing between hairs and the Reynolds number, Re. At larger Reynolds number (Re>1), fluid travels through the hairs rather than around them, a phenomenon called leakiness. Crustaceans flick their appendages at different speeds in order to manipulate the leakiness between the hairs, allowing the hairs to either detect the odors in a sample of fluid or collect a new sample. Theoretical and numerical studies predict that there is a fast flow region near the hairs that moves closer to the hairs as Re increases. Here, we test this theory experimentally. We 3D printed rigid hairs with an aspect ratio of 30:1 in rectangular arrays with different hair packing fractions. We custom built an experimental setup which establishes poiseuille flow at intermediate Re, Re <=200. We track the flow dynamics through the hair beds using tracer particles and Particle Imaging Velocimetry. We will then compare the modelling predictions with the experimental outcomes.

Elasto-plastic impact of hemispherical shell impacting on hard rigid sphere

Science.gov (United States)

Raftopoulos, D. D.; Spicer, A. L.

1976-01-01

An analysis of plastic stress waves for cylindrical metallic projectile in impact is extended to an analysis of a hemispherical shell suffereing plastic deformation during the process of impact. It is assumed that the hemispherical shell with a prescribed launch velocity impinges a fixed rigid sphere of diameter equal to the internal diameter of the shell. The dynamic biaxial state of stress present in the shell during deformation is investigated. The analysis is valuable for studying the state of stress during large plastic deformation of a hemispherical shell.

Cracking of open traffic rigid pavement

Directory of Open Access Journals (Sweden)

Niken Chatarina

2017-01-01

Full Text Available The research is done by observing the growth of real structure cracking in Natar, Lampung, Indonesia compared to C. Niken’s et al research and literature study. The rigid pavement was done with open traffic system. There are two main crack types on Natar rigid pavement: cracks cross the road, and cracks spreads on rigid pavement surface. The observation of cracks was analyzed by analyzing material, casting, curing, loading and shrinkage mechanism. The relationship between these analysis and shrinkage mechanism was studied in concrete micro structure. Open traffic make hydration process occur under vibration; therefore, fresh concrete was compressed and tensioned alternately since beginning. High temperature together with compression, cement dissociation, the growth of Ca2+ at very early age leads abnormal swelling. No prevention from outside water movement leads hydration process occur with limited water which caused spreads fine cracks. Limited water improves shrinkage and plastic phase becomes shorter; therefore, rigid pavement can’t accommodate the abnormal swelling and shrinking alternately and creates the spread of cracks. Discontinuing casting the concrete makes both mix under different condition, the first is shrink and the second is swell and creates weak line on the border; so, the cracks appear as cracks across the road.

Application of Symplectic Algebraic Dynamics Algorithm to Circular Restricted Three-Body Problem

International Nuclear Information System (INIS)

Wei-Tao, Lu; Hua, Zhang; Shun-Jin, Wang

2008-01-01

Symplectic algebraic dynamics algorithm (SADA) for ordinary differential equations is applied to solve numerically the circular restricted three-body problem (CR3BP) in dynamical astronomy for both stable motion and chaotic motion. The result is compared with those of Runge–Kutta algorithm and symplectic algorithm under the fourth order, which shows that SADA has higher accuracy than the others in the long-term calculations of the CR3BP. (general)

Efficient molecular dynamics simulations with many-body potentials on graphics processing units

Science.gov (United States)

Fan, Zheyong; Chen, Wei; Vierimaa, Ville; Harju, Ari

2017-09-01

Graphics processing units have been extensively used to accelerate classical molecular dynamics simulations. However, there is much less progress on the acceleration of force evaluations for many-body potentials compared to pairwise ones. In the conventional force evaluation algorithm for many-body potentials, the force, virial stress, and heat current for a given atom are accumulated within different loops, which could result in write conflict between different threads in a CUDA kernel. In this work, we provide a new force evaluation algorithm, which is based on an explicit pairwise force expression for many-body potentials derived recently (Fan et al., 2015). In our algorithm, the force, virial stress, and heat current for a given atom can be accumulated within a single thread and is free of write conflicts. We discuss the formulations and algorithms and evaluate their performance. A new open-source code, GPUMD, is developed based on the proposed formulations. For the Tersoff many-body potential, the double precision performance of GPUMD using a Tesla K40 card is equivalent to that of the LAMMPS (Large-scale Atomic/Molecular Massively Parallel Simulator) molecular dynamics code running with about 100 CPU cores (Intel Xeon CPU X5670 @ 2.93 GHz).

Influence of flock coating on bending rigidity of woven fabrics

Science.gov (United States)

Ozdemir, O.; Kesimci, M. O.

2017-10-01

This work presents the preliminary results of our efforts that focused on the effect of the flock coating on the bending rigidity of woven fabrics. For this objective, a laboratory scale flocking unit is designed and flocked samples of controlled flock density are produced. Bending rigidity of the samples with different flock densities are measured on both flocked and unflocked sides. It is shown that the bending rigidity depends on both flock density and whether the side to be measured is flocked or not. Adhesive layer thickness on the bending rigidity is shown to be dramatic. And at higher basis weights, flock density gets less effective on bending rigidity.

Dynamical theory of neutron diffraction. [One-body Schroedinger equation, review

Energy Technology Data Exchange (ETDEWEB)

Sears, V F [Atomic Energy of Canada Ltd., Chalk River, Ontario. Chalk River Nuclear Labs.

1978-10-01

We present a review of the dynamical theory of neutron diffraction by macroscopic bodies which provides the theoretical basis for the study of neutron optics. We consider both the theory of dispersion, in which it is shown that the coherent wave in the medium satisfies a macroscopic one-body Schroedinger equation, and the theory of reflection, refraction, and diffraction in which the above equation is solved for a number of special cases of interest. The theory is illustrated with the help of experimental results obtained over the past 10 years by a number of new techniques such as neutron gravity refractometry. Pendelloesung interference, and neutron interferometry.

Harmonically trapped cold atom systems: Few-body dynamics and application to many-body thermodynamics

Science.gov (United States)

Daily, Kevin Michael

Underlying the many-body effects of ultracold atomic gases are the few-body dynamics and interparticle interactions. Moreover, the study of few-body systems on their own has accelerated due to confining few atoms in each well of a deep optical lattice or in a single microtrap. This thesis studies the microscopic properties of few-body systems under external spherically symmetric harmonic confinement and how the few-body properties translate to the many-body system. Bosonic and fermionic few-body systems are considered and the dependence of the energetics and other quantities are investigated as functions of the s-wave scattering length, the mass ratio and the temperature. It is found that the condensate fraction of a weakly-interacting trapped Bose gas depletes quadratically with the s-wave scattering length. The next order term in the depletion depends not only, as might be expected naively, on the s-wave scattering length and the effective range but additionally on a two-body parameter that is not needed to reproduce the energy of weakly-interacting trapped Bose gases. This finding has important implications for effective field theory treatments of the system. Weakly-interacting atomic and molecular two-component Fermi gases with equal masses are described using perturbative approaches. The energy shifts are tabulated and interpreted, and a measure of the molecular condensate fraction is developed. We develop a measure of the molecular condensate fraction using the two-body density matrix and we develop a model of the spherical component of the momentum distribution that agrees well with stochastic variational calculations. We establish the existence of intersystem degeneracies for equal mass two-component Fermi gases with zero-range interactions, where the eigen energies of the spin-imbalanced system are degenerate with a subset of the eigen energies of the more spin-balanced system and the same total number of fermions. For unequal mass two-component Fermi

An Unusual Case of Foreign Body Aspiration in an Infant

African Journals Online (AJOL)

any radio opaque foreign body. Blood gases revealed severe hypoxia with severe metabolic acidosis. Child was being planned to be taken up for emergency tracheostomy, and rigid bronchoscopic removal of foreign body, but child succumbed during resuscitation measures. During the removal of the endotracheal tube the ...

Bubble jet impact on a rigid wall of different stand-off parameters

International Nuclear Information System (INIS)

Li, S; Wang, S P; Zhang, A M

2015-01-01

One of the key features of the dynamics of a bubble near a rigid wall is the development of a high liquid jet, generating highly localized pressure on the wall. In present study, the boundary integral method is employed to simulate this phenomenon, and the vortex ring model is introduced to handle the discontinued potential of the toroidal bubble. Meanwhile, the pressure induced in the whole process is calculated by an auxiliary function. The effect of the stand-off parameter on the bubble dynamics and the pressure on the wall is investigated, and a double-peaked structure occurs in the pressure profile after the jet impact in some cases, which is associated with the jet impact and the high internal pressure inside the bubble

Coupling dynamic analysis of spacecraft with multiple cylindrical tanks and flexible appendages

Science.gov (United States)

Wu, Wen-Jun; Yue, Bao-Zeng; Huang, Hua

2016-02-01

This paper is mainly concerned with the coupling dynamic analysis of a complex spacecraft consisting of one main rigid platform, multiple liquid-filled cylindrical tanks, and a number of flexible appendages. Firstly, the carrier potential function equations of liquid in the tanks are deduced according to the wall boundary conditions. Through employing the Fourier-Bessel series expansion method, the dynamic boundaries conditions on a curved free-surface under a low-gravity environment are transformed to general simple differential equations and the rigid-liquid coupled sloshing dynamic state equations of liquid in tanks are obtained. The state vectors of rigid-liquid coupled equations are composed with the modal coordinates of the relative potential function and the modal coordinates of wave height. Based on the Bernoulli-Euler beam theory and the D'Alembert's principle, the rigid-flexible coupled dynamic state equations of flexible appendages are directly derived, and the coordinate transform matrixes of maneuvering flexible appendages are precisely computed as time-varying. Then, the coupling dynamics state equations of the overall system of the spacecraft are modularly built by means of the Lagrange's equations in terms of quasi-coordinates. Lastly, the coupling dynamic performances of a typical complex spacecraft are studied. The availability and reliability of the presented method are also confirmed.

Dynamic response of the JT-60 vacuum vessel under the electromagnetic forces

International Nuclear Information System (INIS)

Takatsu, H.; Shimizu, M.; Ohta, M.

1982-01-01

Dynamic response analyses of the JAERI Tokamak 60 (JT-60) vacuum vessel were carried out under three kinds of saddle-like electromagnetic forces. In the analysis, the dynamic response of the bellows was obtained by dividing it into three components; the first, caused by the forced deflection due to the displacement of an adjacent rigid ring; the second, caused by inertia force; and the third, caused by a saddle-like electromagnetic force. Eigenvalue analyses showed that the 20th mode is a typical rotation mode of the rigid ring around the major radius with a natural frequency of 46.3 Hz. From the results of the dynamic response analyses, the maximum displacement response of the rigid ring was 3.1 mm and remarkable dynamic response was observed in the case of plasma disruption with a time constant of 1 ms. In cases of start-up of the plasma current and plasma disruption with a time constant of 50 ms, the rigid ring vibrates quasi-statically. It is clear that the dynamic behavior of the vacuum vessel is governed mainly by the saddle-like electromagnetic force, with a smaller effect of the inverse saddle-like electromagnetic force on the dynamic response of the vacuum vessel. (orig.)

Soft-matter composites with electrically tunable elastic rigidity

International Nuclear Information System (INIS)

Shan, Wanliang; Lu, Tong; Majidi, Carmel

2013-01-01

We use a phase-changing metal alloy to reversibly tune the elastic rigidity of an elastomer composite. The elastomer is embedded with a sheet of low-melting-point Field’s metal and an electric Joule heater composed of a serpentine channel of liquid-phase gallium–indium–tin (Galinstan ® ) alloy. At room temperature, the embedded Field’s metal is solid and the composite remains elastically rigid. Joule heating causes the Field’s metal to melt and allows the surrounding elastomer to freely stretch and bend. Using a tensile testing machine, we measure that the effective elastic modulus of the composite reversibly changes by four orders of magnitude when powered on and off. This dramatic change in rigidity is accurately predicted with a model for an elastic composite. Reversible rigidity control is also accomplished by replacing the Field’s metal with shape memory polymer. In addition to demonstrating electrically tunable rigidity with an elastomer, we also introduce a new technique to rapidly produce soft-matter electronics and multifunctional materials in several minutes with laser-patterned adhesive film and masked deposition of liquid-phase metal alloy. (paper)

Soft-matter composites with electrically tunable elastic rigidity

Science.gov (United States)

Shan, Wanliang; Lu, Tong; Majidi, Carmel

2013-08-01

We use a phase-changing metal alloy to reversibly tune the elastic rigidity of an elastomer composite. The elastomer is embedded with a sheet of low-melting-point Field’s metal and an electric Joule heater composed of a serpentine channel of liquid-phase gallium-indium-tin (Galinstan®) alloy. At room temperature, the embedded Field’s metal is solid and the composite remains elastically rigid. Joule heating causes the Field’s metal to melt and allows the surrounding elastomer to freely stretch and bend. Using a tensile testing machine, we measure that the effective elastic modulus of the composite reversibly changes by four orders of magnitude when powered on and off. This dramatic change in rigidity is accurately predicted with a model for an elastic composite. Reversible rigidity control is also accomplished by replacing the Field’s metal with shape memory polymer. In addition to demonstrating electrically tunable rigidity with an elastomer, we also introduce a new technique to rapidly produce soft-matter electronics and multifunctional materials in several minutes with laser-patterned adhesive film and masked deposition of liquid-phase metal alloy.

Ultrastructural study on dynamics of lipid bodies and plastids during ripening of chili pepper fruits.

Science.gov (United States)

Liu, Lin

2013-03-01

Dynamics of lipid bodies and plastids in chili pepper fruits during ripening were investigated by means of transmission electron microscopy. Mesocarp of chili pepper fruits consists of collenchyma, normal parenchyma, and huge celled parenchyma. In mature green fruits, plastids contain numerous thylakoids that are well organized into grana in collenchyma, a strikingly huge amount of starch and irregularly organized thylakoids in normal parenchyma, and simple tubes rather than thylakoids in huge celled parenchyma. These morphological features suggest that plastids are chloroplasts in collenchyma, chloroamyloplasts in normal parenchyma, proplastids in huge celled parenchyma. As fruits ripen to red, plastids in all cell types convert to chromoplasts and, concomitantly, lipid bodies accumulate in both cytoplasm and chromoplasts. Cytosolic lipid bodies are lined up in a regular layer adjacent to plasma membrane. The cytosolic lipid body consists of a core surrounded by a membrane. The core is comprised of a more electron-dense central part enclosed by a slightly less electron-dense peripheral layer. Plastidial lipid bodies in collenchyma, normal parenchyma, and endodermis initiate as plastoglobuli, which in turn convert to rod-like structures. Therefore, plastidial lipid bodies are more dynamic than cytosolic lipid bodies. Both cytosolic and plastidial lipid bodies contain rich unsaturated lipids. Copyright © 2012 Elsevier Ltd. All rights reserved.

Driven-dissipative Euler close-quote s equations for a rigid body: A chaotic system relevant to fluid dynamics

International Nuclear Information System (INIS)

Turner, L.

1996-01-01

Adhering to the lore that vorticity is a critical ingredient of fluid turbulence, a triad of coupled helicity (vorticity) states of the incompressible Navier-Stokes fluid are followed. Effects of the remaining states of the fluid on the triad are then modeled as a simple driving term. Numerical solution of the equations yield attractors that seem strange and chaotic. This suggests that the unpredictability of nonlinear fluid dynamics (i.e., turbulence) may be traced back to the most primordial structure of the Navier-Stokes equation; namely, the driven triadic interaction. copyright 1996 The American Physical Society

Translational and rotational diffusion of flexible PEG and rigid dendrimer probes in sodium caseinate dispersions and acid gels

NARCIS (Netherlands)

Salami, S.; Rondeau-Mouro, C.; Barhoum, M.; Duynhoven, van J.P.M.; Mariette, F.

2014-01-01

The dynamics of rigid dendrimer and flexible PEG probes in sodium caseinate dispersions and acid gels, including both translational diffusion and rotational diffusion, were studied by NMR. Above the onset of the close-packing limit (C ~ 10 g/100 g H2O), translational diffusion of the probe depended

The accuracy of dynamic attitude propagation

Science.gov (United States)

Harvie, E.; Chu, D.; Woodard, M.

1990-01-01

Propagating attitude by integrating Euler's equation for rigid body motion has long been suggested for the Earth Radiation Budget Satellite (ERBS) but until now has not been implemented. Because of limited Sun visibility, propagation is necessary for yaw determination. With the deterioration of the gyros, dynamic propagation has become more attractive. Angular rates are derived from integrating Euler's equation with a stepsize of 1 second, using torques computed from telemetered control system data. The environmental torque model was quite basic. It included gravity gradient and unshadowed aerodynamic torques. Knowledge of control torques is critical to the accuracy of dynamic modeling. Due to their coarseness and sparsity, control actuator telemetry were smoothed before integration. The dynamic model was incorporated into existing ERBS attitude determination software. Modeled rates were then used for attitude propagation in the standard ERBS fine-attitude algorithm. In spite of the simplicity of the approach, the dynamically propagated attitude matched the attitude propagated with good gyros well for roll and yaw but diverged up to 3 degrees for pitch because of the very low resolution in pitch momentum wheel telemetry. When control anomalies significantly perturb the nominal attitude, the effect of telemetry granularity is reduced and the dynamically propagated attitudes are accurate on all three axes.

Linking rigidity transitions with enthalpic changes at the glass transition and fragility: insight from a simple oscillator model.

Science.gov (United States)

Micoulaut, Matthieu

2010-07-21

A low temperature Monte Carlo dynamics of a Keating-like oscillator model is used to study the relationship between the nature of network glasses from the viewpoint of rigidity, the thermal reversibility during the glass transition and the strong-fragile behaviour of glass-forming liquids. The model shows that a Phillips optimal glass formation with minimal enthalpic changes is obtained under a cooling/annealing cycle when the system is optimally constrained by the harmonic interactions, i.e. when it is isostatically rigid. For these peculiar systems with a nearly reversible glass transition, the computed activation energy for relaxation time shows also a minimum, which demonstrates that isostatically rigid glasses are strong (Arrhenius-like) glass-forming liquids. Experiments on chalcogenide and oxide glass-forming liquids are discussed under this new perspective and confirm the theoretical prediction for chalcogenide network glasses whereas limitations of the approach appear for weakly interacting (non-covalent, ionic) systems.

Sensing of substratum rigidity and directional migration by fast-crawling cells

Science.gov (United States)

Okimura, Chika; Sakumura, Yuichi; Shimabukuro, Katsuya; Iwadate, Yoshiaki

2018-05-01

Living cells sense the mechanical properties of their surrounding environment and respond accordingly. Crawling cells detect the rigidity of their substratum and migrate in certain directions. They can be classified into two categories: slow-moving and fast-moving cell types. Slow-moving cell types, such as fibroblasts, smooth muscle cells, mesenchymal stem cells, etc., move toward rigid areas on the substratum in response to a rigidity gradient. However, there is not much information on rigidity sensing in fast-moving cell types whose size is ˜10 μ m and migration velocity is ˜10 μ m /min . In this study, we used both isotropic substrata with different rigidities and an anisotropic substratum that is rigid on the x axis but soft on the y axis to demonstrate rigidity sensing by fast-moving Dictyostelium cells and neutrophil-like differentiated HL-60 cells. Dictyostelium cells exerted larger traction forces on a more rigid isotropic substratum. Dictyostelium cells and HL-60 cells migrated in the "soft" direction on the anisotropic substratum, although myosin II-null Dictyostelium cells migrated in random directions, indicating that rigidity sensing of fast-moving cell types differs from that of slow types and is induced by a myosin II-related process.

Jets from pulsed-ultrasound-induced cavitation bubbles near a rigid boundary

Science.gov (United States)

Brujan, Emil-Alexandru

2017-06-01

The dynamics of cavitation bubbles, generated from short (microsecond) pulses of ultrasound and situated near a rigid boundary, are investigated numerically. The temporal development of the bubble shape, bubble migration, formation of the liquid jet during bubble collapse, and the kinetic energy of the jet are investigated as a function of the distance between bubble and boundary. During collapse, the bubble migrates towards the boundary and the liquid jet reaches a maximum velocity between 80 m s-1 and 120 m s-1, depending on the distance between bubble and boundary. The conversion of bubble energy to kinetic energy of the jet ranges from 16% to 23%. When the bubble is situated in close proximity to the boundary, the liquid jet impacts the boundary with its maximum velocity, resulting in an impact pressure of the order of tens of MPa. The rapid expansion of the bubble, the impact of the liquid jet onto the nearby boundary material, and the high pressure developed inside the bubble at its minimum volume can all contribute to the boundary material damage. The high pressure developed during the impact of the liquid jet onto the biological material and the shearing forces acting on the material surface as a consequence of the radial flow of the jet outward from the impact site are the main damage mechanisms of rigid biological materials. The results are discussed with respect to cavitation damage of rigid biological materials, such as disintegration of renal stones and calcified tissue and collateral effects in pulsed ultrasound surgery.

Jets from pulsed-ultrasound-induced cavitation bubbles near a rigid boundary

International Nuclear Information System (INIS)

Brujan, Emil-Alexandru

2017-01-01

The dynamics of cavitation bubbles, generated from short (microsecond) pulses of ultrasound and situated near a rigid boundary, are investigated numerically. The temporal development of the bubble shape, bubble migration, formation of the liquid jet during bubble collapse, and the kinetic energy of the jet are investigated as a function of the distance between bubble and boundary. During collapse, the bubble migrates towards the boundary and the liquid jet reaches a maximum velocity between 80 m s −1 and 120 m s −1 , depending on the distance between bubble and boundary. The conversion of bubble energy to kinetic energy of the jet ranges from 16% to 23%. When the bubble is situated in close proximity to the boundary, the liquid jet impacts the boundary with its maximum velocity, resulting in an impact pressure of the order of tens of MPa. The rapid expansion of the bubble, the impact of the liquid jet onto the nearby boundary material, and the high pressure developed inside the bubble at its minimum volume can all contribute to the boundary material damage. The high pressure developed during the impact of the liquid jet onto the biological material and the shearing forces acting on the material surface as a consequence of the radial flow of the jet outward from the impact site are the main damage mechanisms of rigid biological materials. The results are discussed with respect to cavitation damage of rigid biological materials, such as disintegration of renal stones and calcified tissue and collateral effects in pulsed ultrasound surgery. (paper)

Motion control of rigid bodies in SE(3)

Science.gov (United States)

Roza, Ashton

This thesis investigates the control of motion for a general class of vehicles that rotate and translate in three-space, and are propelled by a thrust vector which has fixed direction in body frame. The thesis addresses the problems of path following and position control. For path following, a feedback linearization controller is presented that makes the vehicle follow an arbitrary closed curve while simultaneously allowing the designer to specify the velocity profile of the vehicle on the path and its heading. For position control, a two-stage approach is presented that decouples position control from attitude control, allowing for a modular design and yielding almost global asymptotic stability of any desired hovering equilibrium. The effectiveness of the proposed method is verified both in simulation and experimentally by means of a hardware-in-the-loop setup emulating a co-axial helicopter.

Unsteady locomotion: integrating muscle function with whole body dynamics and neuromuscular control

Science.gov (United States)

Biewener, Andrew A.; Daley, Monica A.

2009-01-01

Summary By integrating studies of muscle function with analysis of whole body and limb dynamics, broader appreciation of neuromuscular function can be achieved. Ultimately, such studies need to address non-steady locomotor behaviors relevant to animals in their natural environments. When animals move slowly they likely rely on voluntary coordination of movement involving higher brain centers. However, when moving fast, their movements depend more strongly on responses controlled at more local levels. Our focus here is on control of fast-running locomotion. A key observation emerging from studies of steady level locomotion is that simple spring-mass dynamics, which help to economize energy expenditure, also apply to stabilization of unsteady running. Spring-mass dynamics apply to conditions that involve lateral impulsive perturbations, sudden changes in terrain height, and sudden changes in substrate stiffness or damping. Experimental investigation of unsteady locomotion is challenging, however, due to the variability inherent in such behaviors. Another emerging principle is that initial conditions associated with postural changes following a perturbation define different context-dependent stabilization responses. Distinct stabilization modes following a perturbation likely result from proximo-distal differences in limb muscle architecture, function and control strategy. Proximal muscles may be less sensitive to sudden perturbations and appear to operate, in such circumstances, under feed-forward control. In contrast, multiarticular distal muscles operate, via their tendons, to distribute energy among limb joints in a manner that also depends on the initial conditions of limb contact with the ground. Intrinsic properties of these distal muscle–tendon elements, in combination with limb and body dynamics, appear to provide rapid initial stabilizing mechanisms that are often consistent with spring-mass dynamics. These intrinsic mechanisms likely help to simplify the

Dynamic whole body PET parametric imaging: I. Concept, acquisition protocol optimization and clinical application

Science.gov (United States)

Karakatsanis, Nicolas A.; Lodge, Martin A.; Tahari, Abdel K.; Zhou, Y.; Wahl, Richard L.; Rahmim, Arman

2013-01-01

Static whole body PET/CT, employing the standardized uptake value (SUV), is considered the standard clinical approach to diagnosis and treatment response monitoring for a wide range of oncologic malignancies. Alternative PET protocols involving dynamic acquisition of temporal images have been implemented in the research setting, allowing quantification of tracer dynamics, an important capability for tumor characterization and treatment response monitoring. Nonetheless, dynamic protocols have been confined to single bed-coverage limiting the axial field-of-view to ~15–20 cm, and have not been translated to the routine clinical context of whole-body PET imaging for the inspection of disseminated disease. Here, we pursue a transition to dynamic whole body PET parametric imaging, by presenting, within a unified framework, clinically feasible multi-bed dynamic PET acquisition protocols and parametric imaging methods. We investigate solutions to address the challenges of: (i) long acquisitions, (ii) small number of dynamic frames per bed, and (iii) non-invasive quantification of kinetics in the plasma. In the present study, a novel dynamic (4D) whole body PET acquisition protocol of ~45min total length is presented, composed of (i) an initial 6-min dynamic PET scan (24 frames) over the heart, followed by (ii) a sequence of multi-pass multi-bed PET scans (6 passes x 7 bed positions, each scanned for 45sec). Standard Patlak linear graphical analysis modeling was employed, coupled with image-derived plasma input function measurements. Ordinary least squares (OLS) Patlak estimation was used as the baseline regression method to quantify the physiological parameters of tracer uptake rate Ki and total blood distribution volume V on an individual voxel basis. Extensive Monte Carlo simulation studies, using a wide set of published kinetic FDG parameters and GATE and XCAT platforms, were conducted to optimize the acquisition protocol from a range of 10 different clinically

Dynamic whole-body PET parametric imaging: I. Concept, acquisition protocol optimization and clinical application.

Science.gov (United States)

Karakatsanis, Nicolas A; Lodge, Martin A; Tahari, Abdel K; Zhou, Y; Wahl, Richard L; Rahmim, Arman

2013-10-21

Static whole-body PET/CT, employing the standardized uptake value (SUV), is considered the standard clinical approach to diagnosis and treatment response monitoring for a wide range of oncologic malignancies. Alternative PET protocols involving dynamic acquisition of temporal images have been implemented in the research setting, allowing quantification of tracer dynamics, an important capability for tumor characterization and treatment response monitoring. Nonetheless, dynamic protocols have been confined to single-bed-coverage limiting the axial field-of-view to ~15-20 cm, and have not been translated to the routine clinical context of whole-body PET imaging for the inspection of disseminated disease. Here, we pursue a transition to dynamic whole-body PET parametric imaging, by presenting, within a unified framework, clinically feasible multi-bed dynamic PET acquisition protocols and parametric imaging methods. We investigate solutions to address the challenges of: (i) long acquisitions, (ii) small number of dynamic frames per bed, and (iii) non-invasive quantification of kinetics in the plasma. In the present study, a novel dynamic (4D) whole-body PET acquisition protocol of ~45 min total length is presented, composed of (i) an initial 6 min dynamic PET scan (24 frames) over the heart, followed by (ii) a sequence of multi-pass multi-bed PET scans (six passes × seven bed positions, each scanned for 45 s). Standard Patlak linear graphical analysis modeling was employed, coupled with image-derived plasma input function measurements. Ordinary least squares Patlak estimation was used as the baseline regression method to quantify the physiological parameters of tracer uptake rate Ki and total blood distribution volume V on an individual voxel basis. Extensive Monte Carlo simulation studies, using a wide set of published kinetic FDG parameters and GATE and XCAT platforms, were conducted to optimize the acquisition protocol from a range of ten different clinically

Dynamic whole-body PET parametric imaging: I. Concept, acquisition protocol optimization and clinical application

International Nuclear Information System (INIS)

Karakatsanis, Nicolas A; Lodge, Martin A; Tahari, Abdel K; Zhou, Y; Wahl, Richard L; Rahmim, Arman

2013-01-01

Static whole-body PET/CT, employing the standardized uptake value (SUV), is considered the standard clinical approach to diagnosis and treatment response monitoring for a wide range of oncologic malignancies. Alternative PET protocols involving dynamic acquisition of temporal images have been implemented in the research setting, allowing quantification of tracer dynamics, an important capability for tumor characterization and treatment response monitoring. Nonetheless, dynamic protocols have been confined to single-bed-coverage limiting the axial field-of-view to ∼15–20 cm, and have not been translated to the routine clinical context of whole-body PET imaging for the inspection of disseminated disease. Here, we pursue a transition to dynamic whole-body PET parametric imaging, by presenting, within a unified framework, clinically feasible multi-bed dynamic PET acquisition protocols and parametric imaging methods. We investigate solutions to address the challenges of: (i) long acquisitions, (ii) small number of dynamic frames per bed, and (iii) non-invasive quantification of kinetics in the plasma. In the present study, a novel dynamic (4D) whole-body PET acquisition protocol of ∼45 min total length is presented, composed of (i) an initial 6 min dynamic PET scan (24 frames) over the heart, followed by (ii) a sequence of multi-pass multi-bed PET scans (six passes × seven bed positions, each scanned for 45 s). Standard Patlak linear graphical analysis modeling was employed, coupled with image-derived plasma input function measurements. Ordinary least squares Patlak estimation was used as the baseline regression method to quantify the physiological parameters of tracer uptake rate K i and total blood distribution volume V on an individual voxel basis. Extensive Monte Carlo simulation studies, using a wide set of published kinetic FDG parameters and GATE and XCAT platforms, were conducted to optimize the acquisition protocol from a range of ten different

Dynamic whole-body PET parametric imaging: I. Concept, acquisition protocol optimization and clinical application

Science.gov (United States)

Karakatsanis, Nicolas A.; Lodge, Martin A.; Tahari, Abdel K.; Zhou, Y.; Wahl, Richard L.; Rahmim, Arman

2013-10-01

Static whole-body PET/CT, employing the standardized uptake value (SUV), is considered the standard clinical approach to diagnosis and treatment response monitoring for a wide range of oncologic malignancies. Alternative PET protocols involving dynamic acquisition of temporal images have been implemented in the research setting, allowing quantification of tracer dynamics, an important capability for tumor characterization and treatment response monitoring. Nonetheless, dynamic protocols have been confined to single-bed-coverage limiting the axial field-of-view to ˜15-20 cm, and have not been translated to the routine clinical context of whole-body PET imaging for the inspection of disseminated disease. Here, we pursue a transition to dynamic whole-body PET parametric imaging, by presenting, within a unified framework, clinically feasible multi-bed dynamic PET acquisition protocols and parametric imaging methods. We investigate solutions to address the challenges of: (i) long acquisitions, (ii) small number of dynamic frames per bed, and (iii) non-invasive quantification of kinetics in the plasma. In the present study, a novel dynamic (4D) whole-body PET acquisition protocol of ˜45 min total length is presented, composed of (i) an initial 6 min dynamic PET scan (24 frames) over the heart, followed by (ii) a sequence of multi-pass multi-bed PET scans (six passes × seven bed positions, each scanned for 45 s). Standard Patlak linear graphical analysis modeling was employed, coupled with image-derived plasma input function measurements. Ordinary least squares Patlak estimation was used as the baseline regression method to quantify the physiological parameters of tracer uptake rate Ki and total blood distribution volume V on an individual voxel basis. Extensive Monte Carlo simulation studies, using a wide set of published kinetic FDG parameters and GATE and XCAT platforms, were conducted to optimize the acquisition protocol from a range of ten different clinically

Dynamical evolution of small bodies in the Solar System

Science.gov (United States)

Jacobson, Seth A.

2012-05-01

This thesis explores the dynamical evolution of small bodies in the Solar System. It focuses on the asteroid population but parts of the theory can be applied to other systems such as comets or Kuiper Belt objects. Small is a relative term that refers to bodies whose dynamics can be significantly perturbed by non-gravitational forces and tidal torques on timescales less than their lifetimes (for instance the collisional timescale in the Main Belt asteroid population or the sun impact timescale for the near-Earth asteroid population). Non-gravitational torques such as the YORP effect can result in the active endogenous evolution of asteroid systems; something that was not considered more than twenty years ago. This thesis is divided into three independent studies. The first explores the dynamics of a binary systems immediately after formation from rotational fission. The rotational fission hypothesis states that a rotationally torqued asteroid will fission when the centrifugal accelerations across the body exceed gravitational attraction. Asteroids must have very little or no tensile strength for this to occur, and are often referred to as "rubble piles.'' A more complete description of the hypothesis and the ensuing dynamics is provided there. From that study a framework of asteroid evolution is assembled. It is determined that mass ratio is the most important factor for determining the outcome of a rotational fission event. Each observed binary morphology is tied to this evolutionary schema and the relevant timescales are assessed. In the second study, the role of non-gravitational and tidal torques in binary asteroid systems is explored. Understanding the competition between tides and the YORP effect provides insight into the relative abundances of the different binary morphologies and the effect of planetary flybys. The interplay between tides and the BYORP effect creates dramatic evolutionary pathways that lead to interesting end states including stranded

Modeling the locomotion of the African trypanosome using multi-particle collision dynamics

International Nuclear Information System (INIS)

Babu, Sujin B; Stark, Holger

2012-01-01

The African trypanosome is a single flagellated micro-organism that causes the deadly sleeping sickness in humans and animals. We study the locomotion of a model trypanosome by modeling the spindle-shaped cell body using an elastic network of vertices with additional bending rigidity. The flagellum firmly attached to the model cell body is either straight or helical. A bending wave propagates along the flagellum and pushes the trypanosome forward in its viscous environment, which we simulate with the method of multi-particle collision dynamics. The relaxation dynamics of the model cell body due to a static bending wave reveals the sperm number from elastohydrodynamics as the relevant parameter. Characteristic cell body conformations for the helically attached flagellum resemble experimental observations. We show that the swimming velocity scales as the root of the angular frequency of the bending wave reminiscent of predictions for an actuated slender rod attached to a large viscous load. The swimming velocity for one geometry collapses on a single master curve when plotted versus the sperm number. The helically attached flagellum leads to a helical swimming path and a rotation of the model trypanosome about its long axis as observed in experiments. The simulated swimming velocity agrees with the experimental value. (paper)

An overview of the formulation, existence and uniqueness issues for the initial value problem raised by the dynamics of discrete systems with unilateral contact and dry friction

Science.gov (United States)

Ballard, Patrick; Charles, Alexandre

2018-03-01

In the end of the seventies, Schatzman and Moreau undertook to revisit the venerable dynamics of rigid bodies with contact and dry friction in the light of more recent mathematics. One claimed objective was to reach, for the first time, a mathematically consistent formulation of an initial value problem associated with the dynamics. The purpose of this article is to make a review of the today state-of-art concerning not only the formulation, but also the issues of existence and uniqueness of solution. xml:lang="fr"

Methodological aspects of EEG and Body dynamics measurements during motion.

Directory of Open Access Journals (Sweden)

Pedro eReis

2014-03-01

Full Text Available EEG involves recording, analysis, and interpretation of voltages recorded on the human scalp originating from brain grey matter. EEG is one of the favorite methods to study and understand processes that underlie behavior. This is so, because EEG is relatively cheap, easy to wear, light weight and has high temporal resolution. In terms of behavior, this encompasses actions, such as movements, that are performed in response to the environment. However, there are methodological difficulties when recording EEG during movement such as movement artifacts. Thus, most studies about the human brain have examined activations during static conditions. This article attempts to compile and describe relevant methodological solutions that emerged in order to measure body and brain dynamics during motion. These descriptions cover suggestions of how to avoid and reduce motion artifacts, hardware, software and techniques for synchronously recording EEG, EMG, kinematics, kinetics and eye movements during motion. Additionally, we present various recording systems, EEG electrodes, caps and methods for determination of real/custom electrode positions. In the end we will conclude that it is possible to record and analyze synchronized brain and body dynamics related to movement or exercise tasks.

Effect of rigid inclusions on sintering

International Nuclear Information System (INIS)

Rahaman, M.N.; De Jonghe, L.C.

1988-01-01

The predictions of recent theoretical studies on the effect of inert, rigid inclusions on the sintering of ceramic powder matrices are examined and compared with experimental data. The densification of glass matrix composites with inclusion volume fractions of ≤0.15 can be adequately explained by Scherer's theory for viscous sintering with rigid inclusions. Inclusions cause a vast reduction in the densification rates of polycrystalline matrix composites even at low inclusion volume fractions. Models put forward to explain the sintering of polycrystalline matrix composites are discussed

Molecular dynamics simulation and x-ray structural studies of mode-coupling in monoclinic K2ZnBr4

International Nuclear Information System (INIS)

Machida, Mitsuo; Itoh, Hideaki; Koyano, Nobumitsu

2003-01-01

The mode-coupling between the rotational and translational motions in the monoclinic K 2 ZnBr 4 was studied by the molecular dynamics simulation and X-ray structure analysis. In the structure analysis, the Fourier analysis indicates that, in the paraelectric phase, electron densities of the bromines Br1 and Br2 on the mirror plane are fairly elongated in the b direction, while the density of the bromine Br3 at the general position spreads more or less in the a direction. In the ferroelectric phase, the elongation is suppressed in particular for Br1 and Br2, and the densities of Br3 and Br4, which are equivalent each other in the paraelectric phase, are nearly isotropic. In addition, Br1 and Br2 displace in the b direction through the rotation of the ZnBr 4 2- ion about the a axis. In the simulation, the ZnBr 4 2- ions are treated as rigid-bodies. The trajectories of the bromines reproduce satisfactorily the characteristic feature of the Fourier maps. This means that the ZnBr 4 2- ions are approximately regarded as rigid-bodies even in the real K 2 ZnBr 4 . The mode-coupling analysis shows that, in the ZnBr 4 2- rigid-bodies, the rotational motion about the a axis and the translational motion in the b direction couple strongly. Moreover, the displacements of rotational and translational motions in the b direction are almost synchronous for Br1 and Br2, and almost asynchronous for Br3 and Br4. (author)

Assessment of rigid multi-modality image registration consistency using the multiple sub-volume registration (MSR) method

International Nuclear Information System (INIS)

Ceylan, C; Heide, U A van der; Bol, G H; Lagendijk, J J W; Kotte, A N T J

2005-01-01

Registration of different imaging modalities such as CT, MRI, functional MRI (fMRI), positron (PET) and single photon (SPECT) emission tomography is used in many clinical applications. Determining the quality of any automatic registration procedure has been a challenging part because no gold standard is available to evaluate the registration. In this note we present a method, called the 'multiple sub-volume registration' (MSR) method, for assessing the consistency of a rigid registration. This is done by registering sub-images of one data set on the other data set, performing a crude non-rigid registration. By analysing the deviations (local deformations) of the sub-volume registrations from the full registration we get a measure of the consistency of the rigid registration. Registration of 15 data sets which include CT, MR and PET images for brain, head and neck, cervix, prostate and lung was performed utilizing a rigid body registration with normalized mutual information as the similarity measure. The resulting registrations were classified as good or bad by visual inspection. The resulting registrations were also classified using our MSR method. The results of our MSR method agree with the classification obtained from visual inspection for all cases (p < 0.02 based on ANOVA of the good and bad groups). The proposed method is independent of the registration algorithm and similarity measure. It can be used for multi-modality image data sets and different anatomic sites of the patient. (note)

Rigid-Plastic Post-Buckling Analysis of Columns and Quadratic Plates

DEFF Research Database (Denmark)

Jönsson, Jeppe

2008-01-01

the compressive load as a function of the transverse displacement. An estimate of the magnitude of the transverse displacement prior to the forming of the collapse mechanism is introduced into the compressive load function, determined by the virtual work equation, thereby revealing a qualified estimate...... yield lines accommodate differential rotations of rigid parts and the area “collapse” yield lines accommodate local area changes of the rigid parts thereby preserving compatibility of the rigid parts of a plate. The approach will be illustrated for rigid plastic column analysis and for a quadratic plate...

Analysis Of Dynamic Dent Resistance Of Auto Body Panel

International Nuclear Information System (INIS)

Deolgaonkar, S. S.; Nandedkar, V. M.

2007-01-01

In automotive industry there is increasing demand for higher quality exterior panels, better functional properties and lower weight. The demand for weight reduction has led to thinner sheets, greater use of high strength steels and a change from steel to aluminum grades. This thickness reduction, which causes decrease in the dent resistance, promoted examination of the dent resistance against static and dynamic concentrated loads. This paper describes an investigation of the suitability of explicit dynamic FE analysis as a mean to determine the dynamic dent properties of the panel. This investigation is carried out on the body panel of utility vehicle and covers two parts, in first experimental analysis is carried out on developed test rig, which is interfaced with the computer. This test rig measures deflection with accuracy of .001mm. The experimental results are then compared with the simulation results, which is the second part. Simulation is carried with non-linear transient dynamic explicit analysis using Ansys -Ls Dyna. The experimental results show great accuracy with simulation results. The effect of change in thickness and geometry of the existing fender is then studied with help of simulation technique. By considering the best possible option overall weight of fender is reduced by 7.07 % by keeping the dent resistance of the panel constant

Classical mechanics systems of particles and Hamiltonian dynamics

CERN Document Server

Greiner, Walter

2010-01-01

This textbook Classical Mechanics provides a complete survey on all aspects of classical mechanics in theoretical physics. An enormous number of worked examples and problems show students how to apply the abstract principles to realistic problems. The textbook covers Newtonian mechanics in rotating coordinate systems, mechanics of systems of point particles, vibrating systems and mechanics of rigid bodies. It thoroughly introduces and explains the Lagrange and Hamilton equations and the Hamilton-Jacobi theory. A large section on nonlinear dynamics and chaotic behavior of systems takes Classical Mechanics to newest development in physics. The new edition is completely revised and updated. New exercises and new sections in canonical transformation and Hamiltonian theory have been added.

Genus Ranges of 4-Regular Rigid Vertex Graphs.

Science.gov (United States)

Buck, Dorothy; Dolzhenko, Egor; Jonoska, Nataša; Saito, Masahico; Valencia, Karin

2015-01-01

A rigid vertex of a graph is one that has a prescribed cyclic order of its incident edges. We study orientable genus ranges of 4-regular rigid vertex graphs. The (orientable) genus range is a set of genera values over all orientable surfaces into which a graph is embedded cellularly, and the embeddings of rigid vertex graphs are required to preserve the prescribed cyclic order of incident edges at every vertex. The genus ranges of 4-regular rigid vertex graphs are sets of consecutive integers, and we address two questions: which intervals of integers appear as genus ranges of such graphs, and what types of graphs realize a given genus range. For graphs with 2 n vertices ( n > 1), we prove that all intervals [ a, b ] for all a genus ranges. For graphs with 2 n - 1 vertices ( n ≥ 1), we prove that all intervals [ a, b ] for all a genus ranges. We also provide constructions of graphs that realize these ranges.

Biomechanical Analysis and Evaluation Technology Using Human Multi-Body Dynamic Model

Energy Technology Data Exchange (ETDEWEB)

Kim, Yoon Hyuk; Shin, June Ho; Khurelbaatar, Tsolmonbaatar [Kyung Hee University, Yongin (Korea, Republic of)

2011-10-15

This paper presents the biomechanical analysis and evaluation technology of musculoskeletal system by multi-body human dynamic model and 3-D motion capture data. First, medical image based geometric model and material properties of tissue were used to develop the human dynamic model and 3-D motion capture data based motion analysis techniques were develop to quantify the in-vivo joint kinematics, joint moment, joint force, and muscle force. Walking and push-up motion was investigated using the developed model. The present model and technologies would be useful to apply the biomechanical analysis and evaluation of human activities.

Body composition analysis by DEXA by using dynamically changing samarium filtration

DEFF Research Database (Denmark)

Gotfredsen, Arne; Baeksgaard, L; Hilsted, J

1997-01-01

Dual-energy X-ray absorptiometry (DEXA) has a high accuracy for body composition analysis but is influenced by beam hardening and other error sources in the extremes of measurement. To compensate for beam hardening, the Norland XR-36 introduces a dynamically changing samarium filtration system......). Scans of six healthy volunteers covered with combinations of beef and lard (approximately 5-15 kg) showed a good agreement (r = 0.99) between reference and DEXA values of added soft tissue mass and fat percentage. We conclude that the DEXA method (and, in particular, the Norland XR-36 using dynamic...

Dynamical phase transitions in quantum mechanics

International Nuclear Information System (INIS)

Rotter, Ingrid

2012-01-01

1936 Niels Bohr: In the atom and in the nucleus we have indeed to do with two extreme cases of mechanical many-body problems for which a procedure of approximation resting on a combination of one-body problems, so effective in the former case, loses any validity in the latter where we, from the very beginning, have to do with essential collective aspects of the interplay between the constituent particles. 1963: Maria Goeppert-Mayer and J. Hans D. Jensen received the Nobel Prize in Physics for their discoveries concerning nuclear shell structure. State of the art 2011: - The nucleus is an open quantum system described by a non-Hermitian Hamilton operator with complex eigenvalues. The eigenvalues may cross in the complex plane ('exceptional points'), the phases of the eigenfunctions are not rigid in approaching the crossing points and the widths bifurcate. By this, a dynamical phase transition occurs in the many-level system. The dynamical phase transition starts at a critical value of the level density. Hence the properties of he low-lying nuclear states (described well by the shell model) and those of highly excited nuclear states (described by random ensembles) differ fundamentally from one another. The statement of Niels Bohr for compound nucleus states at high level density is not in contradiction to the shell-model description of nuclear (and atomic) states at low level density. Dynamical phase transitions are observed experimentally in different systems, including PT-symmetric ones, by varying one or more parameters

GENERAL: Application of Symplectic Algebraic Dynamics Algorithm to Circular Restricted Three-Body Problem

Science.gov (United States)

Lu, Wei-Tao; Zhang, Hua; Wang, Shun-Jin

2008-07-01

Symplectic algebraic dynamics algorithm (SADA) for ordinary differential equations is applied to solve numerically the circular restricted three-body problem (CR3BP) in dynamical astronomy for both stable motion and chaotic motion. The result is compared with those of Runge-Kutta algorithm and symplectic algorithm under the fourth order, which shows that SADA has higher accuracy than the others in the long-term calculations of the CR3BP.

Effects of quadriceps strength after static and dynamic whole-body vibration exercise.

Science.gov (United States)

Bush, Jill A; Blog, Gabriel L; Kang, Jie; Faigenbaum, Avery D; Ratamess, Nicholas A

2015-05-01

Numerous studies have shown performance benefits including whole-body vibration (WBV) as a training modality or an acute exercise protocol when used as a component of the resistance training program. Some studies have indicated that performing dynamic exercises as compared with static position exercises while exposed to WBV might be beneficial; however, evidence is lacking. Thus, the purpose of this study was to determine if an acute bout of dynamic versus static squats performed during WBV results in increase in quadriceps force production by means of dynamic isokinetic knee extension and flexion exercise. Nonresistance-trained healthy young men and women (N = 21) of 18-25 years participated in 4 protocols with 2-week rest in-between. Protocol 1 consisted of 5 sets of 10 dynamic squats without vibration; Protocol 2: 5 sets of 30-second static squats without vibration; Protocol 3: 5 sets of 10 dynamic squats with 30-Hz WBV for a total of 2.5 minutes; and Protocol 4: 5 sets of 30-second static squats with 30-Hz WBV for a total of 2.5 minutes. Prestrength tests (1 set of 4 repetitions at 100° · s(-1) for the knee extension exercise) was performed within 5 minutes of starting each protocol, and poststrength testing was performed within 1 minute of completing each protocol. Strength outcomes were analyzed by repeated measures analysis of variance with a significance level set at p ≤ 0.05. A significant decrease in strength was observed after dynamic and static squats without WBV (p = 0.002); an increase in strength after dynamic squats with WBV (p = 0.003); and a decrease in strength after static squats with WBV (p = 0.003). The inclusion of WBV to dynamic resistance exercise can be an added modality to increase strength. Whole-body vibration can have varied effects in altering muscle strength in untrained individuals according to the type of resistance training performed. As a dynamic squat with WBV seems to immediately potentiate neuromuscular functioning, the

Targeted microbubbles for imaging tumor angiogenesis: assessment of whole-body biodistribution with dynamic micro-PET in mice

DEFF Research Database (Denmark)

Willmann, Jürgen K; Cheng, Zhen; Davis, Corrine

2008-01-01

To evaluate in vivo whole-body biodistribution of microbubbles (MBs) targeted to tumor angiogenesis-related vascular endothelial growth factor (VEGF) receptor 2 (VEGFR2) by using dynamic micro-positron emission tomography (PET) in living mice.......To evaluate in vivo whole-body biodistribution of microbubbles (MBs) targeted to tumor angiogenesis-related vascular endothelial growth factor (VEGF) receptor 2 (VEGFR2) by using dynamic micro-positron emission tomography (PET) in living mice....

INTEGRATION OF THE ROTATION OF AN EARTH-LIKE BODY AS A PERTURBED SPHERICAL ROTOR

International Nuclear Information System (INIS)

Ferrer, Sebastian; Lara, Martin

2010-01-01

For rigid bodies close to a sphere, we propose an analytical solution that is free from elliptic integrals and functions, and can be fundamental for application to perturbed problems. After reordering the Hamiltonian as a perturbed spherical rotor, the Lie-series solution is generated up to an arbitrary order. Using the inertia parameters of different solar system bodies, the comparison of the approximate series solution with the exact analytical one shows that the precision reached with relatively low orders is at the same level of the observational accuracy for the Earth and Mars. Thus, for instance, the periodic errors of the mathematical solution are confined to the microarcsecond level with a simple second-order truncation for the Earth. On the contrary, higher orders are required for the mathematical solution to reach a precision at the expected level of accuracy of proposed new theories for the rotational dynamics of the Moon.

A soft body as a reservoir: case studies in a dynamic model of octopus-inspired soft robotic arm

Science.gov (United States)

Nakajima, Kohei; Hauser, Helmut; Kang, Rongjie; Guglielmino, Emanuele; Caldwell, Darwin G.; Pfeifer, Rolf

2013-01-01

The behaviors of the animals or embodied agents are characterized by the dynamic coupling between the brain, the body, and the environment. This implies that control, which is conventionally thought to be handled by the brain or a controller, can partially be outsourced to the physical body and the interaction with the environment. This idea has been demonstrated in a number of recently constructed robots, in particular from the field of “soft robotics”. Soft robots are made of a soft material introducing high-dimensionality, non-linearity, and elasticity, which often makes the robots difficult to control. Biological systems such as the octopus are mastering their complex bodies in highly sophisticated manners by capitalizing on their body dynamics. We will demonstrate that the structure of the octopus arm cannot only be exploited for generating behavior but also, in a sense, as a computational resource. By using a soft robotic arm inspired by the octopus we show in a number of experiments how control is partially incorporated into the physical arm's dynamics and how the arm's dynamics can be exploited to approximate non-linear dynamical systems and embed non-linear limit cycles. Future application scenarios as well as the implications of the results for the octopus biology are also discussed. PMID:23847526

A Soft Body as a Reservoir: Case Studies in a Dynamic Model of Octopus-Inspired Soft Robotic Arm

Directory of Open Access Journals (Sweden)

Kohei eNakajima

2013-07-01

Full Text Available The behaviors of the animals or embodied agents are characterized by the dynamic coupling between the brain, the body, and the environment. This implies that control, which is conventionally thought to be handled by the brain or a controller, can partially be outsourced to the physical body and the interaction with the environment. This idea has been demonstrated in a number of recently constructed robots, in particular from the field of soft robotics. Soft robots are made of a soft material introducing high-dimensionality, nonlinearity, and elasticity, which often makes the robots difficult to control. Biological systems such as the octopus are mastering their complex bodies in highly sophisticated manners by capitalizing on their body dynamics. We will demonstrate that the structure of the octopus arm cannot only be exploited for generating behavior but also, in a sense, as a computational resource. By using a soft robotic arm inspired by the octopus we show in a number of experiments how control is partially incorporated into the physical arm’s dynamics and how the arm’s dynamics can be exploited to approximate nonlinear dynamical systems and embed nonlinear limit cycles. Future application scenarios as well as the implications of the results for the octopus biology are also discussed.

The Almost Periodic Rigidity of Crystallographic Bar-Joint Frameworks

Directory of Open Access Journals (Sweden)

Ghada Badri

2014-04-01

Full Text Available A crystallographic bar-joint framework, C in Rd, is shown to be almost periodically infinitesimally rigid if and only if it is strictly periodically infinitesimally rigid and the rigid unit mode (RUM spectrum, Ω (C, is a singleton. Moreover, the almost periodic infinitesimal flexes of C are characterised in terms of a matrix-valued function, ΦC(z, on the d-torus, Td, determined by a full rank translation symmetry group and an associated motif of joints and bars.

Wobbling motion: A γ-rigid or γ-soft mode?

International Nuclear Information System (INIS)

Casten, R.F.; McCutchan, E.A.; Beausang, C.W.; Zamfir, N.V.; Zhang Jingye

2003-01-01

For even-even nuclei, it is shown that the predicted B(E2) values from the odd spin states of the quasi-γ band in a γ-soft nucleus to the yrast band are quite similar to those predicted for the one-phonon wobbling mode of a rigidly triaxial nucleus. This suggests that the observation of wobbling points to axial asymmetry, but not necessarily to rigid triaxiality. However, another observable that does distinguish γ-soft from γ-rigid structure is identified

Many-Body Quantum Spin Dynamics with Monte Carlo Trajectories on a Discrete Phase Space

Directory of Open Access Journals (Sweden)

J. Schachenmayer

2015-02-01

Full Text Available Interacting spin systems are of fundamental relevance in different areas of physics, as well as in quantum information science and biology. These spin models represent the simplest, yet not fully understood, manifestation of quantum many-body systems. An important outstanding problem is the efficient numerical computation of dynamics in large spin systems. Here, we propose a new semiclassical method to study many-body spin dynamics in generic spin lattice models. The method is based on a discrete Monte Carlo sampling in phase space in the framework of the so-called truncated Wigner approximation. Comparisons with analytical and numerically exact calculations demonstrate the power of the technique. They show that it correctly reproduces the dynamics of one- and two-point correlations and spin squeezing at short times, thus capturing entanglement. Our results open the possibility to study the quantum dynamics accessible to recent experiments in regimes where other numerical methods are inapplicable.

Visual Tracking of Deformation and Classification of Non-Rigid Objects with Robot Hand Probing

Directory of Open Access Journals (Sweden)

Fei Hui

2017-03-01

Full Text Available Performing tasks with a robot hand often requires a complete knowledge of the manipulated object, including its properties (shape, rigidity, surface texture and its location in the environment, in order to ensure safe and efficient manipulation. While well-established procedures exist for the manipulation of rigid objects, as well as several approaches for the manipulation of linear or planar deformable objects such as ropes or fabric, research addressing the characterization of deformable objects occupying a volume remains relatively limited. The paper proposes an approach for tracking the deformation of non-rigid objects under robot hand manipulation using RGB-D data. The purpose is to automatically classify deformable objects as rigid, elastic, plastic, or elasto-plastic, based on the material they are made of, and to support recognition of the category of such objects through a robotic probing process in order to enhance manipulation capabilities. The proposed approach combines advantageously classical color and depth image processing techniques and proposes a novel combination of the fast level set method with a log-polar mapping of the visual data to robustly detect and track the contour of a deformable object in a RGB-D data stream. Dynamic time warping is employed to characterize the object properties independently from the varying length of the tracked contour as the object deforms. The proposed solution achieves a classification rate over all categories of material of up to 98.3%. When integrated in the control loop of a robot hand, it can contribute to ensure stable grasp, and safe manipulation capability that will preserve the physical integrity of the object.

Rigid Spine Syndrome among Children in Oman

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Roshan Koul

2015-08-01

Full Text Available Objectives: Rigidity of the spine is common in adults but is rarely observed in children. The aim of this study was to report on rigid spine syndrome (RSS among children in Oman. Methods: Data on children diagnosed with RSS were collected consecutively at presentation between 1996 and 2014 at the Sultan Qaboos University Hospital (SQUH in Muscat, Oman. A diagnosis of RSS was based on the patient’s history, clinical examination, biochemical investigations, electrophysiological findings, neuro-imaging and muscle biopsy. Atrophy of the paraspinal muscles, particularly the erector spinae, was the diagnostic feature; this was noted using magnetic resonance imaging of the spine. Children with disease onset in the paraspinal muscles were labelled as having primary RSS or rigid spinal muscular dystrophy. Secondary RSS was classified as RSS due to the late involvement of other muscle diseases. Results: Over the 18-year period, 12 children were included in the study, with a maleto- female ratio of 9:3. A total of 10 children were found to have primary RSS or rigid spinal muscular dystrophy syndrome while two had secondary RSS. Onset of the disease ranged from birth to 18 months of age. A family history was noted, with two siblings from one family and three siblings from another (n = 5. On examination, children with primary RSS had typical features of severe spine rigidity at onset, with the rest of the neurological examination being normal. Conclusion: RSS is a rare disease with only 12 reported cases found at SQUH during the study period. Cases of primary RSS should be differentiated from the secondary type.

The Gravitational Million-Body Problem: A Multidisciplinary Approach to Star Cluster Dynamics

International Nuclear Information System (INIS)

Tremaine, Scott

2003-01-01

The gravitational N-body problem is to describe the evolution of an isolated system of N point masses interacting only through Newtonian gravitational forces. For N =2 the solution is due to Newton. For N =3 there is no general analytic solution, but the problem has occupied generations of illustrious physicists and mathematicians including Laplace, Lagrange, Gauss and Poincare, and inspired the modern subjects of nonlinear dynamics and chaos theory. The general gravitational N-body problem remains one of the oldest unsolved problems in physics. Many-body problems can be simpler than few-body problems, and many physicists have attempted to apply the methods of classical equilibrium statistical mechanics to the gravitational N-body problem for N >> 1. These applications have had only limited success, partly because the gravitational force is too strong at both small scales (the interparticle potential energy diverges) and large scales (energy is not extensive). Nevertheless, we now understand a rich variety of behaviour in large-N gravitating systems. These include the negative heat capacity of isolated, gravitationally bound systems, which is the basic reason why nuclear burning in the Sun is stable; Antonov's discovery that an isothermal, self-gravitating gas in a container is located at a saddle point, rather than a maximum, of the entropy when the gas is sufficiently dense and hence is unstable (the 'gravothermal catastrophe'); the process of core collapse, in which relaxation induces a self-similar evolution of the central core of the system towards (formally) infinite density in a finite time; and the remarkable phenomenon of gravothermal oscillations, in which the central density undergoes periodic oscillations by factors of a thousand or more on the relaxation timescale - but only if N ∼> 10 4 . The Gravitational Million-Body Problem is a monograph that describes our current understanding of the gravitational N-body problem. The authors have chosen to

an unusual foreign body in human oesophagus – case report

African Journals Online (AJOL)

drclement

ABSTRACT. We report a case of a 65year old. Nigerian male with an unusual foreign body, a fishing hook in the oesophagus. This was confirmed with a plain radiograph of the chest done on a routine medical check-up, although patient was asymptomatic. The foreign body was removed via a rigid oesphagoscopy without ...

Comparative multibody dynamics analysis of falls from playground climbing frames.

Science.gov (United States)

Forero Rueda, M A; Gilchrist, M D

2009-10-30

This paper shows the utility of multibody dynamics in evaluating changes in injury related parameters of the head and lower limbs of children following falls from playground climbing frames. A particular fall case was used as a starting point to analyze the influence of surface properties, posture of the body at impact, and intermediate collisions against the climbing frame before impacting the ground. Simulations were made using the 6-year-old pedestrian MADYMO rigid body model and scaled head contact characteristics. Energy absorbing surfaces were shown to reduce injury severity parameters by up to 30-80% of those of rigid surfaces, depending on impact posture and surface. Collisions against components of a climbing frame during a fall can increase injury severity of the final impact of the head with the ground by more than 90%. Negligible changes are associated with lower limb injury risks when different surfacing materials are used. Computer reconstructions of actual falls that are intended to quantify the severity of physical injuries rely on accurate knowledge of initial conditions prior to falling, intermediate kinematics of the fall and the orientation of the body when it impacts against the ground. Multibody modelling proved to be a valuable tool to analyze the quality of eyewitness information and analyze the relative injury risk associated with changes in components influencing fall injuries from playground climbing frames. Such simulations can also support forensic investigations by evaluating alternative hypotheses for the sequence of kinematic motion of falls which result in known injuries.

[Dynamic analysis of the rigid fixed bridge and related tissue after intrusion of abutment with micro screw implant].

Science.gov (United States)

Zhu, Lin; Xu, Pei-cheng; Lu, Liu-lei

2013-08-01

To study the variety of mechanical behavior of fixed bridge after abutments being intruded by micro screw implant and to provide theoretical principles for clinical practice of teeth preparation after intrusion of abutments under dynamic loads. Two-dimensional images of maxilla, teeth and supporting tissues of healthy people were scanned by spiral CT and were synthesized by Mimics10.01, Ansys13.0, etc. The three-dimensional finite element mathematical model of rigid fixed bridge repairing on double end of maxillary molar was developed. Under the condition of 10% simulative abutment alveolar absorption, vertical and oblique dynamic forces were applied in a circle of mastication(0.875 s) to build mathematical model after the abutment had been intruded for 0.5, 1.0, 1.5 and 2.0 mm. Stress variety of prosthesis, teeth, periodontal ligaments and supporting tissues were compared before and after intrusion of abutments. Stress variety of the prosthesis occurred, which had close relationship with the structure of prosthesis and teeth, the areas of periodontal ligaments increased, stress on the whole decreased along with the increase of the length of intrusion. With time accumulating, the stress value in prosthesis, teeth, periodontal ligaments and supporting tissues increased gradually and loads in oblique direction induced peak value stress in a masticatory cycle. Some residual stress left after unloading. By preparing the fixed bridge after abutment intrusion by micro screw implant, the service life of abutment and fixed bridge prosthesis can be reduced. The abutment and its related tissue have time-dependent mechanical behaviors during one mastication. The influence of oblique force on stress was greater than vertical force. There is some residual stress left after one mastication period. With the increase of the intrusion on abutment, residual stress reduced.

Collective many-body dynamics in the vicinity of nuclear driplines

International Nuclear Information System (INIS)

Volya, Alexander; Zelevinsky, Vladimir

2007-01-01

The Continuum Shell Model is a powerful theoretical tool for analysis of many-body dynamics embedded in the continuum. Here we formulate the method and use an example of a realistic shell model calculation for oxygen isotopes to demonstrate the seamless transition from bound states to resonances and cross sections in continuum within the same framework. The coupled dynamics of intrinsic states and continuum is traced further to the regime of continuum dominance that implies the decay width collectivization and onset of super-radiance. The coexistence and interplay of internal collective motion, such as giant resonances, and decay are of particular interest. Schematic and realistic calculations illustrate changes in the strength distribution and the natural appearance of the so-called pygmy mode

Biomimetic model systems of rigid hair beds: Part I - Theory

Science.gov (United States)

Hood, Kaitlyn; Jammalamadaka, Mani S. S.; Hosoi, Anette

2017-11-01

Crustaceans - such as lobsters, crabs, and stomapods - have hairy appendages that they use to recognize and track odorants in the surrounding fluid. An array of rigid hairs impedes flow at different rates depending on the spacing between hairs and the Reynolds number, Re. At larger Reynolds numbers (Re >1), fluid travels through the hairs rather than around them, a phenomenon called leakiness. Crustaceans flick their appendages at different speeds in order to manipulate the leakiness between the hairs, allowing the hairs to either detect odors in a sample of fluid or collect a new sample. A single hair can be represented as a slender body attached at one end to a wall. Using both slender body theory and numerical methods, we observe that there is a region of flow around the hair that speeds up relative to the unobstructed flow. As the Reynolds number increases, this fast flow region moves closer to the hair. Using this model, we predict that an array of hairs can be engineered to have a desired leakiness profile.

Two stage approach to dynamic soil structure interaction

International Nuclear Information System (INIS)

Nelson, I.

1981-01-01

A two stage approach is used to reduce the effective size of soil island required to solve dynamic soil structure interaction problems. The ficticious boundaries of the conventional soil island are chosen sufficiently far from the structure so that the presence of the structure causes only a slight perturbation on the soil response near the boundaries. While the resulting finite element model of the soil structure system can be solved, it requires a formidable computational effort. Currently, a two stage approach is used to reduce this effort. The combined soil structure system has many frequencies and wavelengths. For a stiff structure, the lowest frequencies are those associated with the motion of the structure as a rigid body. In the soil, these modes have the longest wavelengths and attenuate most slowly. The higher frequency deformational modes of the structure have shorter wavelengths and their effect attenuates more rapidly with distance from the structure. The difference in soil response between a computation with a refined structural model, and one with a crude model, tends towards zero a very short distance from the structure. In the current work, the 'crude model' is a rigid structure with the same geometry and inertial properties as the refined model. Preliminary calculations indicated that a rigid structure would be a good low frequency approximation to the actual structure, provided the structure was much stiffer than the native soil. (orig./RW)

Projected Gauss-Seidel subspace minimization method for interactive rigid body dynamics

DEFF Research Database (Denmark)

Silcowitz-Hansen, Morten; Abel, Sarah Maria Niebe; Erleben, Kenny

2010-01-01

artifacts such as viscous or damped contact response. In this paper, we present a new approach to contact force determination. We formulate the contact force problem as a nonlinear complementarity problem, and discretize the problem to derive the Projected Gauss–Seidel method. We combine the Projected Gauss......–Seidel method with a subspace minimization method. Our new method shows improved qualities and superior convergence properties for specific configurations....

Self-similarity in the equation of motion of a ship

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Gyeong Joong Lee

2014-06-01

Full Text Available If we want to analyze the motion of a body in fluid, we should use rigid-body dynamics and fluid dynamics together. Even if the rigid-body and fluid dynamics are each self-consistent, there arises the problem of self-similar structure in the equation of motion when the two dynamics are coupled with each other. When the added mass is greater than the mass of a body, the calculated motion is divergent because of its self-similar structure. This study showed that the above problem is an inherent problem. This problem of self-similar structure may arise in the equation of motion in which the fluid dynamic forces are treated as external forces on the right hand side of the equation. A reconfiguration technique for the equation of motion using pseudo-added-mass was proposed to resolve the self-similar structure problem; specifically for the case when the fluid force is expressed by integration of the fluid pressure.

Customizable rigid head fixation for infants: technical note.

Science.gov (United States)

Udayakumaran, Suhas; Onyia, Chiazor U

2016-01-01

The need and advantages of rigid fixation of the head in cranial surgeries are well documented (Berryhill et al., Otolaryngol Head Neck Surg 121:269-273, 1999). Head fixation for neurosurgical procedures in infants and in early years has been a challenge and is fraught with risk. Despite the fact that pediatric pins are designed, rigid head fixation involving direct application of pins to the head of infants and slightly older children is still generally not safe (Agrawal and Steinbok, Childs Nerv Syst 22:1473-1474, 2006). Yet, there are some surgeries in which some form of rigid fixation is required (Agrawal and Steinbok, Childs Nerv Syst 22:1473-1474, 2006). We describe a simple technique to achieve rigid fixation of the head in infants for neurosurgical procedures. This involves applying a head band made of Plaster of Paris (POP) around the head and then applying the fixation pins of the fixation frame directly on to the POP. We have used this technique of head fixation successfully for infants with no complications.

"Mind the trap": mindfulness practice reduces cognitive rigidity.

Directory of Open Access Journals (Sweden)

Jonathan Greenberg

Full Text Available Two experiments examined the relation between mindfulness practice and cognitive rigidity by using a variation of the Einstellung water jar task. Participants were required to use three hypothetical jars to obtain a specific amount of water. Initial problems were solvable by the same complex formula, but in later problems ("critical" or "trap" problems solving was possible by an additional much simpler formula. A rigidity score was compiled through perseverance of the complex formula. In Experiment 1, experienced mindfulness meditators received significantly lower rigidity scores than non-meditators who had registered for their first meditation retreat. Similar results were obtained in randomized controlled Experiment 2 comparing non-meditators who underwent an eight meeting mindfulness program with a waiting list group. The authors conclude that mindfulness meditation reduces cognitive rigidity via the tendency to be "blinded" by experience. Results are discussed in light of the benefits of mindfulness practice regarding a reduced tendency to overlook novel and adaptive ways of responding due to past experience, both in and out of the clinical setting.

Rigidity of outermost MOTS: the initial data version

Science.gov (United States)

Galloway, Gregory J.

2018-03-01

In the paper Commun Anal Geom 16(1):217-229, 2008, a rigidity result was obtained for outermost marginally outer trapped surfaces (MOTSs) that do not admit metrics of positive scalar curvature. This allowed one to treat the "borderline case" in the author's work with R. Schoen concerning the topology of higher dimensional black holes (Commun Math Phys 266(2):571-576, 2006). The proof of this rigidity result involved bending the initial data manifold in the vicinity of the MOTS within the ambient spacetime. In this note we show how to circumvent this step, and thereby obtain a pure initial data version of this rigidity result and its consequence concerning the topology of black holes.

Contribution to control of robotics structures and dynamic behaviour

International Nuclear Information System (INIS)

Gilliot, Jean-Marie

1990-01-01

The scope of this thesis is the simulation of the dynamics of complex rigid multi-body systems involved in robotics, in order to control them. In the first stage, methods for obtaining equations and models required for simulation and control purposes are proposed and discussed: - determination of constraint equations using the jacobian matrices, - elaboration of direct and inverse dynamics of manipulators. The second part of this thesis deals with the different concepts and components involved in the setting of simulation systems for Robotics Application Programs: models, emulators and the software development environment. The control algorithms are then introduced as a particular class of robotics application programs. A simulator has been developed, allowing the calculation and the visualisation of robot motions, driven by generalized torques. Some examples of control programs generating such control torques are then presented to illustrate the use of the simulator. (author) [fr

High frequency permeameter with semi-rigid pick-up coil

International Nuclear Information System (INIS)

Shin, Sung-Yong; Shin, Kwang-Ho . E-mail : khshin@star.ks.ac.kr; Kim, Jong-sung; Kim, Young-Hak; Lim, Sang-Ho; Sa-gong, Geon

2006-01-01

In this study, we propose the application of semi-rigid cable loop as a single turn shielded loop pick-up coil for the high frequency permeameter. Since the semi-rigid cable pick-up coil has simple structure, it is very easy to make the pick-up coil with bending and conventional soldering. The permeability of cobalt base amorphous ribbon was investigated using the developed permeameter for demonstrating its performance. The permeability of the amorphous ribbon was driven from the S-parameters measured using a network analyzer and permameter having the semi-rigid pick-up coil

Floquet–Magnus theory and generic transient dynamics in periodically driven many-body quantum systems

International Nuclear Information System (INIS)

Kuwahara, Tomotaka; Mori, Takashi; Saito, Keiji

2016-01-01

This work explores a fundamental dynamical structure for a wide range of many-body quantum systems under periodic driving. Generically, in the thermodynamic limit, such systems are known to heat up to infinite temperature states in the long-time limit irrespective of dynamical details, which kills all the specific properties of the system. In the present study, instead of considering infinitely long-time scale, we aim to provide a general framework to understand the long but finite time behavior, namely the transient dynamics. In our analysis, we focus on the Floquet–Magnus (FM) expansion that gives a formal expression of the effective Hamiltonian on the system. Although in general the full series expansion is not convergent in the thermodynamics limit, we give a clear relationship between the FM expansion and the transient dynamics. More precisely, we rigorously show that a truncated version of the FM expansion accurately describes the exact dynamics for a certain time-scale. Our theory reveals an experimental time-scale for which non-trivial dynamical phenomena can be reliably observed. We discuss several dynamical phenomena, such as the effect of small integrability breaking, efficient numerical simulation of periodically driven systems, dynamical localization and thermalization. Especially on thermalization, we discuss a generic scenario on the prethermalization phenomenon in periodically driven systems. -- Highlights: •A general framework to describe transient dynamics for periodically driven systems. •The theory is applicable to generic quantum many-body systems including long-range interacting systems. •Physical meaning of the truncation of the Floquet–Magnus expansion is rigorously established. •New mechanism of the prethermalization is proposed. •Revealing an experimental time-scale for which non-trivial dynamical phenomena can be reliably observed.

Floquet–Magnus theory and generic transient dynamics in periodically driven many-body quantum systems

Energy Technology Data Exchange (ETDEWEB)

Kuwahara, Tomotaka, E-mail: tomotaka.phys@gmail.com [Department of Physics, Graduate School of Science, University of Tokyo, Bunkyo-ku, Tokyo 113-0033 (Japan); WPI, Advanced Institute for Materials Research, Tohoku University, Sendai 980-8577 (Japan); Mori, Takashi [Department of Physics, Graduate School of Science, University of Tokyo, Bunkyo-ku, Tokyo 113-0033 (Japan); Saito, Keiji [Department of Physics, Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama, 223-8522 (Japan)

2016-04-15

This work explores a fundamental dynamical structure for a wide range of many-body quantum systems under periodic driving. Generically, in the thermodynamic limit, such systems are known to heat up to infinite temperature states in the long-time limit irrespective of dynamical details, which kills all the specific properties of the system. In the present study, instead of considering infinitely long-time scale, we aim to provide a general framework to understand the long but finite time behavior, namely the transient dynamics. In our analysis, we focus on the Floquet–Magnus (FM) expansion that gives a formal expression of the effective Hamiltonian on the system. Although in general the full series expansion is not convergent in the thermodynamics limit, we give a clear relationship between the FM expansion and the transient dynamics. More precisely, we rigorously show that a truncated version of the FM expansion accurately describes the exact dynamics for a certain time-scale. Our theory reveals an experimental time-scale for which non-trivial dynamical phenomena can be reliably observed. We discuss several dynamical phenomena, such as the effect of small integrability breaking, efficient numerical simulation of periodically driven systems, dynamical localization and thermalization. Especially on thermalization, we discuss a generic scenario on the prethermalization phenomenon in periodically driven systems. -- Highlights: •A general framework to describe transient dynamics for periodically driven systems. •The theory is applicable to generic quantum many-body systems including long-range interacting systems. •Physical meaning of the truncation of the Floquet–Magnus expansion is rigorously established. •New mechanism of the prethermalization is proposed. •Revealing an experimental time-scale for which non-trivial dynamical phenomena can be reliably observed.