Rigid multibody system dynamics with uncertain rigid bodies
Batou, A., E-mail: anas.batou@univ-paris-est.fr; Soize, C., E-mail: christian.soize@univ-paris-est.fr [Universite Paris-Est, Laboratoire Modelisation et Simulation Multi Echelle, MSME UMR 8208 CNRS (France)
2012-03-15
This paper is devoted to the construction of a probabilistic model of uncertain rigid bodies for multibody system dynamics. We first construct a stochastic model of an uncertain rigid body by replacing the mass, the center of mass, and the tensor of inertia by random variables. The prior probability distributions of the stochastic model are constructed using the maximum entropy principle under the constraints defined by the available information. The generators of independent realizations corresponding to the prior probability distribution of these random quantities are further developed. Then several uncertain rigid bodies can be linked to each other in order to calculate the random response of a multibody dynamical system. An application is proposed to illustrate the theoretical development.
Collisions of Constrained Rigid Body Systems with Friction
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.
Augmented Eigenvector and Its Orthogonality of Linear Multi-rigid-flexibel-body System
RUI Xiao-ting; YUN Lai-feng; WANG Guo-ping; LU Yu-qi
2008-01-01
The orthogonality of eigenvector is a precondition to compute the dynamic responses of linear multi-rigid-flexible-body system using the classical modal analysis method. For a linear multi-rigid-flexible-body system, the eigenfunction does not satisfy the orthogonality under ordinary meaning. A new concept--augmented eigenvector is introduced, which is used to overcome the orthogonality problem of eigenvectors of linear multi-rigid-flexible-body system. The constitution method and the orthogonality of augmented eigenvector are expatiated. After the orthogonality of augmented eigenvector is acquired, the coupling of coordinates in dynamics equations can be released, which makes it possible to analyze exactly the dynamic responses of linear multi-rigid-flexible-body system using the classical modal analysis method.
Rigid body motion analysis system for off-line processing of time-coded video sequences
Snow, Walter L.; Shortis, Mark R.
1995-09-01
Photogrammetry affords the only noncontact means of providing unambiguous six-degree-of- freedom estimates for rigid body motion analysis. Video technology enables convenient off- the-shelf capability for obtaining and storing image data at frame (30 Hz) or field (60 Hz) rates. Videometry combines these technologies with frame capture capability accessible to PCs to allow unavailable measurements critical to the study of rigid body dynamics. To effectively utilize this capability, however, some means of editing, post processing, and sorting substantial amounts of time coded video data is required. This paper discusses a prototype motion analysis system built around PC and video disk technology, which is proving useful in exploring applications of these concepts to rigid body tracking and deformation analysis. Calibration issues and user interactive software development associated with this project will be discussed, as will examples of measurement projects and data reduction.
Hamiltonian Dynamics of Spider-Type Multirotor Rigid Bodies Systems
Doroshin, Anton V.
2010-03-01
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.
Rigid body dynamics of mechanisms
Hahn, Hubert
2003-01-01
The second volume of Rigid Body Dynamics of Mechanisms covers applications via a systematic method for deriving model equations of planar and spatial mechanisms. The necessary theoretical foundations have been laid in the first volume that introduces the theoretical mechanical aspects of mechatronic systems. Here the focus is on the application of the modeling methodology to various examples of rigid-body mechanisms, simple planar ones as well as more challenging spatial problems. A rich variety of joint models, active constraints, plus active and passive force elements is treated. The book is intended for self-study by working engineers and students concerned with the control of mechanical systems, i.e. robotics, mechatronics, vehicles, and machine tools. The examples included are a likely source from which to choose models for university lectures.
Simulating Dynamics of the System of Articulated Rigid Bodies with Joint Friction
M. V. Michaylyuk
2016-01-01
Full Text Available The subject of the work is to simulate dynamics of the system of articulated rigid bodies in the virtual environment complexes. The work aim is to develop algorithms and methods to simulate the multi-body system dynamics with joint friction to ensure all calculations in real time in line with visual realistic behavior of objects in a scene.The paper describes the multibody system based on a maximal set of coordinates, and to simulate the joint friction is used a Coulomb's law of dry friction. Joints are described using the holonomic constraints and their derivatives that specify the constraints on velocities of joined bodies. Based on The Coulomb’s law a correlation for the friction impulse values has been derived as an inequality. If the friction impulse performs a constraint that is a lack of relative motion of two joint-joined bodies, there is a static friction in the joint. Otherwise, there is a dynamic friction in the joint. Using a semi-implicit Euler method allows us to describe dynamics of articulated rigid bodies with joint friction as a system of linear algebraic equations and inequalities for the unknown velocities and impulse values.To solve the obtained system of equations and inequalities is used an iterative method of sequential impulses, which sequentially processes constraints for each joint with impulse calculation and its application to the joined bodies rather than considers the entire system. To improve the method convergence, at each iteration the calculated impulses are accumulated for their further using as an initial approximation at the next step of simulation.The proposed algorithms and methods have been implemented in the training complex dynamics subsystem, developed in SRISA RAS. Evaluation of these methods and algorithms has demonstrated their full adequacy to requirements for virtual environment systems and training complexes.
Generalized Predictive Control of Dynamic Systems with Rigid-Body Modes
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.
The two-body problem of a pseudo-rigid body and a rigid sphere
Kristiansen, Kristian Uldall; Vereshchagin, M.; Gózdziewski, K.;
2012-01-01
n this paper we consider the two-body problem of a spherical pseudo-rigid body and a rigid sphere. Due to the rotational and "re-labelling" symmetries, the system is shown to possess conservation of angular momentum and circulation. We follow a reduction procedure similar to that undertaken...... in the study of the two-body problem of a rigid body and a sphere so that the computed reduced non-canonical Hamiltonian takes a similar form. We then consider relative equilibria and show that the notions of locally central and planar equilibria coincide. Finally, we show that Riemann's theorem on pseudo......-rigid bodies has an extension to this system for planar relative equilibria....
Geometric integrators for stochastic rigid body dynamics
Tretyakov, Mikhail
2016-01-05
Geometric integrators play an important role in simulating dynamical systems on long time intervals with high accuracy. We will illustrate geometric integration ideas within the stochastic context, mostly on examples of stochastic thermostats for rigid body dynamics. The talk will be mainly based on joint recent work with Rusland Davidchak and Tom Ouldridge.
Fast time-reversible algorithms for molecular dynamics of rigid-body systems
Kajima, Yasuhiro; Hiyama, Miyabi; Ogata, Shuji; Kobayashi, Ryo; Tamura, Tomoyuki
2012-06-01
In this paper, we present time-reversible simulation algorithms for rigid bodies in the quaternion representation. By advancing a time-reversible algorithm [Y. Kajima, M. Hiyama, S. Ogata, and T. Tamura, J. Phys. Soc. Jpn. 80, 114002 (2011), 10.1143/JPSJ.80.114002] that requires iterations in calculating the angular velocity at each time step, we propose two kinds of iteration-free fast time-reversible algorithms. They are easily implemented in codes. The codes are compared with that of existing algorithms through demonstrative simulation of a nanometer-sized water droplet to find their stability of the total energy and computation speeds.
无
2007-01-01
Impact dynamics of multi-rigid-body systems with joint friction is considered.Based on the traditional approximate assumption dealing with impact problem, a general numerical method called the sliding state stepping algorithm is introduced. This method can avoid difficulties in solving differential equations with variable scale and its result can avoid energy inconsistency before and after impact from considering complexily of tangential sliding mode. An example is given to describe details using this algorithm.
Dual Quaternion Variational Integrator for Rigid Body Dynamic Simulation
XU, JIAFENG; Halse, Karl Henning
2016-01-01
We introduce a symplectic dual quaternion variational integrator(DQVI) for simulating single rigid body motion in all six degrees of freedom. Dual quaternion is used to represent rigid body kinematics and one-step Lie group variational integrator is used to conserve the geometric structure, energy and momentum of the system during the simulation. The combination of these two becomes the first Lie group variational integrator for rigid body simulation without decoupling translations and rotati...
Adaptive Control of Rigid Body Satellite
Thawar T. Arif
2008-01-01
The minimal controller synthesis (MCS) is an extension of the hyperstable model reference adaptive control algorithm. The aim of minimal controller synthesis is to achieve excellent closed-loop control despite the presence of plant parameter variations, external disturbances, dynamic coupling within the plant and plant nonlinearities. The minimal controller synthesis algorithm was successfully applied to the problem of decentralized adaptive schemes. The decentralized minimal controller synthesis adaptive control strategy for controlling the attitude of a rigid body satellite is adopted in this paper. A model reference adaptive control strategy which uses one single three-axis slew is proposed for the purpose of controlling the attitude of a rigid body satellite. The simulation results are excellent and show that the controlled system is robust against disturbances.
Pulling rigid bodies through granular material
Kubik, Ryan; Dressaire, Emilie
2016-11-01
The need for anchoring systems in granular materials such as sand is present in the marine transportation industry, e.g. to layout moorings, keep vessels and docks fixed in bodies of water, build oil rigs, etc. The holding power of an anchor is associated with the force exerted by the granular media. Empirical evidence indicates that the holding power depends on the size and shape of the anchoring structure. In this model study, we use a two-dimensional geometry in which a rigid body is pulled through a granular media at constant velocity to determine the drag and lift forces exerted by a granular medium on a moving object. The method allows measuring the drag force and recording the trajectory of the rigid object through the sand. We systematically vary the size and geometry of the rigid body, the properties of the granular medium and the extraction speed. For different initial positions of a cylindrical object pulled horizontally through the medium, we record large variations in magnitude of the drag and a significant lift force that pulls the object out of the sand.
Analysis of the Gyroscopic Stabilization of a System of Rigid Bodies
Kliem, Wolfhard
1996-01-01
We study the gyroscopic of a three-body system. A new method offinding stability regions, based on mechanism and criteria for gyroscopicstabilization, is presented. Of particular interest in this connection isthe theory of interaction of eigenvalues. This leads to a complete 3-dimensionalanalysis...
Analysis of the gyroscopic stabilization of a system of rigid bodies
Kliem, Wolfhard; Seyranian, Alexander P.
1997-01-01
We study the gyroscopic stability of a three-body system. A new method of finding stability regions, based on mechanism and criteria for gyroscopic stabilization, is presented. Of particular interest in this connection is the theory of interaction of eigenvalues. This leads to a complete 3......-dimensional analysis, which shows the regions of stability, divergence, and flutter of a simple model of a rotating spaceship....
JianhuaCHENG; JunfengLI; 等
1996-01-01
In this paper a mnechanical system is studied in which a rotor rotates around a fixed axis with a string suspended symmetric rigid body.All relative equilibrium strates and their stability are discussed.Considering the spinning angular velocity ω around the fixed vertical axis as a parameter,algebraic equations with this parameter are obtained,Every solution of the equations is relevant to a relative equilibrium state of the system.The existence of two important relative equilibrium states is discussed by numerical method developed in bifurcation theory in this paper,In addition,The lagrange's Theorem is used to determine the stability of the relative equilibrium state relevant to the solution of the algebraic equations.
Brownian dynamics of confined rigid bodies
Delong, Steven; Balboa Usabiaga, Florencio; Donev, Aleksandar, E-mail: donev@courant.nyu.edu [Courant Institute of Mathematical Sciences, New York University, New York, New York 10012 (United States)
2015-10-14
We introduce numerical methods for simulating the diffusive motion of rigid bodies of arbitrary shape immersed in a viscous fluid. We parameterize the orientation of the bodies using normalized quaternions, which are numerically robust, space efficient, and easy to accumulate. We construct a system of overdamped Langevin equations in the quaternion representation that accounts for hydrodynamic effects, preserves the unit-norm constraint on the quaternion, and is time reversible with respect to the Gibbs-Boltzmann distribution at equilibrium. We introduce two schemes for temporal integration of the overdamped Langevin equations of motion, one based on the Fixman midpoint method and the other based on a random finite difference approach, both of which ensure that the correct stochastic drift term is captured in a computationally efficient way. We study several examples of rigid colloidal particles diffusing near a no-slip boundary and demonstrate the importance of the choice of tracking point on the measured translational mean square displacement (MSD). We examine the average short-time as well as the long-time quasi-two-dimensional diffusion coefficient of a rigid particle sedimented near a bottom wall due to gravity. For several particle shapes, we find a choice of tracking point that makes the MSD essentially linear with time, allowing us to estimate the long-time diffusion coefficient efficiently using a Monte Carlo method. However, in general, such a special choice of tracking point does not exist, and numerical techniques for simulating long trajectories, such as the ones we introduce here, are necessary to study diffusion on long time scales.
Measuring the Acceleration of a Rigid Body
Peter G. Martin
1998-01-01
Full Text Available Two methods to measure the six-degree-of-freedom acceleration of a point on a rigid body are presented. The first, referred to as the periphery scheme, makes use of three clusters of accelerometers mounted orthogonal to each other and coincident with the axes of the point. One of the clusters consists of the three accelerometers attached to a cube-shaped triaxial angular rate sensor (ARS. The second method, called the compact cube scheme, uses a single 3-accelerometer/ARS cluster that may be mounted anywhere on the rigid body. During impact tests with an instrumented rigid body, both methods produced measurements that were highly correlated near the time of peak acceleration. Whereas the compact cube scheme was more economical and easier to implement, the periphery scheme produced results that were less disrupted by instrument signal errors and noisy environments.
The Advanced Part of a Treatise on the Dynamics of a System of Rigid Bodies
Routh, Edward John
2013-03-01
Preface; 1. Moving axes and relative motion; 2. Oscillations about equilibrium; 3. Oscillations about a state of motion; 4. Motion of a body under no forces; 5. Motion of a body under any forces; 6. Nature of the motion given by linear equations and the conditions of stability; 7. Free and forced oscillations; 8. Determination of the constants of integration in terms of the initial conditions; 9. Calculus of finite differences; 10. Calculus of variations; 11. Precession and nutation; 12. Motion of the moon about its centre; 13. Motion of a string or chain; 14. Motion of a membrane; Notes.
Rigid body dynamics on the Poisson torus
Richter, Peter H.
2008-11-01
The theory of rigid body motion with emphasis on the modifications introduced by a Cardan suspension is outlined. The configuration space is no longer SO(3) but a 3-torus; the equivalent of the Poisson sphere, after separation of an angular variable, is a Poisson torus. Iso-energy surfaces and their bifurcations are discussed. A universal Poincaré section method is proposed.
The Rigid Body Type Poisson Structure for the Constrained NLS System%约束的NLS系统的刚体型Poisson结构
杜殿楼; 马云苓
2005-01-01
A constrained system associated with a 3×3 matrix spectral problem of the nonlinear Schrodinger(NLS) hierarchy is proposed. It is shown that the constrained system is a Hamiltonian system with the rigid body type Poisson structure on the Poisson manifold R3N. Further, the reduction of the constrained system extended to the common level set of the complex cones is proved to be the constrained AKNS system on C2N.
Necessary conditions for partial controllability of a rigid body - gyrodyne system
Gladkova, I.V.; Kovalev, A.M. [Institute of Applied Mathematics and Mechanics, Donetsk (Ukraine)
1995-05-01
Controllability with respect to certain variables. We will examine dynamic systems that can be described by ordinary differential equations. Where x {element_of} D {improper_subset} R{sup n} is the phase vector; u {element_of} U {improper_subset} R{sup m} is the control vector. The latter is a bounded measureable function of time t, t {element_of} T = [0, {infinity}]. We assume that the regions D and U are convex and contain the coordinate origin. We also assume the function f to be a function of its arguments that is continuously differentiable a sufficient number of times. We divide the phase vector into two subvectors x{sup T} = (x{sub {alpha}}{sup T}, x{sub {beta}}{sup T}) (x{sub {alpha}} {element_of} D{sub {alpha}} {improper_subset} R{sup {alpha}}, x{sub {beta}} {element_of} D {improper_subset} R{sup {beta}}) and we introduce the following definition for system (1.1).
A heterogeneous system based on GPU and multi-core CPU for real-time fluid and rigid body simulation
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.
Quantum mechanics of a generalised rigid body
Gripaios, Ben
2015-01-01
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. 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.
Hamiltonian dynamics of several rigid bodies interacting with point vortices
Weissmann, Steffen
2013-01-01
We introduce a Hamiltonian description for the dynamics of several rigid bodies interacting with point vortices in an inviscid, incompressible fluid. We adopt the idea of Vankerschaver et al. (2009) to derive the Hamiltonian formulation via symplectic reduction of a canonical Hamiltonian system on a principle fibre bundle. On the reduced phase space we determine the magnetic symplectic form directly, without resorting to the machinery of mechanical connections on principle fibre bundles. We derive the equations of motion for the general case, and also for the special Lie-Poisson case of a single rigid body and zero total vorticity. Finally we give a partly degenerate Lagrangian formulation for the system.
Thin structured rigid body for acoustic absorption
Starkey, T. A.; Smith, J. D.; Hibbins, A. P.; Sambles, J. R.; Rance, H. J.
2017-01-01
We present a thin acoustic metamaterial absorber, comprised of only rigid metal and air, that gives rise to near unity absorption of airborne sound on resonance. This simple, easily fabricated, robust structure comprising a perforated metal plate separated from a rigid wall by a deeply subwavelength channel of air is an ideal candidate for a sound absorbing panel. The strong absorption in the system is attributed to the thermo-viscous losses arising from a sound wave guided between the plate and the wall, defining the subwavelength channel.
Euler-Poincare Reduction of Externall Forced Rigid Body Motion
Wisniewski, Rafal; Kulczycki, P.
2004-01-01
. 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
Wisniewski, Rafal; Kulczycki, P.
2004-01-01
. 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-Poincare Reduction of a Rigid Body Motion
Wisniewski, Rafal; Kulczycki, P.
2005-01-01
. 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....
A concise introduction to mechanics of rigid bodies multidisciplinary engineering
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...
Rigid Body Mechanics Mathematics, Physics and Applications
Heard, William B
2005-01-01
This textbook is a modern, concise and focused treatment of the mathematical techniques, physical theories and applications of rigid body mechanics, bridging the gap between the geometric and more classical approaches to the topic. It emphasizes the fundamentals of the subject, stresses the importance of notation, integrates the modern geometric view of mechanics and offers a wide variety of examples -- ranging from molecular dynamics to mechanics of robots and planetary rotational dynamics. The author has unified his presentation such that applied mathematicians, mechanical and astro-aerodyna
Understanding rigid body motion in arbitrary dimensions
Leyvraz, Francois
2014-01-01
Why would anyone wish to generalize the already unappetizing subject of rigid body motion to an arbitrary number of dimensions? At first sight, the subject seems to be both repellent and superfluous. The author will try to argue that an approach involving no specifically three-dimensional constructs is actually easier to grasp than the traditional one and might thus be generally useful to understand rigid body motion both in three dimensions and in the general case. Specific differences between the viewpoint suggested here and the usual one include the following: here angular velocities are systematically treated as antisymmetric matrices, a symmetric tensor $I$ quite different from the moment of inertia tensor plays a central role, whereas the latter is shown to be a far more complex object, namely a tensor of rank four. A straightforward way to define it is given. The Euler equation is derived and the use of Noether's theorem to obtain conserved quantities is illustrated. Finally the equation of motion for ...
The theory of pseudo-rigid bodies
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...
Almesallmy, Mohammed
Methodologies are developed for dynamic analysis of mechanical systems with emphasis on inertial propulsion systems. This work adopted the Lagrangian methodology. Lagrangian methodology is the most efficient classical computational technique, which we call Equations of Motion Code (EOMC). The EOMC is applied to several simple dynamic mechanical systems for easier understanding of the method and to aid other investigators in developing equations of motion of any dynamic system. In addition, it is applied to a rigid multibody system, such as Thomson IPS [Thomson 1986]. Furthermore, a simple symbolic algorithm is developed using Maple software, which can be used to convert any nonlinear n-order ordinary differential equation (ODE) systems into 1st-order ODE system in ready format to be used in Matlab software. A side issue, but equally important, we have started corresponding with the U.S. Patent office to persuade them that patent applications, claiming gross linear motion based on inertial propulsion systems should be automatically rejected. The precedent is rejection of patent applications involving perpetual motion machines.
Impedance of rigid bodies in one-dimensional elastic collisions
Santos, Janilo; Nelson, Osman Rosso
2012-01-01
In this work we study the problem of one-dimensional elastic collisions of billiard balls, considered as rigid bodies, in a framework very different from the classical one presented in text books. Implementing the notion of impedance matching as a way to understand eficiency of energy transmission in elastic collisions, we find a solution which frames the problem in terms of this conception. We show that the mass of the ball can be seen as a measure of its impedance and verify that the problem of maximum energy transfer in elastic collisions can be thought of as a problem of impedance matching between different media. This approach extends the concept of impedance, usually associated with oscillatory systems, to system of rigid bodies.
Nonlinear dynamics mathematical models for rigid bodies with a liquid
Lukovsky, Ivan A
2015-01-01
This book is devoted to analytically approximate methods in the nonlinear dynamics of a rigid body with cavities partly filled by liquid. It combines several methods and compares the results with experimental data. It is useful for experienced and early-stage readers interested in analytical approaches to fluid-structure interaction problems, the fundamental mathematical background and modeling the dynamics of such complex mechanical systems.
A SYMPLECTIC ALGORITHM FOR DYNAMICS OF RIGID BODY
LU Ying-jie; REN Ge-xue
2006-01-01
For the dynamics of a rigid body with a fixed point based on the quaternion and the corresponding generalized momenta, a displacement-based symplectic integration scheme for differential-algebraic equations is proposed and applied to the Lagrange's equations based on dependent generalized momenta. Numerical experiments show that the algorithm possesses such characters as high precision and preserving system invariants.More importantly, the generalized momenta based Lagrange's equations show unique advantages over the traditional Lagrange's equations in symplectic integrations.
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
Drawing the Free Rigid Body Dynamics According to Jacobi
Pina, Eduardo G
2015-01-01
Guided by the Jacobi's work published the year before his death about the rotation of a rigid body, the behavior of the rotation matrix describing the dynamics of the free rigid body is studied. To illustrate this dynamics one draws on a unit sphere the trace of the three unit vectors, in the body system along the principal directions of inertia. A minimal set of properties of Jacobi's elliptic functions are used, those which allow to compute with the necessary precision the dynamics of the rigid body without torques, the so called Euler's top. Emphasis is on the paper published by Jacobi in 1850 on the explicit expression for the components of the rotation matrix. The tool used to compute the trajectories to be drawn are the Jacobi's Fourier series for {\\sl theta} and {\\sl eta} functions with extremely fast convergence. The Jacobi's {\\sl sn}, {\\sl cn} and {\\sl dn} functions, which are better known, are used also as ratios of {\\sl theta} functions which permit quick and accurate computation. Finally the main ...
A method for measuring the inertia properties of rigid bodies
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.
Rigid Body Motion in Stereo 3D Simulation
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…
Stability of rigid body rotation from a bond graph perspective
Breedveld, Peter
2009-01-01
This paper describes the history of the bond graph description of rigid body rotation dynamics and resolves a paradox that resulted from the common Euler Junction Structure (EJS) description of the exterior product in the Newton–Euler equation describing rigid body rotation [D.C. Karnopp, R.C. Rosen
Kinematic approach in the impact problem of rigid bodies
Sinopoli, A. (I.U.A.V., Venezia (Italy))
1989-11-01
The aim of this work is to analyze, by means of a kinematic approach, the problem of the impact between rigid bodies, when the surfaces involved in the impulsive phenomenon are of finite extent. The formulation here adopted permits to use the Gauss variational principle of least compulsion and to formulate the dynamic evolution of the system, after an impact, as a minimization problem. In this case, among all the possible subsequent motions, the real one is that which minimizes the kinetic energy connected to the sudden velocities variations. Interesting results are obtained in the case of the impact between a rigid column (either monolithic or made of several blocks) and a rigid ground. In particular, it can be shown that if previous motion of a rigid block is a rotation around its base corner edge, the motion after the impact is either a rototranslation or merely a translation, depending on the dimensional ratio. In any case, the subsequent motion is characterized by a component of sliding, so that the impact plays the role of filter between the possible degrees of freedom of the system and, at the same time, determines a possible coupling between rotation and translation. This conclusion is a novelty with respect to the results obtained in other papers (4-6), where a classical approach for the impact has been adopted.
A new cantilever beam-rigid-body MEMS gyroscope: mathematical model and linear dynamics
Lajimi, Seyed Amir Mousavi; Abdel-Rahman, Eihab
2014-01-01
A new microbeam-rigid-body gyroscope is introduced and its static and dynamic behaviours are studied. The main structure includes a microbeam and an eccentric end-rigid-body influencing the dynamic and static characteristics of the sensor. The sensitivity of the device and the effect of system parameters on the microsystem's response are investigated.
Tautochrone and Brachistochrone Shape Solutions for Rocking Rigid Bodies
Glaschke, Patrick
2016-01-01
Rocking rigid bodies appear in several shapes in everyday life: As furniture like rocking chairs and rocking cradles or as toys like rocking horses or tilting dolls. The familiar rocking motion of these objects, a non-linear combination of a rigid rotation and a translation of the center of mass, gives rise to a number of interesting dynamical properties. However, their study has received little attention in the literature. This work presents a comprehensive introduction to the dynamics of rocking rigid bodies, including a concise derivation of the equations of motion as well as a general inversion procedure to construct rocking rigid body shapes with specified dynamical properties. Moreover, two novel rigid body shapes are derived - the tautochrone shape and the brachistochrone shape - which represent an intriguing generalization of the well-know tautochrone and brachistochrone curves. In particular, tautochrone shapes offer an alternative construction of a tautochrone pendulum, in addition to Huygens' cyclo...
Stochastic modeling of uncertain mass characteristics in rigid body dynamics
Richter, Lanae A.; Mignolet, Marc P.
2017-03-01
This paper focuses on the formulation, assessment, and application of a modeling strategy of uncertainty on the mass characteristics of rigid bodies, i.e. mass, position of center of mass, and inertia tensor. These characteristics are regrouped into a 4×4 matrix the elements of which are represented as random variables with joint probability density function derived following the maximum entropy framework. This stochastic model is first shown to satisfy all properties expected of the mass and tensor of inertia of rigid bodies. Its usefulness and computational efficiency are next demonstrated on the behavior of a rigid body in pure rotation exhibiting significant uncertainty in mass distribution.
A Concise Introduction to Mechanics of Rigid Bodies Multidisciplinary Engineering
Huang, L
2012-01-01
A Concise Introduction to Mechanics of Rigid Bodies: Multidisciplinary Engineering presents concise, key concepts of kinematics and dynamics of rigid bodies. This compact volume bridges the steep gap between introductory texts on engineering mechanics, which focus on one and two dimensional motions of particles and rigid bodies, and advanced texts on multi-body dynamics in high dimension spaces found in multidisciplinary areas like mechatronics, robotics and biomechanics. In the book, rigid body motions in the spaces with different dimensions are described in addition to studies in a uniform framework supported by vector and matrix operations. Rigorous mathematic tools and explanations are provided to clarify the most complex concepts. This book also: Provides practical examples from different engineering areas, offering a link between theoretical fundamentals and everyday applications Offers simplified mathematical equations to clearly present essential theories in robotics and mechanics Presents statics...
Dynamical Equation of Post Newtonian Quasi-rigid Body
XU Chong-Ming; TAO Jin-He; HUANG Tian-Yi; WU Xue-Jun
2004-01-01
We derive the dynamical equation ofa post Newtonian (PN) quasi-rigid body from the general rotational equation of motion, I.e. The PN rotational equation of motion for a quasi-rigid body. It is emphasized that a rotational angular velocity vector and a figure axis besides the first post Newtonian (1PN) spin vector can be defined and realized for the model of a PN quasi-rigid body model constructed recently. Actually, we have shown that the moment of inertia tensor of a quasi-rigid body can be transformed into a diagonal form by an orthogonal transformation, which defines the principal axes of inertia of the body. As an example, its torque-free motion is discussed and a PN Poinsot configuration, which is similar to the Newtonian one with a small 1PN correction, is solved.
Control of the rigid body and dynamics with symmetry
Lum, Kai-Yew
This dissertation explores various problems in the control of the rigid body and related dynamical systems with symmetry, utilizing various modeling approaches and control techniques. We first derive a control law that asymptotically stabilizes an unbalanced top to the sleeping motion. We rewrite the classical Euler-Poisson equations by projecting the phase space onto IRsp5. The control law is based on the Hamilton-Jacobi-Bellman theory with zero dynamics and partial stability. Lyapunov techniques are used in the analysis. Next, the control of rotor imbalance with magnetic bearings is considered in the adaptive virtual autobalancing and adaptive autocentering approaches. We derive single-plane and two-plane balancing control algorithms that provide asymptotic estimates of the rotor imbalance, and that guarantee consistent performance under varying spin rate. These algorithms are based on emulation of the mechanical autobalancer. We discuss the theory based on linear analysis, and simulation and experimental results. We go on to investigate symmetry properties associated with mechanical control systems and certain nonlinear control systems. First, we generalize the classical Serret-Andoyer transformation for the free rigid body to left-invariant, hyperregular Hamiltonian systems on Tsp*SO(3), employing the notion of symplectic (Marsden-Weinstein) reduction. We then apply this result to the controlled rigid body, and show that for Hamiltonian controls that preserve the rigid body structure, the generalized Serret-Andoyer transformation yields a two dimensional representation of the closed-loop motion in canonical form. Applications to the stability analysis of relative equilibria and numerical integration are also discussed. Finally, we apply the concept of reduction to certain regulation problems on smooth manifolds. Following the works of Van der Schaft (1981) and Grizzle and Marcus (1985), we show that an output feedback regulation problem possessing certain
The free rigid body dynamics: Generalized versus classic
Tudoran, Rǎzvan M.
2013-07-01
In this paper we analyze some normal forms of a general quadratic Hamiltonian system defined on the dual of the Lie algebra {o}(K) of real K-skew-symmetric matrices, where K is an arbitrary 3×3 real symmetric matrix. A consequence of the main results is that any first-order autonomous three-dimensional differential equation possessing two independent quadratic constants of motion, which admit a positive/negative definite linear combination, is affinely equivalent to the classical "relaxed" free rigid body dynamics with linear control parameters.
Modeling the Collision with Friction of Rigid Bodies
Zabuga, A. G.
2016-09-01
Different models of a perfectly inelastic collision of rigid bodies in plane motion are compared. Formulas for the impact impulses are derived for the Kane-Levinson-Whittaker model based on the kinematic restitution factor, the Routh model based on the kinetic restitution factor, and the Stronge model based on the energy restitution factor. It is shown that these formulas coincide if the collision of rough rigid bodies in plane motion is perfectly inelastic
Computational Fluid Dynamics Demonstration of Rigid Bodies in Motion
Camarena, Ernesto; Vu, Bruce T.
2011-01-01
The Design Analysis Branch (NE-Ml) at the Kennedy Space Center has not had the ability to accurately couple Rigid Body Dynamics (RBD) and Computational Fluid Dynamics (CFD). OVERFLOW-D is a flow solver that has been developed by NASA to have the capability to analyze and simulate dynamic motions with up to six Degrees of Freedom (6-DOF). Two simulations were prepared over the course of the internship to demonstrate 6DOF motion of rigid bodies under aerodynamic loading. The geometries in the simulations were based on a conceptual Space Launch System (SLS). The first simulation that was prepared and computed was the motion of a Solid Rocket Booster (SRB) as it separates from its core stage. To reduce computational time during the development of the simulation, only half of the physical domain with respect to the symmetry plane was simulated. Then a full solution was prepared and computed. The second simulation was a model of the SLS as it departs from a launch pad under a 20 knot crosswind. This simulation was reduced to Two Dimensions (2D) to reduce both preparation and computation time. By allowing 2-DOF for translations and 1-DOF for rotation, the simulation predicted unrealistic rotation. The simulation was then constrained to only allow translations.
A fast impulsive contact suite for rigid body simulation.
Schmidl, Harald; Milenkovic, Victor J
2004-01-01
A suite of algorithms is presented for contact resolution in rigid body simulation under the Coulomb friction model: Given a set of rigid bodies with many contacts among them, resolve dynamic contacts (collisions) and static (persistent) contacts. The suite consists of four algorithms: 1) partial sequential collision resolution, 2) final resolution of collisions through the solution of a single convex QP (positive semidefinite quadratic program), 3) resolution of static contacts through the solution of a single convex QP, 4) freezing of "stationary" bodies. This suite can generate realistic-looking results for simple examples yet, for the first time, can also tractably resolve contacts for a simulation as large as 1,000 cubes in an "hourglass." Freezing speeds up this simulation by more than 25 times. Thanks to excellent commercial QP technology, the contact resolution suite is simple to implement and can be "plugged into" any simulation algorithm to provide fast and realistic-looking animations of rigid bodies.
Contact point generation for convex polytopes in interactive rigid body dynamics
Silcowitz-Hansen, Morten; Abel, Sarah Maria Niebe; Erleben, Kenny
When computing contact forces in rigid body dynamics systems, most state-of-the-art solutions use iterative methods such as the projected Gauss–Seidel (PGS) method. Methods such as the PGS method are preferred for their robustness. However, the time-critical nature of interactive applications...... for convex polytopes. A novel contact point generation method is presented, which is based on growth distances and Gauss maps. We demonstrate improvements when using our method in the context of interactive rigid body simulation...
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.
Unifying Rigid and Soft Bodies Representation: The Sulfur Physics Engine
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.
1974-06-01
might be to sum the signals directly using complex algebra . This approach may better be handled in a digital system. Servovalve Magnetic Coupling The...France, 1969. *’ 18. L- Coven and C. F. Durbin , A Cmprehensive Eigensolution Program for Structural Vibration Analysis TEV 142. Boeing Document D6
Dynamics of parallel robots from rigid bodies to flexible elements
Briot, Sébastien
2015-01-01
This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for cro...
Kinematic Control of Free Rigid Bodies Using Dual Quaternions
Da-Peng Han; Qing Wei; Ze-Xiang Li
2008-01-01
This paper proposes a new type of control laws for free rigid bodies. The start point is the dual quaternion and its characteristics. The logarithm of a dual quaternion is defined, based on which kinematic control laws can be developed. Global exponential convergence is achieved using logarithmic feedback via a generalized proportional control law, and an appropriate Lyapunov function is constructed to prove the stability. Both the regulation and tracking problems are tackled. Omnidirectional control is discussed as a case study. As the control laws can handle the intercounection between the rotation and translation of a rigid body, they axe shown to be more applicable than the conventional method.
Leonhard Euler and the mechanics of rigid bodies
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).
Hamiltonian Dynamics of Several Rigid Bodies Interacting with Point Vortices
Weißmann, Steffen
2014-04-01
We derive the dynamics of several rigid bodies of arbitrary shape in a two-dimensional inviscid and incompressible fluid, whose vorticity is given by point vortices. We adopt the idea of Vankerschaver et al. (J. Geom. Mech. 1(2): 223-226, 2009) to derive the Hamiltonian formulation via symplectic reduction from a canonical Hamiltonian system. The reduced system is described by a noncanonical symplectic form, which has previously been derived for a single circular disk using heavy differential-geometric machinery in an infinite-dimensional setting. In contrast, our derivation makes use of the fact that the dynamics of the fluid, and thus the point vortex dynamics, is determined from first principles. Using this knowledge we can directly determine the dynamics on the reduced, finite-dimensional phase space, using only classical mechanics. Furthermore, our approach easily handles several bodies of arbitrary shape. From the Hamiltonian description we derive a Lagrangian formulation, which enables the system for variational time integrators. We briefly describe how to implement such a numerical scheme and simulate different configurations for validation.
Dynamics of Rigid Bodies and Flexible Beam Structures
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...
Farghaly, S. H.; El-Sayed, T. A.
2017-01-01
The purpose of this article is to investigate the changes in the magnitude of natural frequencies and their associated modal shapes of Timoshenko beam with respect to different system design parameters. This beam includes an intermediate extended eccentric rigid mass mounted on two elastic segments. The equilibrium equations which govern the transverse and rotational motions are derived. The application of the developed system frequency equation is demonstrated by several illustrative examples. Several end and intermediate conditions are considered. The influence of, rotary inertia, shear deformation, axial load, eccentric mass and elastic segments step ratio on the system natural frequencies and mode shapes are conducted. Several sets of new results are presented. Comparison of the present model results with the experimental data for shaft integrated with intermediate rigid mass demonstrates the accuracy of the analysis in practical applications. The present model is valid for several industrial applications, such as mechanical, structural, naval and for wider range of applications.
A constrained generalised-α method for coupling rigid parallel chain kinematics and elastic bodies
Gransden, D.I.; Burkhard Bornemann, P.; Rose, M.; Nitzsche, F.
2015-01-01
A problem arises from combining flexible rotorcraft blades with stiffer mechanical links, which form a parallel kinematic chain. This paper introduces a method for solving index-3 differential algebraic equations for coupled stiff and elastic body systems with closed-loop kinematics. Rigid body dyna
A constrained generalised-α method for coupling rigid parallel chain kinematics and elastic bodies
Gransden, D.I.; Burkhard Bornemann, P.; Rose, M.; Nitzsche, F.
2015-01-01
A problem arises from combining flexible rotorcraft blades with stiffer mechanical links, which form a parallel kinematic chain. This paper introduces a method for solving index-3 differential algebraic equations for coupled stiff and elastic body systems with closed-loop kinematics. Rigid body
A symmetric splitting method for rigid body dynamics
E. Celledoni
2006-04-01
Full Text Available It has been known since the time of Jacobi that the solution to the free rigid body (FRB equations of motion is given in terms of a certain type of elliptic functions. Using the Arithmetic-Geometric mean algorithm, (1, these functions can be calculated efficiently and accurately. The overall approach yields a faster and more accurate numerical solution to the FRB equations compared to standard numerical ODE and symplectic solvers. In this paper we investigate the possibility of extending this approach to the case of rigid bodies subject to external forces. By using a splitting strategy similar to the one proposed in (14, we decompose the vector field of our problem in a FRB problem and another completely integrable vector field. We apply the method to the simulation of the heavy top.
Rotating and rolling rigid bodies and the "hairy ball" theorem
Bormashenko, Edward; Kazachkov, Alexander
2017-06-01
Rotating and rolling rigid bodies exemplify a fascinating theorem of topology, jokingly called the "hairy ball" theorem, which demands that any continuous tangent vector field on the sphere has at least one point where the field is zero. We demonstrate via a gedanken experiment how drilling through a rotating ball, thereby converting it into a torus, leads to the elimination of zero-velocity points on the ball surface. Using the same reasoning, zero-velocity points can be removed from the surface of a drilled spinning top. We discuss the location of zero-velocity points on the surfaces of rigid bodies rolling with no slip and with slip. Observations made from different reference frames identify various zero-velocity points. Illustrative experiments visualizing zero-velocity points are presented.
Identification of Helicopter Rigid Body Dynamics from Flight Data.
Jatinder Singh
1998-01-01
Full Text Available This paper discusses helicopter modelling and identification related aspects. By applying thesystem identification methodology, longitudinal and lateral-directional rigid body helicopter dynamics are identified from flight data. Aerodynamic parameters from single input excitation as wellas multimanoeuver evaluation are estimated utilising output-error approach. The formulatedmathematical models yield adequate fit to measured time histories. Results obtained from the proof-of-match for model validation indicate that the identified derivatives can satisfactorily predictlongitudinal dynamics to a given arbitrary input. It is further demonstrated for the present study thatlateral body dynamics can be adequately predicted by including cross-coupling terms in the estimation model.
Euler-Poincaré Reduction of Externally Forced Rigid Body Motion
Wisniewski, Rafal; Kulczycki, P.
2004-01-01
. 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....
A constrained generalised-α method for coupling rigid parallel chain kinematics and elastic bodies
Gransden, D.I.; Burkhard Bornemann, P.; Rose, M.; Nitzsche, F.
2015-01-01
A problem arises from combining flexible rotorcraft blades with stiffer mechanical links, which form a parallel kinematic chain. This paper introduces a method for solving index-3 differential algebraic equations for coupled stiff and elastic body systems with closed-loop kinematics. Rigid body dynamics and elastic body mechanics are independently described according to convenient mathematical measures. Holonomic constraint equations couple both the parallel chain kinematics and describe the ...
Computing the Free Energy along a Reaction Coordinate Using Rigid Body Dynamics.
Tao, Peng; Sodt, Alexander J; Shao, Yihan; König, Gerhard; Brooks, Bernard R
2014-10-14
The calculations of potential of mean force along complex chemical reactions or rare events pathways are of great interest because of their importance for many areas in chemistry, molecular biology, and material science. The major difficulty for free energy calculations comes from the great computational cost for adequate sampling of the system in high-energy regions, especially close to the reaction transition state. Here, we present a method, called FEG-RBD, in which the free energy gradients were obtained from rigid body dynamics simulations. Then the free energy gradients were integrated along a reference reaction pathway to calculate free energy profiles. In a given system, the reaction coordinates defining a subset of atoms (e.g., a solute, or the quantum mechanics (QM) region of a quantum mechanics/molecular mechanics simulation) are selected to form a rigid body during the simulation. The first-order derivatives (gradients) of the free energy with respect to the reaction coordinates are obtained through the integration of constraint forces within the rigid body. Each structure along the reference reaction path is separately subjected to such a rigid body simulation. The individual free energy gradients are integrated along the reference pathway to obtain the free energy profile. Test cases provided demonstrate both the strengths and weaknesses of the FEG-RBD method. The most significant benefit of this method comes from the fast convergence rate of the free energy gradient using rigid-body constraints instead of restraints. A correction to the free energy due to approximate relaxation of the rigid-body constraint is estimated and discussed. A comparison with umbrella sampling using a simple test case revealed the improved sampling efficiency of FEG-RBD by a factor of 4 on average. The enhanced efficiency makes this method effective for calculating the free energy of complex chemical reactions when the reaction coordinate can be unambiguously defined by a
Estimating the orientation of a rigid body moving in space using inertial sensors
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.
Virtual rigid body: a new optical tracking paradigm in image-guided interventions
Cheng, Alexis; Lee, David S.; Deshmukh, Nishikant; Boctor, Emad M.
2015-03-01
Tracking technology is often necessary for image-guided surgical interventions. Optical tracking is one the options, but it suffers from line of sight and workspace limitations. Optical tracking is accomplished by attaching a rigid body marker, having a pattern for pose detection, onto a tool or device. A larger rigid body results in more accurate tracking, but at the same time large size limits its usage in a crowded surgical workspace. This work presents a prototype of a novel optical tracking method using a virtual rigid body (VRB). We define the VRB as a 3D rigid body marker in the form of pattern on a surface generated from a light source. Its pose can be recovered by observing the projected pattern with a stereo-camera system. The rigid body's size is no longer physically limited as we can manufacture small size light sources. Conventional optical tracking also requires line of sight to the rigid body. VRB overcomes these limitations by detecting a pattern projected onto the surface. We can project the pattern onto a region of interest, allowing the pattern to always be in the view of the optical tracker. This helps to decrease the occurrence of occlusions. This manuscript describes the method and results compared with conventional optical tracking in an experiment setup using known motions. The experiments are done using an optical tracker and a linear-stage, resulting in targeting errors of 0.38mm+/-0.28mm with our method compared to 0.23mm+/-0.22mm with conventional optical markers. Another experiment that replaced the linear stage with a robot arm resulted in rotational errors of 0.50+/-0.31° and 2.68+/-2.20° and the translation errors of 0.18+/-0.10 mm and 0.03+/-0.02 mm respectively.
Coordinating control of multiple rigid bodies based on motion primitives
Fan Wu; Zhi-Yong Geng
2012-01-01
This paper studies the problem of coordinated motion generation for a group of rigid bodies.Two classes of coordinated motion primitives,relative equilibria and maneuvers,are given as building blocks for generating coordinated motions.In a motion-primitive based planning framework,a control method is proposed for the robust execution of a coordinated motion plan in the presence of perturbations,The control method combines the relative equilibria stabilization with maneuver design,and results in a closeloop motion planning framework.The performance of the control method has been illustrated through a numerical simulation.
Impedance of rigid bodies in one-dimensional elastic collisions
Santos, Janilo; de Oliveira, Bruna P. W.; Nelson,Osman Rosso
2012-01-01
In this work we study the problem of one-dimensional elastic collisions of billiard balls, considered as rigid bodies, in a framework very different from the classical one presented in text books. Implementing the notion of impedance matching as a way to understand efficiency of energy transmission in elastic collisions, we find a solution which frames the problem in terms of this conception. We show that the mass of the ball can be seen as a measure of its impedance and verify that the probl...
Dynamic Buckling of Column Impacted by a Rigid Body
Zhijun Han; Hongwei Ma; Shanyuan Zhang
2004-01-01
The dynamic buckling of an elastic column subjected to axial impact by a rigid body is discussed in accordance with the energy law in this paper. The equation of lateral disturbance used to analysis the problem is developed by taking into account the effect of stress wave. The power series solution of this problem has been obtained by using the power series approach. The buckling criterion of this problem is proposed by analyzing the characteristics of the solution. The relationships between critical velocity and impacting mass as well as critical velocity and critical length are given by using theoretical analysis and numerical computation.
On the invariant motions of rigid body rotation over the fixed point, via Euler angles
Ershkov, Sergey V
2016-01-01
The generalized Euler case (rigid body rotation over the fixed point) is discussed here: - the center of masses of non-symmetric rigid body is assumed to be located at the equatorial plane on axis Oy which is perpendicular to the main principal axis Ox of inertia at the fixed point. Such a case was presented in the rotating coordinate system, in a frame of reference fixed in the rotating body for the case of rotation over the fixed point (at given initial conditions). In our derivation, we have represented the generalized Euler case in the fixed Cartesian coordinate system; so, the motivation of our ansatz is to elegantly transform the proper components of the previously presented solution from one (rotating) coordinate system to another (fixed) Cartesian coordinates. Besides, we have obtained an elegantly analytical case of general type of rotations; also, we have presented it in the fixed Cartesian coordinate system via Euler angles.
A constrained generalised- method for coupling rigid parallel chain kinematics and elastic bodies
Gransden, Derek I.; Bornemann, P. Burkhard; Rose, Michael; Nitzsche, Fred
2015-03-01
A problem arises from combining flexible rotorcraft blades with stiffer mechanical links, which form a parallel kinematic chain. This paper introduces a method for solving index-3 differential algebraic equations for coupled stiff and elastic body systems with closed-loop kinematics. Rigid body dynamics and elastic body mechanics are independently described according to convenient mathematical measures. Holonomic constraint equations couple both the parallel chain kinematics and describe the coupling between the rigid and continuum bodies. Lagrange multipliers enforce the kinetic conditions for both sets of constraints. Additionally, to prevent numerical inaccuracy from inverting stiff mechanical matrices, a scaling factor normalises the dynamic tangential stiffness matrix. Finally, example tests show the verification of the algorithm with respect to existing computational tests and the accuracy of the model for cases relevant to the problem definition.
Topological classification of the Goryachev integrable case in rigid body dynamics
Nikolaenko, S. S.
2016-01-01
A topological analysis of the Goryachev integrable case in rigid body dynamics is made on the basis of the Fomenko-Zieschang theory. The invariants (marked molecules) which are obtained give a complete description, from the standpoint of Liouville classification, of the systems of Goryachev type on various level sets of the energy. It turns out that on appropriate energy levels the Goryachev case is Liouville equivalent to many classical integrable systems and, in particular, the Joukowski, Clebsch, Sokolov and Kovalevskaya-Yehia cases in rigid body dynamics, as well as to some integrable billiards in plane domains bounded by confocal quadrics -- in other words, the foliations given by the closures of generic solutions of these systems have the same structure. Bibliography: 15 titles.
贺少华; 谢最伟; 吴新跃
2011-01-01
A new method was proposed for shock response modeling and computing for a planar multi-rigid-flexible body system by integrating the transfer matrix technique with its flexibility and higher computational efficiency.Adopting Newmark-β algorithm to linearize higher order terms in dynamic equations and modal shapes to express flexible body deformation, extended transfer matrixes of general rigid-bodies and special rigid bodies ( rigid homogeneous rectangular plate, rectangular sheet plate with elastic supports), general flexible-bodies and special flexible bodies ( Euler-Bernouui beam) in systems under base-transferred shock were established.The shock excitations included both translational and rotational components.Numerical iterative algorithm program based on Newmark-β method was also given.With an engineering example, the accuracy of this proposed method was verified by finite element method.The results show that the contribution of the rotational components of shock to the overall response can not be ignored.Although the objective of this study was a planar multi-rigid-flexible system, the proposed method could easily be extended to three-dimensional cases.%结合传递矩阵方法建模灵活和计算效率高的优点,提出了一种基于"传递矩阵"概念的多体系统冲击响应建模和计算方法.以受基础冲击的平面多刚柔系统为研究对象,采用Newmark-β法对元件的方程高阶项进行线性化,用模态方法处理柔体的变形,建立了一般刚体和典型刚体(刚性均质矩形板、带弹性支撑的刚性均质矩形薄板)、一般柔体和典型柔体(Euler-Bernouni梁)的冲击扩展传递矩阵,冲击激励包含平动和转动两种成分,给出了基于Newmark-β法的系统响应数值迭代求解算法程序.用一个工程实例,通过与有限元方法的对比,验证了方法的准确性,得出了转动冲击激励成分对总体响应的贡献不能忽略的结论.方法的研究对象虽然只是平面多
Eigenvalue analysis of a cantilever beam-rigid-body MEMS gyroscope
Lajimi, Seyed Amir Mousavi; Abdel-Rahman, Eihab
2014-01-01
The eigenvalues of a new microbeam-rigid-body gyroscope are computed and studied to show the variation of frequencies versus the input spin rate. To this end, assuming the harmonic solution of the dynamic equation of motion the characteristic equation is obtained and solved for the natural frequencies of the system in the rotating frame. It is shown that the difference between the natural frequencies (eigenvalues) proportionally grows with the input angular displacement rate.
Pretorius, P Hendrik; Johnson, Karen L; King, Michael A
2016-06-01
We have recently been successful in the development and testing of rigid-body motion tracking, estimation and compensation for cardiac perfusion SPECT based on a visual tracking system (VTS). The goal of this study was to evaluate in patients the effectiveness of our rigid-body motion compensation strategy. Sixty-four patient volunteers were asked to remain motionless or execute some predefined body motion during an additional second stress perfusion acquisition. Acquisitions were performed using the standard clinical protocol with 64 projections acquired through 180 degrees. All data were reconstructed with an ordered-subsets expectation-maximization (OSEM) algorithm using 4 projections per subset and 5 iterations. All physical degradation factors were addressed (attenuation, scatter, and distance dependent resolution), while a 3-dimensional Gaussian rotator was used during reconstruction to correct for six-degree-of-freedom (6-DOF) rigid-body motion estimated by the VTS. Polar map quantification was employed to evaluate compensation techniques. In 54.7% of the uncorrected second stress studies there was a statistically significant difference in the polar maps, and in 45.3% this made a difference in the interpretation of segmental perfusion. Motion correction reduced the impact of motion such that with it 32.8 % of the polar maps were statistically significantly different, and in 14.1% this difference changed the interpretation of segmental perfusion. The improvement shown in polar map quantitation translated to visually improved uniformity of the SPECT slices.
Knowledge-i-action: an example with rigid body motion
Salvador Cabral da Costa, Sayonara; 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 Pontifícia Universidade Católica 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-Laird’s mental models theory and Vergnaud’s conceptual fields theory. The problem-solving process has been investigated from the presentation of the problems’ variables and the pictures that followed it, up to the resolution itself. This investigation was carried out by analysing the knowledge-in-action that students have used as inferred from their written solutions and from what they said in semi-structured interviews. The findings of this analysis identified some characteristics in their answers that may help us to understand the processes used by students during the problem-solving task, with possible consequences for classroom procedures used by teachers.
Stability of the relative equilibria of a rigid body in a J2 gravity field
Wang, Yue; Xu, Shijie
2014-01-01
The motion of a point mass in the J2 problem is generalized to that of a rigid body in a J2 gravity field. Different with the original J2 problem, the gravitational orbit-rotation coupling of the rigid body is considered in this generalized problem. The linear stability of the classical type of relative equilibria of the rigid body, which have been obtained in our previous paper, is studied in the framework of geometric mechanics with the second-order gravitational potential. Non-canonical Hamiltonian structure of the problem, i.e., Poisson tensor, Casimir functions and equations of motion, are obtained through a Poisson reduction process by means of the symmetry of the problem. The linear system matrix at the relative equilibria is given through the multiplication of the Poisson tensor and Hessian matrix of the variational Lagrangian. Based on the characteristic equation of the linear system matrix, the conditions of linear stability of the relative equilibria are obtained. With the stability conditions obta...
Amel'kin, N. I.
2010-01-01
Steady motions of a rigid body with a control momentum gyroscope are studied versus the gimbal axis direction relative to the body and the magnitude of the system angular momentum. The study is based on a formula that gives a parametric representation of the set of the system steady motions in terms
Assumptions and Axioms: Mathematical Structures to Describe the Physics of Rigid Bodies
Butler, Philip H; Renaud, Peter F
2010-01-01
This paper challenges some of the common assumptions underlying the mathematics used to describe the physical world. We start by reviewing many of the assumptions underlying the concepts of real, physical, rigid bodies and the translational and rotational properties of such rigid bodies. Nearly all elementary and advanced texts make physical assumptions that are subtly different from ours, and as a result we develop a mathematical description that is subtly different from the standard mathematical structure. Using the homogeneity and isotropy of space, we investigate the translational and rotational features of rigid bodies in two and three dimensions. We find that the concept of rigid bodies and the concept of the homogeneity of space are intrinsically linked. The geometric study of rotations of rigid objects leads to a geometric product relationship for lines and vectors. By requiring this product to be both associative and to satisfy Pythagoras' theorem, we obtain a choice of Clifford algebras. We extend o...
Zabolotnov, Yu. M.
2016-07-01
We analyze the spatial motion of a rigid body fixed to a cable about its center of mass when the orbital cable system is unrolling. The analysis is based on the integral manifold method, which permits separating the rigid body motion into the slow and fast components. The motion of the rigid body is studied in the case of slow variations in the cable tension force and under the action of various disturbances.We estimate the influence of the static and dynamic asymmetry of the rigid body on its spatial motion about the cable fixation point. An example of the analysis of the rigid body motion when the orbital cable system is unrolling is given for a special program of variations in the cable tension force. The conditions of applicability of the integral manifold method are analyzed.
Kinematic simulation of human gait with a multi-rigid-body foot model
YANG Yan; HU Xiaochun; LI Xiaopeng
2012-01-01
The paper builds a multi-rigid-body model of human with a 4-rigid-body foot in the 3D CAD software Solidworks, based on human anatomy. By controlling the rotation of the ankle and major joints of human body while walking, the Kinematic simulation was performed in the dynamics simulation software ADAMS. The paper analyzes the simulate results and points out deficiencies in the current work and the direction of research efforts in future.
Implementation of Kane's Method for a Spacecraft Composed of Multiple Rigid Bodies
Stoneking, Eric T.
2013-01-01
Equations of motion are derived for a general spacecraft composed of rigid bodies connected via rotary (spherical or gimballed) joints in a tree topology. Several supporting concepts are developed in depth. Basis dyads aid in the transition from basis-free vector equations to component-wise equations. Joint partials allow abstraction of 1-DOF, 2-DOF, 3-DOF gimballed and spherical rotational joints to a common notation. The basic building block consisting of an "inner" body and an "outer" body connected by a joint enables efficient organization of arbitrary tree structures. Kane's equation is recast in a form which facilitates systematic assembly of large systems of equations, and exposes a relationship of Kane's equation to Newton and Euler's equations which is obscured by the usual presentation. The resulting system of dynamic equations is of minimum dimension, and is suitable for numerical solution by computer. Implementation is ·discussed, and illustrative simulation results are presented.
A generic detailed rigid-body lumbar spine model
De Zee, Mark; Hansen, Lone; Wong, Christian
2007-01-01
effort of different research groups. The model is defined in a text-based, declarative, object-oriented language in the AnyBody Modelling System software. Text-based models will facilitate sharing of the models between different research groups. The necessary data for the model has been taken from...... is relatively easy to share and modify due to the use of a well-defined and self-contained scripting language. Validation is though still necessary for specific cases....
Stability of a Class of Coupled Rigid-elastic Systems With Symmetry-breaking
程耀; 黄克累; 陆启韶
1994-01-01
In this paper, the Poisson structures and Casimir functions, which play an important role in stability analysis of stationary motions, are given for a class of coupled rigid-elastic systems with symmetry-breaking. As a practical example, the specific Casimir function is given for a rigid-elastic coupled body with a fixed point subjected to gravitational force. At last, a set of sufficient conditions for stability of stationary motions of a rigid-elastic body in a circular orbit are given by the energy-Casimir method.
Lajimi, Seyed Amir Mousavi
2014-01-01
The nonlinear dynamics of a microbeam-rigid body gyroscope are investigated by using a continuation method. To study the nonlinear dynamics of the system, the Lagrangian of the system is discretized and the reduced-order model is obtained. By using the continuation method, the frequency-response curves are computed and the stability of response is determined.
An implicit time-stepping scheme for rigid body dynamics with Coulomb friction
STEWART,DAVID; TRINKLE,JEFFREY C.
2000-02-15
In this paper a new time-stepping method for simulating systems of rigid bodies is given. Unlike methods which take an instantaneous point of view, the method is based on impulse-momentum equations, and so does not need to explicitly resolve impulsive forces. On the other hand, the method is distinct from previous impulsive methods in that it does not require explicit collision checking and it can handle simultaneous impacts. Numerical results are given for one planar and one three-dimensional example, which demonstrate the practicality of the method, and its convergence as the step size becomes small.
Rodriguez, G.
1988-01-01
The inverse and forward dynamics problems for a set of rigid bodies connected by hinges to form a topological tree are solved by using recursive techniques from linear filtering and smoothing theory. An inward filtering sequence computes a set of constraint moments and forces. This is followed by an outward sequence to determine a corresponding set of angular and linear accelerations. An inward sequence begins at the tips of all of the terminal bodies of the tree and proceeds inwardly through all of the branches until it reaches the root. Similarly, an outward sequence begins at the root and propagates to all of the tree branches until it reaches the tips of the terminal bodies. The paper also provides an approach to evaluate recursively the composite multibody system inertia matrix and its inverse.
Eigenvalues of an axially loaded cantilever beam with an eccentric end rigid body
Lajimi, S Amir Mousavi
2014-01-01
An analytical form of the characteristic equation for a vertically mounted cantilever beam with an end rigid body is obtained and solved for the eigenvalues of the structure. The effect of the weight of the structure is taken into consideration by estimating the load as a function of the length of the beam. The mass, rotary inertia and eccentricity of the end rigid body are demonstrated to considerably affect the eigenvalues of the structure.
Amel'kin, N. I.
2011-01-01
Equations of motion are obtained for a rigid body bearing N three-degree-of-freedom control momentum gyroscopes in gimbals and the entire set of steady motions in a homogeneous external field is determined. The steady motion dependence on the magnitude of the system angular momentum is studied and a
Evolution of motions of a rigid body about its center of mass
Chernousko, Felix L; Leshchenko, Dmytro D
2017-01-01
The book presents a unified and well-developed approach to the dynamics of angular motions of rigid bodies subjected to perturbation torques of different physical nature. It contains both the basic foundations of the rigid body dynamics and of the asymptotic method of averaging. The rigorous approach based on the averaging procedure is applicable to bodies with arbitrary ellopsoids of inertia. Action of various perturbation torques, both external (gravitational, aerodynamical, solar pressure) and internal (due to viscous fluid in tanks, elastic and visco-elastic properties of a body) is considered in detail. The book can be used by researchers, engineers and students working in attitude dynamics of spacecraft.
The generalized Euler-Poinsot rigid body equations: explicit elliptic solutions
Fedorov, Yuri N.; Maciejewski, Andrzej J.; Przybylska, Maria
2013-10-01
The classical Euler-Poinsot case of the rigid body dynamics admits a class of simple but non-trivial integrable generalizations, which modify the Poisson equations describing the motion of the body in space. These generalizations possess first integrals which are polynomial in the angular momenta. We consider the modified Poisson equations as a system of linear equations with elliptic coefficients and show that all the solutions of it are single-valued. By using the vector generalization of the Picard theorem, we derive the solutions explicitly in terms of sigma-functions of the corresponding elliptic curve. The solutions are accompanied by a numerical example. We also compare the generalized Poisson equations with the classical third order Halphen equation.
Charles, Alexandre; Ballard, Patrick
2016-08-01
The dynamics of mechanical systems with a finite number of degrees of freedom (discrete mechanical systems) is governed by the Lagrange equation which is a second-order differential equation on a Riemannian manifold (the configuration manifold). The handling of perfect (frictionless) unilateral constraints in this framework (that of Lagrange's analytical dynamics) was undertaken by Schatzman and Moreau at the beginning of the 1980s. A mathematically sound and consistent evolution problem was obtained, paving the road for many subsequent theoretical investigations. In this general evolution problem, the only reaction force which is involved is a generalized reaction force, consistently with the virtual power philosophy of Lagrange. Surprisingly, such a general formulation was never derived in the case of frictional unilateral multibody dynamics. Instead, the paradigm of the Coulomb law applying to reaction forces in the real world is generally invoked. So far, this paradigm has only enabled to obtain a consistent evolution problem in only some very few specific examples and to suggest numerical algorithms to produce computational examples (numerical modeling). In particular, it is not clear what is the evolution problem underlying the computational examples. Moreover, some of the few specific cases in which this paradigm enables to write down a precise evolution problem are known to show paradoxes: the Painlevé paradox (indeterminacy) and the Kane paradox (increase in kinetic energy due to friction). In this paper, we follow Lagrange's philosophy and formulate the frictional unilateral multibody dynamics in terms of the generalized reaction force and not in terms of the real-world reaction force. A general evolution problem that governs the dynamics is obtained for the first time. We prove that all the solutions are dissipative; that is, this new formulation is free of Kane paradox. We also prove that some indeterminacy of the Painlevé paradox is fixed in this
Dynamics on strata of trigonal Jacobians and some integrable problems of rigid body motion
Braden, H. W.; Enolski, V. Z.; Fedorov, Yu N.
2013-07-01
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.
Mouse whole-body organ mapping by non-rigid registration approach
Xiao, Di; Zahra, David; Bourgeat, Pierrick; Berghofer, Paula; Acosta Tamayo, Oscar; Green, Heather; Gregoire, Marie Claude; Salvado, Olivier
2011-03-01
Automatic small animal whole-body organ registration is challenging because of subject's joint structure, posture and position difference and loss of reference features. In this paper, an improved 3D shape context based non-rigid registration method is applied for mouse whole-body skeleton registration and lung registration. A geodesic path based non-rigid registration method is proposed for mouse torso skin registration. Based on the above registration methods, a novel non-rigid registration framework is proposed for mouse whole-body organ mapping from an atlas to new scanned CT data. A preliminary experiment was performed to test the method on lung and skin registration. A whole-body organ mapping was performed on three target data and the selected organs were compared with the manual outlining results. The robust of the method has been demonstrated.
Projected Gauss-Seidel subspace minimization method for interactive rigid body dynamics
Silcowitz-Hansen, Morten; Abel, Sarah Maria Niebe; Erleben, Kenny
2010-01-01
In interactive physical simulation, contact forces are applied to prevent rigid bodies from penetrating and to control slipping between bodies. Accurate contact force determination is a computationally hard problem. Thus, in practice one trades accuracy for performance. This results in visual...
Quantifying Rigid and Nonrigid Motion of Liver Tumors During Stereotactic Body Radiation Therapy
Xu, Qianyi, E-mail: xuqianyi@gmail.com [Department of Radiation Oncology, MD Anderson Cancer Center at Cooper, Camden, New Jersey (United States); Hanna, George [Department of Radiation Oncology, MD Anderson Cancer Center at Cooper, Camden, New Jersey (United States); Grimm, Jimm [Department of Radiation Oncology, Holy Redeemer Hospital, Bott Cancer Center, Meadowbrook, Pennsylvania (United States); Kubicek, Gregory [Department of Radiation Oncology, MD Anderson Cancer Center at Cooper, Camden, New Jersey (United States); Pahlajani, Niraj [Department of Radiation Oncology, First Radiation and Oncology Group, Jacksonville, Florida (United States); Asbell, Sucha [Department of Radiation Oncology, MD Anderson Cancer Center at Cooper, Camden, New Jersey (United States); Fan, Jiajin [Department of Radiation Oncology, Fox Chase Cancer Center, Philadelphia, Pennsylvania (United States); Chen, Yan; LaCouture, Tamara [Department of Radiation Oncology, MD Anderson Cancer Center at Cooper, Camden, New Jersey (United States)
2014-09-01
Purpose: To quantify rigid and nonrigid motion of liver tumors using reconstructed 3-dimensional (3D) fiducials from stereo imaging during CyberKnife-based stereotactic body radiation therapy (SBRT). Methods and Materials: Twenty-three liver patients treated with 3 fractions of SBRT were used in this study. After 2 orthogonal kilovoltage images were taken during treatment, the 3D locations of the fiducials were generated by the CyberKnife system and validated using geometric derivations. A total of 4824 pairs of kilovoltage images from start to end of treatment were analyzed. For rigid motion, the rotational angles and translational shifts were reported by aligning 3D fiducial groups from different image pairs, using least-squares fitting. For nonrigid motion, we quantified interfractional tumor volume variations by using the proportional volume derived from the fiducials, which correlates to the sum of interfiducial distances. The individual fiducial displacements were also reported (1) after rigid corrections and (2) without angle corrections. Results: The proportional volume derived by the fiducials demonstrated a volume-increasing trend in the second (101.9% ± 3.6%) and third (101.0 ± 5.9%) fractions among most patients, possibly due to radiation-induced edema. For all patients, the translational shifts in left-right, anteroposterior, and superoinferior directions were 2.1 ± 2.3 mm, 2.9 ± 2.8 mm, and 6.4 ± 5.5 mm, respectively. The greatest translational shifts occurred in the superoinferior direction, likely due to respiratory motion from the diaphragm. The rotational angles in roll, pitch, and yaw were 1.2° ± 1.8°, 1.8° ± 2.4°, and 1.7° ± 2.1°, respectively. The 3D individual fiducial displacements with rigid corrections were 0.2 ± 0.2 mm and increased to 0.5 ± 0.4 mm without rotational corrections. Conclusions: Accurate 3D locations of internal fiducials can be reconstructed from stereo imaging during treatment. As an
Separating brain motion into rigid body displacement and deformation under low-severity impacts.
Zou, Hong; Schmiedeler, James P; Hardy, Warren N
2007-01-01
The relative motion of the brain with respect to the skull has been widely studied to investigate brain injury mechanisms under impacts, but the motion patterns are not yet thoroughly understood. This work analyzes brain motion patterns using the most recent and advanced experimental relative brain/skull motion data collected under low-severity impacts. With a minimum total pseudo-strain energy, the closed-form solutions for rigid body translation and rotation were obtained by matching measured neutral density target (NDT) positions with initial NDT positions. The brain motion was thus separated into rigid body displacement and deformation. The results show that the brain has nearly pure rigid body displacement at low impact speed. As the impact becomes more severe, the increased brain motion primarily is due to deformation, while the rigid body displacement is limited in magnitude for both translation and rotation. Under low-severity impacts in the sagittal plane, the rigid body brain translation has a magnitude of 4-5 mm, and the whole brain rotation is on the order of +/-5 degrees.
Simulation Methods in the Contact with Impact of Rigid Bodies
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
Error in the description of foot kinematics due to violation of rigid body assumptions.
Nester, C J; Liu, A M; Ward, E; Howard, D; Cocheba, J; Derrick, T
2010-03-03
Kinematic data from rigid segment foot models inevitably includes errors because the bones within each segment move relative to each other. This study sought to define error in foot kinematic data due to violation of the rigid segment assumption. The research compared kinematic data from 17 different mid and forefoot rigid segment models to kinematic data of the individual bones comprising these segments. Kinematic data from a previous dynamic cadaver model study was used to derive individual bone as well as foot segment kinematics. Mean and maximum errors due to violation of the rigid body assumption varied greatly between models. The model with least error was the combination of navicular and cuboid (mean errors kinematics research study being undertaken.
Worst-case analysis of target localization errors in fiducial-based rigid body registration
Shamir, Reuben R.; Joskowicz, Leo
2009-02-01
Fiducial-based rigid registration is the preferred method for aligning the preoperative image with the intra-operative physical anatomy in existing image-guided surgery systems. After registration, the targets locations usually cannot be measured directly, so the Target Registration Error (TRE) is often estimated with the Fiducial Registration Error (FRE), or with Fitzpatrick TRE (FTRE) estimation formula. However, large discrepancies between the FRE and the TRE have been exemplified in hypothetical setups and have been observed in the clinic. In this paper, we formally prove that in the worst case the FRE and the TRE, and the FTRE and the TRE are independent, regardless of the target location, it location, the number of fiducials, and their configuration. The worst case occurs when the unknown Fiducial Localization Error (FLE) is modeled as an affine anisotropic inhomogeneous bias. Our results generalize previous examples, contribute to the mathematical understanding of TRE estimation in fiducial-based rigid-body registration, and strengthen the need for realistic and reliable FLE models and effective TRE estimation methods.
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.
Mazur, Alexey K.
1999-07-01
Internal coordinate molecular dynamics (ICMD) is a recent efficient method for modeling polymer molecules which treats them as chains of rigid bodies rather than ensembles of point particles as in Cartesian MD. Unfortunately, it is readily applicable only to linear or tree topologies without closed flexible loops. Important examples violating this condition are sugar rings of nucleic acids, proline residues in proteins, and also disulfide bridges. This paper presents the first complete numerical solution of the chain closure problem within the context of ICMD. The method combines natural implicit fixation of bond lengths and bond angles by the choice of internal coordinates with explicit constraints similar to Cartesian dynamics used to maintain the chain closure. It is affordable for large molecules and makes possible 3-5 times faster dynamics simulations of molecular systems with flexible rings, including important biological objects like nucleic acids and disulfide-bonded proteins.
Control of fluid-containing rotating rigid bodies
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
Deriabine, Mikhail
2003-01-01
We consider the problem of heavy rigid body dynamics in an infinite volume of an ideal incompressible fluid performing a potential motion. If the body is axially-symmetric, then the system admits partial solutions, when the axis of symmetry is vertical, and the body sinks and rotates around its...... symmetry axis. These solutions were found by V.A.Steklov already at the end of the 19th century, and he also pointed out that in general these motions are unstable (as they are uniformly accelerated).Here we consider the more delicate question, namely we derive the conditions for stability of the rotation...
Numerical simulation of a moving rigid body in a rarefied gas
Shrestha, Samir; Tiwari, Sudarshan; Klar, Axel; Hardt, Steffen
2015-07-01
In this paper we present a numerical scheme to simulate a moving rigid body with arbitrary shape suspended in a rarefied gas. The rarefied gas is simulated by solving the Boltzmann equation using a DSMC particle method. The motion of the rigid body is governed by the Newton-Euler equations, where the force and the torque on the rigid body are computed from the momentum transfer of the gas molecules colliding with the body. On the other hand, the motion of the rigid body influences the gas flow in its surroundings. We validate the numerical scheme by considering a moving piston problem in 1D and the Einstein relation for Brownian motion of the suspended particle in 3D. In the piston problem it is shown that the equilibrium position of the moving piston converges to the analytical solution for a wide range of Knudsen numbers. In the case of Brownian motion the translational as well as the rotational degrees of freedom are taken into account. In this case it is shown that the numerically computed translational and rotational diffusion coefficients converge to the theoretical values. Finally, the motion of an object of complex shape under the influence of a thermophoretic force is investigated.
Explaining rigid dieting in normal-weight women: the key role of body image inflexibility.
Ferreira, Cláudia; Trindade, Inês A; Martinho, Ana
2016-03-01
Restrictive dieting is an increasing behavior presented by women in modern societies, independently of their weight. There are several known factors that motivate diet, namely a sense of dissatisfaction with one's body and unfavorable social comparisons based on physical appearance. However, dieting seems to have a paradoxical effect and has been considered a risk factor for weight gain and obesity in women and for maladaptive eating. Nevertheless, the study of the emotional regulation processes that explain the adoption of inflexible and rigid eating behaviors still remains little explored. In this line, the present study aims to explore why normal-weight women engage in highly rigid and inflexible diets. We hypothesize that body and weight dissatisfaction and unfavorable social comparisons based on physical appearance explain the adoption of inflexible eating rules, through the mechanisms of body image inflexibility. The current study comprised 508 normal-weight female college students. Path analyses were conducted to explore the study's hypotheses. Results revealed that the model explained 43 % of inflexible eating and revealed excellent fit indices. Furthermore, the unwillingness to experience unwanted events related to body image (body image inflexibility) mediated the impact of body dissatisfaction and unfavorable social comparisons on the adoption of inflexible eating rules. This study highlights the relevance of body image inflexibility to explain rigid eating attitudes, and it seems to be an important avenue for the development of interventions focusing on the promotion of adaptive attitudes towards body image and eating in young women.
Euler-Poincaré Reduction of a Rigid Body Motion
Wisniewski, Rafal; Kulczycki, P.
2004-01-01
. 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...
Compliant mechanism road bicycle brake: a rigid-body replacement case study
Olsen, Brian M [Los Alamos National Laboratory; Howell, Larry L [NON LANL; Magleby, Spencer P [NON LANL
2011-01-19
The design of high-performance bicycle brakes is complicated by the competing design objectives of increased performance and low weight. But this challenge also provides a good case study to demonstrate the design of compliant mechanisms to replace current rigid-link mechanisms. This paper briefly reviews current road brake designs, demonstrates the use of rigid-body replacement synthesis to design a compliant mechanism, and illustrates the combination of compliant mechanism design tools. The resulting concept was generated from the modified dual-pivot brake design and is a partially compliant mechanism where one pin has the dual role of a joint and a mounting pin. The pseudo-rigid-body model, finite element analysis, and optimization algorithms are used to generate design dimensions, and designs are considered for both titanium and E-glass flexures. The resulting design has the potential of reducing the part count and overall weight while maintaining a performance similar to the benchmark.
On docking, scoring and assessing protein-DNA complexes in a rigid-body framework.
Marc Parisien
Full Text Available We consider the identification of interacting protein-nucleic acid partners using the rigid body docking method FTdock, which is systematic and exhaustive in the exploration of docking conformations. The accuracy of rigid body docking methods is tested using known protein-DNA complexes for which the docked and undocked structures are both available. Additional tests with large decoy sets probe the efficacy of two published statistically derived scoring functions that contain a huge number of parameters. In contrast, we demonstrate that state-of-the-art machine learning techniques can enormously reduce the number of parameters required, thereby identifying the relevant docking features using a miniscule fraction of the number of parameters in the prior works. The present machine learning study considers a 300 dimensional vector (dependent on only 15 parameters, termed the Chemical Context Profile (CCP, where each dimension reflects a specific type of protein amino acid-nucleic acid base interaction. The CCP is designed to capture the chemical complementarities of the interface and is well suited for machine learning techniques. Our objective function is the Chemical Context Discrepancy (CCD, which is defined as the angle between the native system's CCP vector and the decoy's vector and which serves as a substitute for the more commonly used root mean squared deviation (RMSD. We demonstrate that the CCP provides a useful scoring function when certain dimensions are properly weighted. Finally, we explore how the amino acids on a protein's surface can help guide DNA binding, first through long-range interactions, followed by direct contacts, according to specific preferences for either the major or minor grooves of the DNA.
A vector-dyadic development of the equations of motion for N-coupled rigid bodies and point masses
Frisch, H. P.
1974-01-01
The equations of motion are derived, in vector-dyadic format, for a topological tree of coupled rigid bodies, point masses, and symmetrical momentum wheels. These equations were programmed, and form the basis for the general-purpose digital computer program N-BOD. A complete derivation of the equations of motion is included along with a description of the methods used for kinematics, constraint elimination, and for the inclusion of nongyroscope forces and torques acting external or internal to the system.
Reyhanoglu, Mahmut
1996-01-01
There has been much interest over the past decade in the problem of asymptotic stabilization of the angular velocity of a rigid body with only two torque inputs. The smooth feedback laws proposed in the literature provide asymptotic stability with nonexponential convergence rates. This paper propose
Reconstructing rotations and rigid body motions from exact point correspondences through reflections
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 algeb
Rigid Body Time Integration by Convected Base Vectors with Implicit Constraints
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...
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...
Virtual fracture reduction of the acetabulum using a rigid body biomechanical model
Boudissa, Mehdi; Chabanas, Matthieu; Oliveri, Hadrien; Tonetti, Jérôme
2014-01-01
International audience; Acetabular fractures are a challenge in orthopaedic surgery. A simple rigid body biomechanical model of the hip is proposed to simulate the fracture reduction. The action of surgical tools can be simulated interactively, which enables clinicians to evaluate different strategies for a better surgical planning.
Lorentz Contraction, Bell's Spaceships and Rigid Body Motion in Special Relativity
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…
Lorentz Contraction, Bell's Spaceships and Rigid Body Motion in Special Relativity
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…
The Serret-Andoyer Formalism in Rigid-Body Dynamics: 1. Symmetries and Perturbations
2007-01-01
Aerospace Engineering, Technion–Israel Institute of Technology, Haifa, 32000 Israel 2 Grupo de Mecanica Espacial, Universidad de Zaragoza, Zaragoza, 50009...rigid-body dynamics and kinematics. Most popular is the set suggested in 1923 by Andoyer [20]. This set is not completely reduced: while three of its
Reorientation of Asymmetric Rigid Body Using Two Controls
Donghoon Kim
2013-01-01
Full Text Available Most spacecrafts are designed to be maneuvered to achieve pointing goals. This is accomplished usually by designing a three-axis control system, which can achieve arbitrary maneuvers, where the goal is to repoint the spacecraft and match a desired angular velocity at the end of the maneuver. New control laws are required, however, if one of the three-axis control actuators fails. This paper explores suboptimal maneuver strategies when only two control torque inputs are available. To handle this underactuated system control problem, the three-axis maneuver strategy is transformed to two successive independent submaneuver strategies. The first maneuver is conducted on one of the available torque axes. Next, the second maneuver is conducted on the torque available plane using two available control torques. However, the resulting control law is more complicated than the general three-axis control law. This is because an optimal switch time needs to be found for determining the end time for the single-axis maneuver or the start time for the second maneuver. Numerical simulation results are presented that compare optimal maneuver strategies for both nominal and failed actuator cases.
Rigid body dynamics modeling, experimental characterization, and performance analysis of a howitzer
Nachiketa TIWARI; Mukund PATIL; Ravi SHANKAR; Abhishek SARASWAT; Rituraj DWIVEDI
2016-01-01
A large caliber howitzer is a complex and cumbersome assembly. Understanding its dynamics and performance attributes’ sensitivity to changes in its design parameters can be a very time-consuming and expensive exercise, as such an effort requires highly sophisticated test rigs and platforms. However, the need of such an understanding is crucially important for system designers, users, and evaluators. Some of the key performance attributes of such a system are its vertical jump, forward motion, recoil displacement, and force transmitted to ground through tires and trail after the gun has been fired. In this work, we have developed a rigid body dynamics model for a representative howitzer system, and used relatively simple experimental procedures to estimate its principal design parameters. Such procedures can help in obviating the need of expensive experimental rigs, especially in early stages of the design cycle. These parameters were subsequently incorporated into our simulation model, which was then used to predict gun performance. Finally, we conducted several sensitivity studies to understand the influence of changes in various design parameters on system performance. Their results provide useful insights in our understanding of the functioning of the overall system.
Rigid body dynamics modeling, experimental characterization, and performance analysis of a howitzer
Nachiketa Tiwari
2016-12-01
Full Text Available A large caliber howitzer is a complex and cumbersome assembly. Understanding its dynamics and performance attributes' sensitivity to changes in its design parameters can be a very time-consuming and expensive exercise, as such an effort requires highly sophisticated test rigs and platforms. However, the need of such an understanding is crucially important for system designers, users, and evaluators. Some of the key performance attributes of such a system are its vertical jump, forward motion, recoil displacement, and force transmitted to ground through tires and trail after the gun has been fired. In this work, we have developed a rigid body dynamics model for a representative howitzer system, and used relatively simple experimental procedures to estimate its principal design parameters. Such procedures can help in obviating the need of expensive experimental rigs, especially in early stages of the design cycle. These parameters were subsequently incorporated into our simulation model, which was then used to predict gun performance. Finally, we conducted several sensitivity studies to understand the influence of changes in various design parameters on system performance. Their results provide useful insights in our understanding of the functioning of the overall system.
Yong Wang; Jian Kang
2015-01-01
In traditional inverse synthetic aperture radar (ISAR) imaging of moving targets with rotational parts, the micro-Doppler (m-D) effects caused by the rotational parts influence the quality of the radar images. Recently, L. Stankovic proposed an m-D removal method based on L-statistics, which has been proved effective and simple. The algorithm can extract the m-D effects according to different behaviors of signals induced by rotational parts and rigid bodies in time-frequency (T-F) domain. However, by removing m-D effects, some useful short time Fourier transform (STFT) samples of rigid bodies are also extracted, which induces the side lobe problem of rigid bodies. A parameter estimation method for rigid bodies after m-D removal is proposed, which can accurately re-cover rigid bodies and avoid the side lobe problem by only using m-D removal. Simulations are given to validate the effectiveness of the proposed method.
Covariant Lyapunov vectors for rigid disk systems.
Bosetti, Hadrien; Posch, Harald A
2010-10-05
We carry out extensive computer simulations to study the Lyapunov instability of a two-dimensional hard-disk system in a rectangular box with periodic boundary conditions. The system is large enough to allow the formation of Lyapunov modes parallel to the x-axis of the box. The Oseledec splitting into covariant subspaces of the tangent space is considered by computing the full set of covariant perturbation vectors co-moving with the flow in tangent space. These vectors are shown to be transversal, but generally not orthogonal to each other. Only the angle between covariant vectors associated with immediate adjacent Lyapunov exponents in the Lyapunov spectrum may become small, but the probability of this angle to vanish approaches zero. The stable and unstable manifolds are transverse to each other and the system is hyperbolic.
Design of the new rigid endoscope distortion measurement system
Zhai, Xiaohao; Liu, Xiaohua; Liu, Ming; Hui, Mei; Dong, Liquan; Zhao, Yuejin; Wang, Yakun; Li, Yonghui; Zhou, Peng
2015-08-01
Endoscopic imaging quality affects industrial safety and medical security. Rigid endoscope distortion is of great signification as one of optical parameters to evaluate the imaging quality. This paper introduces a new method of rigid endoscope distortion measurement, which is different from the common methods with low accuracy and fussy operation. It contains a Liquid Crystal Display (LCD) to display the target, a CCD to obtain the images with distortion, and a computer to process the images. The LCD is employed instead of common white screen. The autonomous control system of LCD makes it showing the test target designed for distortion, and its parameter is known. LCD control system can change the test target to satisfy the different demand for accuracy, which avoids replacing target frequently. The test system also contains a CCD to acquire images in the exit pupil position of rigid endoscope. Rigid endoscope distortion is regarded as centrosymmetric, and the MATLAB software automatically measures it by processing the images from CCD. The MATLAB software compares target images with that without distortion on LCD and calculates the results. Relative distortion is obtained at different field of view (FOV) radius. The computer plots the curve of relative distortion, abscissa means radius of FOV, ordinate means relative distortion. The industry standard shows that, the distortion at 70% field of view is pointed on the curve, which can be taken as an evaluation standard. This new measuring method achieves advantages of high precision, high degree of intelligence, excellent repeatability and gets calculation results quickly.
Mutual potential between two rigid bodies with arbitrary shapes and mass distributions
Hou, Xiyun; Scheeres, Daniel J.; Xin, Xiaosheng
2016-09-01
Formulae to compute the mutual potential, force, and torque between two rigid bodies are given. These formulae are expressed in Cartesian coordinates using inertia integrals. They are valid for rigid bodies with arbitrary shapes and mass distributions. By using recursive relations, these formulae can be easily implemented on computers. Comparisons with previous studies show their superiority in computation speed. Using the algorithm as a tool, the planar problem of two ellipsoids is studied. Generally, potential truncated at the second order is good enough for a qualitative description of the mutual dynamics. However, for ellipsoids with very large non-spherical terms, higher order terms of the potential should be considered, at the cost of a higher computational cost. Explicit formulae of the potential truncated to the fourth order are given.
Conservative rigid body dynamics by convected base vectors with implicit constraints
Krenk, Steen; Nielsen, Martin Bjerre
2014-01-01
A conservative time integration formulation is developed for rigid bodies based on a convected set of orthonormal base vectors. The base vectors are represented in terms of their absolute coordinates, and thus the formulation makes use of three translation components, plus nine components...... 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......-strain conditions as well as external constraints via Lagrange multipliers. Subsequently, the Lagrange multipliers associated with the internal zero-strain constraints are eliminated by use of a set of orthogonality conditions between the generalized displacements and the momentum vector, leaving a set...
The tennis racket effect in a three-dimensional rigid body
Van Damme, L; Sugny, D
2016-01-01
We propose a complete theoretical description of the tennis racket effect, which occurs in the free rotation of a three-dimensional rigid body. This effect is characterized by a flip ($\\pi$- rotation) of the head of the racket when a full ($2\\pi$) rotation around the unstable inertia axis is considered. We describe the asymptotics of the phenomenon and conclude about the robustness of this effect with respect to the values of the moments of inertia and the initial conditions of the dynamics. This shows the generality of this geometric property which can be found in a variety of rigid bodies. A simple analytical formula is derived to estimate the twisting effect in the general case. Different examples are discussed.
The tennis racket effect in a three-dimensional rigid body
Van Damme, Léo; Mardešić, Pavao; Sugny, Dominique
2017-01-01
We propose a complete theoretical description of the tennis racket effect, which occurs in the free rotation of a three-dimensional rigid body. This effect is characterized by a flip (π- rotation) of the head of the racket when a full (2 π) rotation around the unstable inertia axis is considered. We describe the asymptotics of the phenomenon and conclude about the robustness of this effect with respect to the values of the moments of inertia and the initial conditions of the dynamics. This shows the generality of this geometric property which can be found in a variety of rigid bodies. A simple analytical formula is derived to estimate the twisting effect in the general case. Different examples are discussed.
THE DYNAMIC BUCKLING OF ELASTIC-PLASTIC COLUMN SUBJECTED TO AXIAL IMPACT BY A RIGID BODY
Han Zhijun; Wang Jingchao; Cheng Guoqiang; Ma Hongwei; Zhang Shanyuan
2005-01-01
The dynamic buckling of an elastic-plastic column subjected to axial impact by a rigid body has been discussed in this paper. The whole traveling process of elastic-plastic waves under impact action is analyzed with the characteristics method. The regularity of stress changes in both column ends and the first separating time of a rigid body and column are obtained. By using the energy principle and taking into account the propagation and reflection of stress waves the lateral disturbance equation is derived and the power series solution is given. In addition,the critical buckling condition can be obtained from the stability analysis of the solution. By numerical computation and analysis, the relationship among critical velocity and impact mass,hardening modulus, and buckling time is given.
Aoun, Bachir
2016-05-01
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.
A simple molecular mechanics integrator in mixed rigid body and dihedral angle space
Vitalis, Andreas, E-mail: a.vitalis@bioc.uzh.ch [Department of Biochemistry, University of Zurich, Winterthurerstrasse 190, CH-8057 Zurich (Switzerland); Pappu, Rohit V. [Department of Biomedical Engineering and Center for Biological Systems Engineering, Washington University in St. Louis, One Brookings Drive, Campus Box 1097, St. Louis, Missouri 63130 (United States)
2014-07-21
We propose a numerical scheme to integrate equations of motion in a mixed space of rigid-body and dihedral angle coordinates. The focus of the presentation is biomolecular systems and the framework is applicable to polymers with tree-like topology. By approximating the effective mass matrix as diagonal and lumping all bias torques into the time dependencies of the diagonal elements, we take advantage of the formal decoupling of individual equations of motion. We impose energy conservation independently for every degree of freedom and this is used to derive a numerical integration scheme. The cost of all auxiliary operations is linear in the number of atoms. By coupling the scheme to one of two popular thermostats, we extend the method to sample constant temperature ensembles. We demonstrate that the integrator of choice yields satisfactory stability and is free of mass-metric tensor artifacts, which is expected by construction of the algorithm. Two fundamentally different systems, viz., liquid water and an α-helical peptide in a continuum solvent are used to establish the applicability of our method to a wide range of problems. The resultant constant temperature ensembles are shown to be thermodynamically accurate. The latter relies on detailed, quantitative comparisons to data from reference sampling schemes operating on exactly the same sets of degrees of freedom.
Respiratory motion correction in gated cardiac SPECT using quaternion-based, rigid-body registration
Parker, Jason G.; Mair, Bernard A.; Gilland, David R.
2009-01-01
In this article, a new method is introduced for estimating the motion of the heart due to respiration in gated cardiac SPECT using a rigid-body model with rotation parametrized by a unit quaternion. The method is based on minimizing the sum of squared errors between the reference and the deformed frames resulting from the usual optical flow constraint by using an optimized conjugate gradient routine. This method does not require any user-defined parameters or penalty terms, which simplifies i...
Conservative integration of rigid body motion by quaternion parameters with implicit constraints
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 symmetri...... of momentum and energy. Implementation, conservation properties, and accuracy of the algorithm are illustrated by examples with a flying box and a spinning top. Copyright © 2012 John Wiley & Sons, Ltd....
Study of the kinematics of rigid body using the sliding vectors' theory
Llopis Cosin, Juan Vicente; Rubio Michavila, Constanza; Gasque Albalate, Maria; Quiles Casado, Susana De La Salud
2013-01-01
The sliding vector theory is a powerful tool for the study of the three parts of Classical Mechanics in vectorial formulation: Kinematics, Statics and Dynamics. Due to the great importance of the Vector Mechanics for their technical applications in engineering, this part of the Physics is studied in the first years of Engineering Degrees, as a fundamental topic included in the subjects of Physics. The rigid body model is the solid under study in Vectorial Mechanics. Firstly, in Ki...
Rigid-body kinematics versus flapping kinematics of a flapping wing micro air vehicle
Caetano, J.V.; Weehuizen, M.B.; De Visser, C.C.; De Croon, G.C.H.E.; de Mulder, M.
2015-01-01
Several formulations have been proposed to model the dynamics of ornithopters, with inconclusive results regarding the need for complex kinematic formulations. Furthermore, the impact of assumptions made in the collected results was never assessed by comparing simulations with real flight data. In this study two dynamic models of a Flapping Wing Micro Aerial Vehicle (FWMAV) were derived and compared: a) single rigid body aircraft equations of motion and b) Virtual Work Principle derivation fo...
Hamilton's Equations with Euler Parameters for Rigid Body Dynamics Modeling. Chapter 3
Shivarama, Ravishankar; Fahrenthold, Eric P.
2004-01-01
A combination of Euler parameter kinematics and Hamiltonian mechanics provides a rigid body dynamics model well suited for use in strongly nonlinear problems involving arbitrarily large rotations. The model is unconstrained, free of singularities, includes a general potential energy function and a minimum set of momentum variables, and takes an explicit state space form convenient for numerical implementation. The general formulation may be specialized to address particular applications, as illustrated in several three dimensional example problems.
Estimation of the ground shaking from the response of rigid bodies
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.
On Classical Dynamics of Affinely-Rigid Bodies Subject to the Kirchhoff-Love Constraints
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.
Analytic Theory and Control of the Motion of Spinning Rigid Bodies
Tsiotras, Panagiotis
1993-01-01
Numerical simulations are often resorted to, in order to understand the attitude response and control characteristics of a rigid body. However, this approach in performing sensitivity and/or error analyses may be prohibitively expensive and time consuming, especially when a large number of problem parameters are involved. Thus, there is an important role for analytical models in obtaining an understanding of the complex dynamical behavior. In this dissertation, new analytic solutions are derived for the complete attitude motion of spinning rigid bodies, under minimal assumptions. Hence, we obtain the most general solutions reported in the literature so far. Specifically, large external torques and large asymmetries are included in the problem statement. Moreover, problems involving large angular excursions are treated in detail. A new tractable formulation of the kinematics is introduced which proves to be extremely helpful in the search for analytic solutions of the attitude history of such kinds of problems. The main utility of the new formulation becomes apparent however, when searching for feedback control laws for stabilization and/or reorientation of spinning spacecraft. This is an inherently nonlinear problem, where standard linear control techniques fail. We derive a class of control laws for spin axis stabilization of symmetric spacecraft using only two pairs of gas jet actuators. Practically, this could correspond to a spacecraft operating in failure mode, for example. Theoretically, it is also an important control problem which, because of its difficulty, has received little, if any, attention in the literature. The proposed control laws are especially simple and elegant. A feedback control law that achieves arbitrary reorientation of the spacecraft is also derived, using ideas from invariant manifold theory. The significance of this research is twofold. First, it provides a deeper understanding of the fundamental behavior of rigid bodies subject to body
Self-propulsion of a body with rigid surface and variable coefficient of lift in a perfect fluid
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.
Closed-Loop Control of Satellite Formations Using a Quasi-Rigid Body Formulation
Blake, Christopher; Misra, Arun K.
2011-04-01
Satellites in formation work together to fulfill the role of a larger satellite. The purpose of this article is to develop a quasi-rigid body formulation for modeling and controlling such a formation as a single entity. In this article, a definition of a quasi-rigid body coordinate frame is presented, which, when attached to a formation, conveniently describes its orientation in space. Using this formulation, the equations of motion for a satellite formation are recast, and natural circular formations are expressed more succinctly. When the J 2 perturbation is considered, a correction factor on the formation's spin rate is introduced. The control of a satellite formation can effectively be separated into (1) a control torque to maintain the attitude and (2) control forces that maintain the rigidity of the formation. With this in mind, a nonlinear Lyapunov controller is derived using the formulation, which acts on the formation as a whole. Simulations validate this controller and illustrate its utility for maintaining circular formations, in particular, in the presence of gravitational perturbations.
王毅; 宋卫东; 佟德飞
2014-01-01
固定鸭舵式二维弹道修正弹修正组件相对弹体具有不同的滚转角速度，传统6D弹道模型不能有效描述弹丸的运动特性和规律。针对该问题，在修正组件和弹体无气动耦合的假设下，研究了修正组件、弹体的运动与弹丸运动的关系，分析了弹丸飞行过程中两刚体间的相互作用，综合两刚体的运动学和动力学方程建立了7D弹道模型。针对某型尾翼稳定弹建立了仿真模型，并对不同面积、不同舵偏角、不同修正组件质量3种状态进行了仿真分析。仿真结果表明，该模型可有效描述弹丸在飞行过程中的运动状态，且能够反映弹丸的弹道特性和运动规律。该模型可用于该型弹丸的弹道解算，并为该类弹丸的研究提供依据。%The correction components of 2D trajectory correction projectile(TCP)with fixed-canard have different roll-angular velocities relative to the body,and 6D trajectory model can’t effectively describe the motion characteristics of the proj ectile.To solve this problem,the proj ectile was treated as two rigid bodies.Under the assumption that the front component and the aft component have no pneumatic coupling,new coordinate frames were built,and mathematical rela-tionship between the force of the fixed component and airflow by redefining attacking angle and side slip angle was described.The relations of the movement of proj ectile,the correction component and the body component were studied.The interactive force between two rigid bodies during flight was analyzed.The 7D ballistic model was built through integrating kinematic equations and dynamic equations.Aiming at one fin-stability shell,the simulation model was built,and the simulation was carried out.The results show that this model can describe the motion state in the flight and reflect the traj ectory characteristics.This model can be used for ballistic solution,and it provides reference for studying the proj
Dynamic analysis on generalized linear elastic body subjected to large scale rigid rotations
刘占芳; 颜世军; 符志
2013-01-01
The dynamic analysis of a generalized linear elastic body undergoing large rigid rotations is investigated. The generalized linear elastic body is described in kine-matics through translational and rotational deformations, and a modified constitutive relation for the rotational deformation is proposed between the couple stress and the curvature tensor. Thus, the balance equations of momentum and moment are used for the motion equations of the body. The floating frame of reference formulation is applied to the elastic body that conducts rotations about a fixed axis. The motion-deformation coupled model is developed in which three types of inertia forces along with their incre-ments are elucidated. The finite element governing equations for the dynamic analysis of the elastic body under large rotations are subsequently formulated with the aid of the constrained variational principle. A penalty parameter is introduced, and the rotational angles at element nodes are treated as independent variables to meet the requirement of C1 continuity. The elastic body is discretized through the isoparametric element with 8 nodes and 48 degrees-of-freedom. As an example with an application of the motion-deformation coupled model, the dynamic analysis on a rotating cantilever with two spatial layouts relative to the rotational axis is numerically implemented. Dynamic frequencies of the rotating cantilever are presented at prescribed constant spin velocities. The maximal rigid rotational velocity is extended for ensuring the applicability of the linear model. A complete set of dynamical response of the rotating cantilever in the case of spin-up maneuver is examined, it is shown that, under the ultimate rigid rotational velocities less than the maximal rigid rotational velocity, the stress strength may exceed the material strength tolerance even though the displacement and rotational angle responses are both convergent. The influence of the cantilever layouts on their responses and
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.
Classical models of affinely-rigid bodies with "thickness" in degenerate dimension
Kovalchuk, Vasyl
2009-01-01
The special interest is devoted to such situations when the material space of our object with affine degrees of freedom has generally lower dimension than the one of the physical space. In other words when we have the $m$-dimensional affinely-rigid body moving in the $n$-dimensional physical space, $m
A refined technique to calculate finite helical axes from rigid body trackers.
McLachlin, Stewart D; Ferreira, Louis M; Dunning, Cynthia E
2014-12-01
Finite helical axes (FHAs) are a potentially effective tool for joint kinematic analysis. Unfortunately, no straightforward guidelines exist for calculating accurate FHAs using prepackaged six degree-of-freedom (6 DOF) rigid body trackers. Thus, this study aimed to: (1) describe a protocol for calculating FHA parameters from 6 DOF rigid body trackers using the screw matrix and (2) to maximize the number of accurate FHAs generated from a given data set using a moving window analysis. Four Optotrak® Smart Markers were used as the rigid body trackers, two moving and two fixed, at different distances from the hinge joint of a custom-machined jig. 6D OF pose information was generated from 51 static positions of the jig rotated and fixed in 0.5 deg increments up to 25 deg. Output metrics included the FHA direction cosines, the rotation about the FHA, the translation along the axis, and the intercept of the FHA with the plane normal to the jig's hinge joint. FHA metrics were calculated using the relative tracker rotation from the starting position, and using a moving window analysis to define a minimum acceptable rotational displacement between the moving tracker data points. Data analysis found all FHA rotations calculated from the starting position were within 0.15 deg of the prescribed jig rotation. FHA intercepts were most stable when determined using trackers closest to the hinge axis. Increasing the moving window size improved the FHA direction cosines and center of rotation accuracy. Window sizes larger than 2 deg had an intercept deviation of less than 1 mm. Furthermore, compared to the 0 deg window size, the 2 deg window had a 90% improvement in FHA intercept precision while generating almost an equivalent number of FHA axes. This work identified a solution to improve FHA calculations for biomechanical researchers looking to describe changes in 3D joint motion.
Comparison of Point and Line Features and Their Combination for Rigid Body Motion Estimation
Pilz, Florian; Pugeault, Nicolas; Krüger, Norbert
2009-01-01
This paper discusses the usage of dierent image features and their combination in the context of estimating the motion of rigid bodies (RBM estimation). From stereo image sequences, we extract line features at local edges (coded in so called multi-modal primitives) as well as point features (by...... evaluate and compare the results using line and point features as 3D-2D constraints and we discuss the qualitative advantages and disadvantages of both feature types for RBM estimation. We also demonstrate an improvement in robustness through the combination of these features on large data sets...
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...... state-space equations where constraints are embedded without explicit use of Lagrange multipliers. The algorithm is developed by forming a finite increment of the Hamiltonian, which defines the proper selection of increments and mean values that leads to conservation of energy and momentum. The accuracy...... and conservation properties are illustrated by examples....
王亚楠; 吕振华
2011-01-01
以商用车动力装置-悬置系统为研究对象，分别建立了动力总成-空调压缩机-悬置系统模型和动力总成-传动轴-悬置系统模型，计算了以上两种多刚体-弹性系统的振动模态，进行了动力总成的刚体振动模态频率关于耦合子系统参数的变化历程分析。计算和实验结果表明：空调压缩机通过其传动带与动力总成的耦合对动力总成的刚体振动模态有显著影响，使得动力总成-悬置系统的刚体振动模态频率提高了，不利于隔振设计目标的实现，但传动轴的影响较小。据此提出了关于动力总成-空调压缩机-悬置系统的弹性耦合刚度匹配改进建议。%The commercial vehicle powertrain dynamics models with multi--rigid--bodies and mounting systems were set up, and the rigid bodies include power plant, AC compressor and propeller shaft. The vi- brational modal characteristics of the multi--rigid--body powertrain with mounting systems were numerically analyzed, and parametrical studies were further carried out. The simulation and experimental modal analysis results show that the rigid--body vibration modes of power plant may be changed noticeably by the AC com- pressor coupled through its flexible driving belt, and therefore several modal frequencies are increased, which negatively affects the power plant vibration isolation. Fortunately, the effect of the propeller shaft inertia is negligible. On the basis of the numerical analysis, a suggestion was presented to improve the elastic coupling stiffness between power plant and AC compressor, etc.
Stability of the classical type of relative equilibria of a rigid body in the J2 problem
Wang, Yue
2013-01-01
The motion of a point mass in the J2 problem is generalized to that of a rigid body in a J2 gravity field. The linear and nonlinear stability of the classical type of relative equilibria of the rigid body, which have been obtained in our previous paper, are studied in the framework of geometric mechanics with the second-order gravitational potential. Non-canonical Hamiltonian structure of the problem, i.e., Poisson tensor, Casimir functions and equations of motion, are obtained through a Poisson reduction process by means of the symmetry of the problem. The linear system matrix at the relative equilibria is given through the multiplication of the Poisson tensor and Hessian matrix of the variational Lagrangian. Based on the characteristic equation of the linear system matrix, the conditions of linear stability of the relative equilibria are obtained. The conditions of nonlinear stability of the relative equilibria are derived with the energy-Casimir method through the projected Hessian matrix of the variationa...
Rotational kinematics of a rigid body about a fixed axis: development and analysis of an inventory
Mashood, K. K.; Singh, Vijay A.
2015-07-01
We present the development, administration, and analysis of a focused inventory on the rotational kinematics of a rigid body around a fixed axis. The inventory, which is made up of 13 multiple-choice questions, was developed on the basis of interactions with students and teachers. The systematic and iterative aspects of the construction of the inventory are illustrated. The questions, which were validated, were administered to a set of teachers (N = 25) and two groups of preuniversity students (N = 74 and 905) in India. Students, as well as teachers, exhibited difficulties in applying the operational definition of angular velocity to a rigid body. Many erroneously assumed that an angular acceleration cannot exist without a net torque. Patterns of reasoning resulting in errors were identified and categorized under four broad themes. These include inappropriate extensions of familiar procedural practices, reasoning cued by primitive elements in thought, lack of differentiation between related but distinct concepts, and indiscriminate use of equations. The inventory was also administered to introductory-level students (N = 384) at the University of Washington. Popular distractors to most items were similar to the Indian students.
Simulation of extension, radial and ulnar deviation of the wrist with a rigid body spring model.
Fischli, S; Sellens, R W; Beek, M; Pichora, D R
2009-06-19
A novel computational model of the wrist that predicts carpal bone motion was developed in order to investigate the complex kinematics of the human wrist. This rigid body spring model (RBSM) of the wrist was built using surface models of the eight carpal bones, the bases of the five metacarpal bones, and the distal parts of the ulna and radius, all obtained from computed tomography (CT) scans of a cadaver upper limb. Elastic contact conditions between the rigid bodies modeled the influence of the cartilage layers, and ligamentous structures were constructed using nonlinear, tension-only spring elements. Motion of the wrist was simulated by applying forces to the tendons of the five main wrist muscles modeled. Three wrist motions were simulated: extension, ulnar deviation and radial deviation. The model was tested and tuned by comparing the simulated displacement and orientation of the carpal bones with previously obtained CT-scans of the same cadaver arm in deviated (45 degrees ulnar and 15 degrees radial), and extended (57 degrees ) wrist positions. Simulation results for the scaphoid, lunate, capitate, hamate and triquetrum are presented here and provide credible prediction of carpal bone movement. These are the first reported results of such a model. They indicate promise that this model will assist in future wrist kinematics investigations. However, further optimization and validation are required to define and guarantee the validity of results.
The general problem of the motion of coupled rigid bodies about a fixed point
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.
Chi, Heng; Lopez-Pamies, Oscar; Paulino, Glaucio H.
2016-02-01
This paper presents a new variational principle in finite elastostatics applicable to arbitrary elastic solids that may contain constitutively rigid spatial domains (e.g., rigid inclusions). The basic idea consists in describing the constitutive rigid behavior of a given spatial domain as a set of kinematic constraints over the boundary of the domain. From a computational perspective, the proposed formulation is shown to reduce to a set of algebraic constraints that can be implemented efficiently in terms of both single-field and mixed finite elements of arbitrary order. For demonstration purposes, applications of the proposed rigid-body-constraint formulation are illustrated within the context of elastomers, reinforced with periodic and random distributions of rigid filler particles, undergoing finite deformations.
Constrained non-rigid registration for whole body image registration: method and validation
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.
Quantitative Validation of a Human Body Finite Element Model Using Rigid Body Impacts.
Vavalle, Nicholas A; Davis, Matthew L; Stitzel, Joel D; Gayzik, F Scott
2015-09-01
Validation is a critical step in finite element model (FEM) development. This study focuses on the validation of the Global Human Body Models Consortium full body average male occupant FEM in five localized loading regimes-a chest impact, a shoulder impact, a thoracoabdominal impact, an abdominal impact, and a pelvic impact. Force and deflection outputs from the model were compared to experimental traces and corridors scaled to the 50th percentile male. Predicted fractures and injury severity measures were compared to evaluate the model's injury prediction capabilities. The methods of ISO/TS 18571 were used to quantitatively assess the fit of model outputs to experimental force and deflection traces. The model produced peak chest, shoulder, thoracoabdominal, abdominal, and pelvis forces of 4.8, 3.3, 4.5, 5.1, and 13.0 kN compared to 4.3, 3.2, 4.0, 4.0, and 10.3 kN in the experiments, respectively. The model predicted rib and pelvic fractures related to Abbreviated Injury Scale scores within the ranges found experimentally all cases except the abdominal impact. ISO/TS 18571 scores for the impacts studied had a mean score of 0.73 with a range of 0.57-0.83. Well-validated FEMs are important tools used by engineers in advancing occupant safety.
On the rotational equations of motion in rigid body dynamics when using Euler parameters.
Sherif, Karim; Nachbagauer, Karin; Steiner, Wolfgang
Many models of three-dimensional rigid body dynamics employ Euler parameters as rotational coordinates. Since the four Euler parameters are not independent, one has to consider the quaternion constraint in the equations of motion. This is usually done by the Lagrange multiplier technique. In the present paper, various forms of the rotational equations of motion will be derived, and it will be shown that they can be transformed into each other. Special attention is hereby given to the value of the Lagrange multiplier and the complexity of terms representing the inertia forces. Particular attention is also paid to the rotational generalized external force vector, which is not unique when using Euler parameters as rotational coordinates.
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 a slider. The kinematic analysis of this new mechanism is studied, using nonlinear Elastica buckling beam theory, the PRBM of a large deflecting cantilever beam, the vector loop closure equations, and numerically solving nonlinear algebraic equations. A design method of the bistable mechanism...... 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 BUCKLING OF ELASTIC-PLASTIC COLUMN IMPACTED BY RIGID BODY
无
2006-01-01
The dynamic buckling of an elastic-plastic column subjected to an axial impact by a rigid body was discussed by using the energy law. The traveling process of elastic-plastic waves under impact action was analyzed by characteristics method. The equation of lateral disturbance used to analyze the problem was developed by taking into account the effect of elastic-plastic stress wave. The power series solution of this problem has been the power series approach. The buckling criterion of this problem was proposed by analyzing the characteristics of the solution. The relationship among critical velocity and impact mass, critical buckling length, hardening modulus was given by using theoretical analysis and numerical computation.
The Effect of Water Compressibility on a Rigid Body Movement in Two Phase Flow
Park, Chan Wook; Kim, Hak Sun; Lee, Sungsu
2008-11-01
The motion of a rigid body in a tube full of water-filled, initiated by a sudden release of highly pressurized air is simulated presuming the flow field as a two dimensional one. The effects of water compressibility on the body movement are investigated, comparing results based on the Fluent VOF model where water is treated as an incompressible medium with those from the presently developed VOF scheme. The present model considers compressibility of both air and water. The Fluent results show that the body moves farther and at higher speeds than the present ones. As time proceeds, the relative difference of speed and displacement between the two results drops substantially, after acoustic waves in water traverse and return the full length of the tube several times. To estimate instantaneous accelerations, however, requires implementation of the water compressibility effect as discrepancies between them do not decrease even after several pressure wave cycles. This work was supported by a research fund granted from Agency for Defense Development, South Korea.
Guan, P. B.; Tingatinga, E. A.; Longalong, R. E.; Saguid, J.
2016-09-01
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.
Kia, T.; Longuski, J. M.
1984-01-01
Analytic error bounds are presented for the solutions of approximate models for self-excited near-symmetric rigid bodies. The error bounds are developed for analytic solutions to Euler's equations of motion. The results are applied to obtain a simplified analytic solution for Eulerian rates and angles. The results of a sample application of the range and error bound expressions for the case of the Galileo spacecraft experiencing transverse torques demonstrate the use of the bounds in analyses of rigid body spin change maneuvers.
de Vaal, Jacobus B.; Hansen, Martin Otto Laver; Moan, Torgeir
2014-01-01
This paper discusses the influence of rigid body motions on rotor induced velocities and aerodynamic loads of a floating horizontal axis wind turbine. Analyses are performed with a simplified free wake vortex model specifically aimed at capturing the unsteady and non-uniform inflow typically...... experienced by a floating wind turbine. After discussing the simplified model in detail, comparisons are made to a state of the art free wake vortex code, using test cases with prescribed platform motion. It is found that the simplified model compares favourably with a more advanced numerical model......, and captures the essential influences of rigid body motions on the rotor loads, induced velocities and wake influence....
Motion of a rigid body in a tidal field an application to elliptical galaxies in clusters
Ciotti, L
1998-01-01
We investigate the motion, near the equilibrium configurations, of an initially spinless rigid body subject to an external tidal field. Two cases are considered: when the center of mass of the body is at rest at the equilibrium point of the field generated by a generic mass distribution, and when it is placed on a circular orbit subject to a spherically symmetric potential. A complete analysis of the equilibrium configurations is carried out for both cases. First, we derive the conditions for the stable equilibria, and then we analyze the frequencies of oscillations around the equilibrium positions. In view of these results, we consider the problem of alignment of galaxies in clusters. After estimating the period of the oscillations induced on the galaxies by the tidal field of the cluster, we discuss the possible effect of resonances between stellar orbits inside the galaxy and the oscillations of the galaxy as a whole; this may be a mechanism responsible for producing an intracluster stellar population.
iCub Whole-body Control through Force Regulation on Rigid Noncoplanar Contacts
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.
Reza Afghani
2016-06-01
Full Text Available Herein, we present the case of a 45-years-old woman with a foreign body (dental prosthesis ingestion lodged in the esophagus(Figure.1. The foreign body was extracted by rigid esophagoscopy after severe manipulation. In 24 hours, the patient became febrile with emphysema in the neck. laboratory data showed leukocytosis and CT scan revealed signs of esophageal perforation(Figure.2. Surgical exploration and drainage of the neck and mediastinum performed through a collar incision in the neck extended to the anterior of SCM in both sides, but we didn't perform feeding jejunostomy. We inserted one corrugated drain in every side of the neck(Figure.3.Patient was NPO for two weeks and brief total parenteral nutrition (TPN provided her calory.Finally,we succeeded to fistulized the perforation to the skin and control the mediastinitis(Figure.4.Patient regained oral feeding gradually after two weeks NPO. The follow-up esophagogram revealed the passage of the contrast to the distal esophagus with no leak and fistula.Early recognition of perforation could interrupt major operation to control catastrophic complication.
Wang, Yue; Xu, Shijie
2014-12-01
The motion of a rigid body in a uniformly rotating second degree and order gravity field is a good model for the gravitationally coupled orbit-attitude motion of a spacecraft in the close proximity of an asteroid. The relative equilibria of this full dynamics model are investigated using geometric mechanics from a global point of view. Two types of relative equilibria are found based on the equilibrium conditions: one is the Lagrangian relative equilibria, at which the circular orbit of the rigid body is in the equatorial plane of the central body; the other is the non-Lagrangian relative equilibria, at which the circular orbit is parallel to but not in the equatorial plane of central body. The existences of the Lagrangian and non-Lagrangian relative equilibria are discussed numerically with respect to the parameters of the gravity field and the rigid body. The effect of the gravitational orbit-attitude coupling is especially assessed. The existence region of the Lagrangian relative equilibria is given on the plane of the system parameters. Numerical results suggest that the negative C 20 with a small absolute value and a negative C 22 with a large absolute value favor the existence of the non-Lagrangian relative equilibria. The effect of the gravitational orbit-attitude coupling of the rigid body on the existence of the non-Lagrangian relative equilibria can be positive or negative, which depends on the harmonics C 20 and C 22, and the angular velocity of the rotation of the gravity field.
Borazjani, Iman; Ge, Liang; Sotiropoulos, Fotis
2008-08-10
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 unconditionally unstable iteration schemes result 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
Fitzpatrick, P. M.; Harmon, G. R.; Liu, J. J. F.; Cochran, J. E.
1974-01-01
The formalism for studying perturbations of a triaxial rigid body within the Hamilton-Jacobi framework is developed. The motion of a triaxial artificial earth satellite about its center of mass is studied. Variables are found which permit separation, and the Euler angles and associated conjugate momenta are obtained as functions of canonical constants and time.
Liu, Chi; Qiu, Yi; Griffin, Michael J
2017-08-16
Biodynamic responses of the seated human body are usually measured and modelled assuming a single point of vibration excitation. With vertical vibration excitation, this study investigated how forces are distributed over the body-seat interface. Vertical and fore-and-aft forces were measured beneath the ischial tuberosities, middle thighs, and front thighs of 14 subjects sitting on a rigid flat seat in three postures with different thigh contact while exposed to random vertical vibration at three magnitudes. Measures of apparent mass were calculated from transfer functions between the vertical acceleration of the seat and the vertical or fore-and-aft forces measured at the three locations, and the sum of these forces. When sitting normally or sitting with a high footrest, vertical forces at the ischial tuberosities dominated the vertical apparent mass. With feet unsupported to give increased thigh contact, vertical forces at the front thighs were dominant around 8Hz. Around 3-7Hz, fore-and-aft forces at the middle thighs dominated the fore-and-aft cross-axis apparent mass. Around 8-10Hz, fore-and-aft forces were dominant at the ischial tuberosities with feet supported but at the front thighs with feet unsupported. All apparent masses were nonlinear: as the vibration magnitude increased the resonance frequencies decreased. With feet unsupported, the nonlinearity in the apparent mass was greater at the front thighs than at the ischial tuberosities. It is concluded that when the thighs are supported on a seat it is not appropriate to assume the body has a single point of vibration excitation. Copyright © 2017 Elsevier Ltd. All rights reserved.
A navigator-based rigid body motion correction for magnetic resonance imaging
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.
Parker, Jason G; Mair, Bernard A; Gilland, David R
2009-10-01
In this article, a new method is introduced for estimating the motion of the heart due to respiration in gated cardiac SPECT using a rigid-body model with rotation parametrized by a unit quaternion. The method is based on minimizing the sum of squared errors between the reference and the deformed frames resulting from the usual optical flow constraint by using an optimized conjugate gradient routine. This method does not require any user-defined parameters or penalty terms, which simplifies its use in a clinical setting. Using a mathematical phantom, the method was quantitatively compared to the principal axis method, as well as an iterative method in which the rotation matrix was represented by Euler angles. The quaternion-based method was shown to be substantially more accurate and robust across a wide range of extramyocardial activity levels than the principal axis method. Compared with the Euler angle representation, the quaternion-based method resulted in similar accuracy but a significant reduction in computation times. Finally, the quaternion-based method was investigated using a respiratory-gated cardiac SPECT acquisition of a human subject. The motion-corrected image has increased sharpness and myocardial uniformity compared to the uncorrected image.
Periodic contact between piezoelectric materials and a rigid body with a wavy surface
Zhou, Yue-Ting; Kim, Tae-Won
2015-01-01
An exact analysis is conducted for periodic, two-dimensional (2D) contact of piezoelectric materials in contact with a rigid body with a wavy surface pressed by uniform stresses at infinity. For three cases of eigenvalue distribution, three harmonic functions automatically satisfying the periodicity conditions are carefully constructed to facilitate the derivation of the solution of the considered problem. The stresses and electric displacements are obtained as infinite series. It is found that for the full contact case, the disturbance stress and electric displacement fields remain only the first harmonic which has the slowest decay in the y-direction. The convergence behaviours of the infinite series are checked, which shows that the external loading p and different positions have a great effect on the convergence behaviours of the infinite series and 400 terms are enough to get accurate solution at each position. Numerical results are presented to justify the validity of the present derivation and show the effect of the external loading on the contact behaviours.
A Single Mooring System with Sag-Extensibility and Flexural Rigidity Applied to Offshore Platform
M.-C.Tsai; Hsien Hua Lee; Jun-Yen Lee; S.-S.Hsiao
2013-01-01
Floating platform system has been extensively used in ocean exploitation,particularly for a tension-leg platform (TLP) system in deep water.Most of the TLPs are multi-mooring systems,where multi-joints are connected to the tension-legs so that the platform is not allowed to twist freely and may subject to enormous force induced by large incident waves in the weak-direction of the structure.This study aims to exploit a single moored offshore platform system that may attract less force and can be operated with less effort.In our analysis,in addition to mechanical properties of the tether,two important properties are also taken into consideration for the single mooring tether with expanded cross sectional dimension and utilization of stronger material,namely,the sag-extensibility and the flexural rigidity.Finally,the dynamic structural behavior produced by the mechanical effects on the new system is investigated and compared with that of traditional design while the wave-structure interactions of large body are also accounted for.Our study finds that the neglect of sag-extensibility or the flexural rigidity of large,strong mooring cable may result in a conservative but not necessarily safe design.
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.
Acoustic equations for a gas stream in rigid-body rotation
Garcia-Ybarra, Pedro L.; Marin-Antuña, Jose M.
2017-02-01
The classical topic of wave propagation in a rotating gas is revisited by deducing scalar wave equations for propagation of acoustic and rotational waves through a plug flow of gas in rigid-body rotation with arbitrary intensities of the radial stratification. In the light of these novel equations, wave propagation is analyzed in two different base gas states: isothermal and homentropic. In both cases, previous findings are recovered that assess the validity of the equations and new results are established. In the non-homentropic but isothermal case, the set of governing equations is reduced to two coupled scalar wave equations with space dependent coefficients for the disturbances of density and pressure. Travelling wave solutions with variable amplitude have been obtained in the limit of weak stratification both for inertial waves as for acoustic waves which, in general, propagate on different frequency bands that overlap in the small wavenumber region. Furthermore, the entropy stratification in the base state is stable and compels the propagation of internal waves, leading to hybrid acoustic-inertial-vortical modes. In the homentropic case, the adiabatic relation between pressure and density disturbances allows to reduce further the governing equations to a single fourth-order scalar wave equation. In this case, the sound propagation velocity depends on the distance to the rotation axis and solutions are found by multiple-scale analyses in the form of waves with slowly varying amplitude and wavenumber. The corresponding eikonal equation shows that acoustic rays are refracted towards the rotation axis, propagating and spinning along and around it. In that way, the swirling gas behaves as an axial waveguide trapping inside any acoustic ray propagating in the vortex with large enough azimuthal and/or vertical wavenumber component.
Xiaojia Xiang
2015-01-01
Full Text Available The collocation method is extended to the special orthogonal group SO(3 with application to optimal attitude control (OAC of a rigid body. A left-invariant rigid-body attitude dynamical model on SO(3 is established. For the left invariance of the attitude configuration equation in body-fixed frame, a geometrically exact numerical method on SO(3, referred to as the geometric collocation method, is proposed by deriving the equivalent Lie algebra equation in so(3 of the left-invariant configuration equation. When compared with the general Gauss pseudo-spectral method, the explicit RKMK, and Lie group variational integrator having the same order and stepsize in numerical tests for evolving a free-floating rigid-body attitude dynamics, the proposed method is higher in accuracy, time performance, and structural conservativeness. In addition, the numerical method is applied to solve a constrained OAC problem on SO(3. The optimal control problem is transcribed into a nonlinear programming problem, in which the equivalent Lie algebra equation is being considered as the defect constraints instead of the configuration equation. The transcription method is coordinate-free and does not need chart switching or special handling of singularities. More importantly, with the numerical advantage of the geometric collocation method, the proposed OAC method may generate satisfying convergence rate.
Reaungamornrat, S.; Wang, A. S.; Uneri, A.; Otake, Y.; Zhao, Z.; Khanna, A. J.; Siewerdsen, J. H.
2014-03-01
Purpose: Deformable registration of preoperative and intraoperative images facilitates accurate localization of target and critical anatomy in image-guided spine surgery. However, conventional deformable registration fails to preserve the morphology of rigid bone anatomy and can impart distortions that confound high-precision intervention. We propose a constrained registration method that preserves rigid morphology while allowing deformation of surrounding soft tissues. Method: The registration method aligns preoperative 3D CT to intraoperative cone-beam CT (CBCT) using free-form deformation (FFD) with penalties on rigid body motion imposed according to a simple intensity threshold. The penalties enforced 3 properties of a rigid transformation - namely, constraints on affinity (AC), orthogonality (OC), and properness (PC). The method also incorporated an injectivity constraint (IC) to preserve topology. Physical experiments (involving phantoms, an ovine spine, and a human cadaver) as well as digital simulations were performed to evaluate the sensitivity to registration parameters, preservation of rigid body morphology, and overall registration accuracy of constrained FFD in comparison to conventional unconstrained FFD (denoted uFFD) and Demons registration. Result: FFD with orthogonality and injectivity constraints (denoted FFD+OC+IC) demonstrated improved performance compared to uFFD and Demons. Affinity and properness constraints offered little or no additional improvement. The FFD+OC+IC method preserved rigid body morphology at near-ideal values of zero dilatation (D = 0.05, compared to 0.39 and 0.56 for uFFD and Demons, respectively) and shear (S = 0.08, compared to 0.36 and 0.44 for uFFD and Demons, respectively). Target registration error (TRE) was similarly improved for FFD+OC+IC (0.7 mm), compared to 1.4 and 1.8 mm for uFFD and Demons. Results were validated in human cadaver studies using CT and CBCT images, with FFD+OC+IC providing excellent preservation
Slaughter, Chris; Bagwell, Justin; Checkles, Costa; Sentis, Luis; Vishwanath, Sriram
2011-01-01
Motivated by an emerging theory of robust low-rank matrix representation, in this paper, we introduce a novel solution for online rigid-body motion registration. The goal is to develop algorithmic techniques that enable a robust, real-time motion registration solution suitable for low-cost, portable 3-D camera devices. Assuming 3-D image features are tracked via a standard tracker, the algorithm first utilizes Robust PCA to initialize a low-rank shape representation of the rigid body. Robust PCA finds the global optimal solution of the initialization, while its complexity is comparable to singular value decomposition. In the online update stage, we propose a more efficient algorithm for sparse subspace projection to sequentially project new feature observations onto the shape subspace. The lightweight update stage guarantees the real-time performance of the solution while maintaining good registration even when the image sequence is contaminated by noise, gross data corruption, outlying features, and missing ...
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.
José Fermi Guerrero-Castellanos
2015-08-01
Full Text Available The present paper deals with the development of bounded feedback control laws mimicking the strategy adopted by flapping flyers to stabilize the attitude of systems falling within the framework of rigid bodies. Flapping flyers are able to orient their trajectory without any knowledge of their current attitude and without any attitude computation. They rely on the measurements of some sensitive organs: halteres, leg sensilla and magnetic sense, which give information about their angular velocity and the orientation of gravity and magnetic field vectors. Therefore, the proposed feedback laws are computed using direct inertial sensors measurements, that is vector observations with/without angular velocity measurements. Hence, the attitude is not explicitly required. This biomimetic approach is very simple, requires little computational power and is suitable for embedded applications on small control units. The boundedness of the control signal is taken into consideration through the design of the control laws by saturation of the actuators’ input. The asymptotic stability of the closed loop system is proven by Lyapunov analysis. Real-time experiments are carried out on a quadrotor using MEMS inertial sensors in order to emphasize the efficiency of this biomimetic strategy by showing the convergence of the body’s states in hovering mode, as well as the robustness with respect to external disturbances.
Lācis, Uǧis; Bagheri, Shervin
2015-01-01
Dispersion of low-density rigid particles with complex geometries is ubiquitous in both natural and industrial environments. We show that while explicit methods for coupling the incompressible Navier-Stokes equations and Newton's equations of motion are often sufficient to solve for the motion of cylindrical particles with low density ratios, for more complex particles - such as a body with a protrusion - they become unstable. We present an implicit formulation of the coupling between rigid body dynamics and fluid dynamics within the framework of the immersed boundary projection method. Similar to previous work on this method, the resulting matrix equation in the present approach is solved using a block-LU decomposition. Each step of the block-LU decomposition is modified to incorporate the rigid body dynamics. We show that our method achieves second-order accuracy in space and first-order in time (third-order for practical settings), only with a small additional computational cost to the original method. Our...
Geometric nonlinear formulation for thermal-rigid-flexible coupling system
Fan, Wei; Liu, Jin-Yang
2013-10-01
This paper develops geometric nonlinear hybrid formulation for flexible multibody system with large deformation considering thermal effect. Different from the conventional formulation, the heat flux is the function of the rotational angle and the elastic deformation, therefore, the coupling among the temperature, the large overall motion and the elastic deformation should be taken into account. Firstly, based on nonlinear strain-displacement relationship, variational dynamic equations and heat conduction equations for a flexible beam are derived by using virtual work approach, and then, Lagrange dynamics equations and heat conduction equations of the first kind of the flexible multibody system are obtained by leading into the vectors of Lagrange multiplier associated with kinematic and temperature constraint equations. This formulation is used to simulate the thermal included hub-beam system. Comparison of the response between the coupled system and the uncoupled system has revealed the thermal chattering phenomenon. Then, the key parameters for stability, including the moment of inertia of the central body, the incident angle, the damping ratio and the response time ratio, are analyzed. This formulation is also used to simulate a three-link system applied with heat flux. Comparison of the results obtained by the proposed formulation with those obtained by the approximate nonlinear model and the linear model shows the significance of considering all the nonlinear terms in the strain in case of large deformation. At last, applicability of the approximate nonlinear model and the linear model are clarified in detail.
Dynamic Study on Rigid and Flexible Coupling System for Terminally Sensitive Submunition
GUO Rui; LIU Rong-zhong
2007-01-01
A kinetic model of the rigid and flexible coupling system for terminally sensitive submunition is set up with Kane's method. The parachute is considered as a flexible body, the flexible displacement is expressed with modal spread method, the position of the parachute is expressed with a hybrid coordinate method, and the kinematics of the terminally sensitive submunition is analyzed. Ten generalized coordinates relative to the attitude of the terminally sensitive submunition are chosen, and the correlative generalized active forces, the generalized inertial forces, the generalized internal forces are calculated in turn. On the base of the Kane's method, the ten degrees of freedom dynamic equations for the coupled terminally sensitive submunition are finally set up. This model can be used to expediently simulate and analyze accurately the exterior ballistic trajectory of terminally sensitive submunition, and provide the overall design of the terminally sensitive submunition with some helpful references.
ON NATURAL CHARACTERISTICS OF A RIGID MOTOR FLEXIBLE BASE DYNAMIC COUPLED SYSTEM
Sun Yuguo; Song Kongjie
2004-01-01
In shipping and aircraft engineering,the vibrating motor or instrumentation is usually mounted on a non-rigid base.To apply isolation design effectively,it is necessary to investigate the nature vibration characteristics of the rigid motor,flexible base coupled system.A universal dynamic express for the coupled system is derived.A PC-based measurement solution is presented.And the system's dynamic behavior is then investigated numerically and experimentally.The results show that a strong interaction will exist between the motor's rigid mode and the flexible base's mode when the motor's mounting frequency is close to the flexible base's first natural frequency.The first natural frequency of the coupled system is generally lower than the motor's rigid mode frequency.At high frequency,the flexible base's modes are the dominant modes of the coupled system.
Pickl, Kristina; Iglberger, Klaus; Pande, Jayant; Mecke, Klaus; Smith, Ana-Suncana; Rüde, Ulrich
2011-01-01
We simulate the self-propulsion of devices in a fluid in the regime of low Reynolds numbers. Each device consists of three bodies (spheres or capsules) connected with two damped harmonic springs. Sinusoidal driving forces compress the springs which are resolved within a rigid body physics engine. The latter is consistently coupled to a 3D lattice Boltzmann framework for the fluid dynamics. In simulations of three-sphere devices, we find that the propulsion velocity agrees well with theoretical predictions. In simulations where some or all spheres are replaced by capsules, we find that the asymmetry of the design strongly affects the propelling efficiency.
Geometrical analysis of registration errors in point-based rigid-body registration using invariants.
Shamir, Reuben R; Joskowicz, Leo
2011-02-01
Point-based rigid registration is the method of choice for aligning medical datasets in diagnostic and image-guided surgery systems. The most clinically relevant localization error measure is the Target Registration Error (TRE), which is the distance between the image-defined target and the corresponding target defined on another image or on the physical anatomy after registration. The TRE directly depends on the Fiducial Localization Error (FLE), which is the discrepancy between the selected and the actual (unknown) fiducial locations. Since the actual locations of targets usually cannot be measured after registration, the TRE is often estimated by the Fiducial Registration Error (FRE), which is the RMS distance between the fiducials in both datasets after registration, or with Fitzpatrick's TRE (FTRE) formula. However, low FRE-TRE and FTRE-TRE correlations have been reported in clinical practice and in theoretical studies. In this article, we show that for realistic FLE classes, the TRE and the FRE are uncorrelated, regardless of the target location and the number of fiducials and their configuration, and regardless of the FLE magnitude distribution. We use a geometrical approach and classical invariant theory to model the FLE and derive its relation to the TRE and FRE values. We show that, for these FLE classes, the FTRE and TRE are also uncorrelated. Finally, we show with simulations on clinical data that the FRE-TRE correlation is low also in the neighborhood of the FLE-FRE invariant classes. Consequently, and contrary to common practice, the FRE and FTRE may not always be used as surrogates for the TRE.
何丹青; 李江雄
2011-01-01
In order to solve the problems of logic controlling in large components posture alignment system, such as the reliability of drive circuit, the stability of hydraulic and pneumatic, the error handling of the system, the logic controller based on field programmable gate array (FPGA) was designed and realized. The configuration design of the controller's hardware including processor module, input-and-output module, power module was focused on. Meanwhile, logical control programming was also realized using VHSIC hardware description language (VHDL). The application result shows that the logic controller is reliable, easy to maintain, suitable for digital electronic control system of complex logical relationship.%为解决大部件刚体调姿系统中各数控设备驱动电路的可靠性、各辅助工装设备的稳定性、系统的容差保护与报错等问题,设计并开发了基于现场可编程门阵列(FPGA)的逻辑控制器.重点从处理器模块、I/0模块、电源模块等方面对逻辑控制器进行了硬件结构设计,同时给出了基于硬件描述语言(VHDL)的软件实现方法.应用实践结果表明,该逻辑控制器可靠性高,维护方便,有很强的可扩展性,适用于逻辑关系复杂的数字电控系统.
马龙; 王仕成; 闵海波; 郭扬
2016-01-01
本文研究了通信时延和联合连通切换拓扑条件下的多刚体系统分布式姿态一致性控制问题。通过构建有效的辅助向量并选择合适的Lyapunov-Krasovskii函数，分别对恒定通信时延和时变通信时延两种不同情况下的控制器进行了设计。数值仿真结果表明，本文提出的方法能够有效地解决这类分布式姿态一致性控制问题。%In this paper, we study the distributed attitude consensus problem for multiple networked rigid body systems in the case of communication time-delays together with jointly connected switching topologies. By constructing useful aux-iliary vectors and choosing proper common Lyapunov-Krasovskii functions, we design two control laws for two different cases respectively, i.e., the case with constant communication time-delays, and the case with time varying communication time-delays. Numerical simulation shows that the proposed algorithms are effective to this kind of distributed attitude consensus problem.
Romano, Marcello
2012-01-01
New exact analytic solutions are introduced for the rotational motion of a rigid body having two equal principal moments of inertia and subjected to an external torque which is constant in magnitude. In particular, the solutions are obtained for the following cases: (1) Torque parallel to the symmetry axis and arbitrary initial angular velocity; (2) Torque perpendicular to the symmetry axis and such that the torque is rotating at a constant rate about the symmetry axis, and arbitrary initial angular velocity; (3) Torque and initial angular velocity perpendicular to the symmetry axis, with the torque being fixed with the body. In addition to the solutions for these three forced cases, an original solution is introduced for the case of torque-free motion, which is simpler than the classical solution as regards its derivation and uses the rotation matrix in order to describe the body orientation. This paper builds upon the recently discovered exact solution for the motion of a rigid body with a spherical ellipso...
Xiao, Di; Zahra, David; Bourgeat, Pierrick; Berghofer, Paula; Acosta Tamayo, Oscar; Wimberley, Catriona; Gregoire, Marie C.; Salvado, Olivier
2011-03-01
Small animal image registration is challenging because of its joint structure, and posture and position difference in each acquisition without a standard scan protocol. In this paper, we face the issue of mouse whole-body skeleton registration from CT images. A novel method is developed for analyzing mouse hind-limb and fore-limb postures based on geodesic path descriptor and then registering the major skeletons and fore limb skeletons initially by thin-plate spline (TPS) transform based on the obtained geodesic paths and their enhanced correspondence fields. A target landmark correction method is proposed for improving the registration accuracy of the improved 3D shape context non-rigid registration method we previously proposed. A novel non-rigid registration framework, combining the skeleton posture analysis, geodesic path based initial alignment and 3D shape context model, is proposed for mouse whole-body skeleton registration. The performance of the proposed methods and framework was tested on 12 pairs of mouse whole-body skeletons. The experimental results demonstrated the flexibility, stability and accuracy of the proposed framework for automatic mouse whole body skeleton registration.
Asymmetric steady streaming as a mechanism for acoustic propulsion of rigid bodies
Nadal, Francois
2014-01-01
Recent experiments showed that standing acoustic waves could be exploited to induce self-propulsion of rigid metallic particles in the direction perpendicular to the acoustic wave. We propose in this paper a physical mechanism for these observations based on the interplay between inertial forces in the fluid and the geometrical asymmetry of the particle shape. We consider an axisymmetric rigid near-sphere oscillating in a quiescent fluid along a direction perpendicular to its symmetry axis. The kinematics of oscillations can be either prescribed or can result dynamically from the presence of an external oscillating velocity field. Steady streaming in the fluid, the inertial rectification of the time-periodic oscillating flow, generates steady stresses on the particle which, in general, do not average to zero, resulting in a finite propulsion speed along the axis of the symmetry of the particle and perpendicular to the oscillation direction. Our derivation of the propulsion speed is obtained at leading order i...
Flutter Analysis of RX-420 Balistic Rocket Fin Involving Rigid Body Modes of Rocket Structures
Novi Andria
2013-01-01
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 ...
Dobson, G. J.
1998-07-01
Newton's treatment of the precession of the equinoxes in his Philosophiae Naturalis Principia Mathematica was recognised by d'Alembert in 1749 as being faulty, despite the very close agreement between Newton's calculated value for the rate of precesion and the observed value. Here, the author presents an analysis of Newton's geometrical methods applied in his treatment of precession and claims that it was basically flawed because Newton lacked knowledge of the principles of rigid body dynamics and, in particular, was unaware of the idea of angular momentum.
Rivasseau, Vincent [Paris-Sud Univ. Orsay (France). Laboratoire de Physique Theorique; Seiringer, Robert [McGill Univ., Montreal, QC (Canada). Dept. of Mathematics and Statistics; Solovej, Jan Philip [Copenhagen Univ. (Denmark). Dept. of Mathematics; Spencer, Thomas [Institute for Advanced Study, Princeton, NJ (United States). School of Mathematics
2012-11-01
The book is based on the lectures given at the CIME school ''Quantum many body systems'' held in the summer of 2010. It provides a tutorial introduction to recent advances in the mathematics of interacting systems, written by four leading experts in the field: V. Rivasseau illustrates the applications of constructive Quantum Field Theory to 2D interacting electrons and their relation to quantum gravity; R. Seiringer describes a proof of Bose-Einstein condensation in the Gross-Pitaevski limit and explains the effects of rotating traps and the emergence of lattices of quantized vortices; J.-P. Solovej gives an introduction to the theory of quantum Coulomb systems and to the functional analytic methods used to prove their thermodynamic stability; finally, T. Spencer explains the supersymmetric approach to Anderson localization and its relation to the theory of random matrices. All the lectures are characterized by their mathematical rigor combined with physical insights.
Efficient 3D rigid-body registration of micro-MR and micro-CT trabecular bone images
Rajapakse, C. S.; Magland, J.; Wehrli, S. L.; Zhang, X. H.; Liu, X. S.; Guo, X. E.; Wehrli, F. W.
2008-03-01
Registration of 3D images acquired from different imaging modalities such as micro-magnetic resonance imaging (ÂµMRI) and micro-computed tomography (ÂµCT) are of interest in a number of medical imaging applications. Most general-purpose multimodality registration algorithms tend to be computationally intensive and do not take advantage of the shape of the imaging volume. Multimodality trabecular bone (TB) images of cylindrical cores, for example, tend to be misaligned along and around the axial direction more than that around other directions. Additionally, TB images acquired by ÂµMRI can differ substantially from those acquired by ÂµCT due to apparent trabecular thickening from magnetic susceptibility boundary effects and non-linear intensity correspondence. However, they share very similar contrast characteristics since the images essentially represent a binary tomographic system. The directional misalignment and the fundamental similarities of the two types of images can be exploited to achieve fast 3D registration. Here we present an intensity cross-correlation based 3D registration algorithm for registering 3D specimen images from cylindrical cores of cadaveric TB acquired by ÂµMRI and ÂµCT in the context of finite-element modeling to assess the bone's mechanical constants. The algorithm achieves the desired registration by first coarsely approximating the three translational and three rotational parameters required to align the ÂµMR images to the ÂµCT scan coordinate frame and fine-tuning the parameters in the neighborhood of the approximate solution. The algorithm described here is suitable for 3D rigid-body image registration applications where through-plane rotations are known to be relatively small. The accuracy of the technique is constrained by the image resolution and in-plane angular increments used.
Separation of Target Rigid Body and Micro-Doppler Effects in ISAR/SAR Imaging
2006-09-01
returned from the surface of the vehicle. From micro-Doppler modulations in the engine vibration signal, one can distinguish whether it is a gas turbine...v~hicule peuvent ýtre d~tect~es par des signaux radars r~fl~chis d la surface du v~hicule. Ak partir de mo- dulations micro-Doppler du signal de...fenetre large uine forte concentration du signal correspondant aux parties du corps rigide. La deuxi~me technique se fonide sur le traitement des
Asymmetric steady streaming as a mechanism for acoustic propulsion of rigid bodies
Nadal, François; Lauga, Eric
2014-08-01
Recent experiments showed that standing acoustic waves could be exploited to induce self-propulsion of rigid metallic particles in the direction perpendicular to the acoustic wave. We propose in this paper a physical mechanism for these observations based on the interplay between inertial forces in the fluid and the geometrical asymmetry of the particle shape. We consider an axisymmetric rigid near-sphere oscillating in a quiescent fluid along a direction perpendicular to its symmetry axis. The kinematics of oscillations can be either prescribed or can result dynamically from the presence of an external oscillating velocity field. Steady streaming in the fluid, the inertial rectification of the time-periodic oscillating flow, generates steady stresses on the particle which, in general, do not average to zero, resulting in a finite propulsion speed along the axis of the symmetry of the particle and perpendicular to the oscillation direction. Our derivation of the propulsion speed is obtained at leading order in the Reynolds number and the deviation of the shape from that of a sphere. The results of our model are consistent with the experimental measurements, and more generally explains how time periodic forcing from an acoustic field can be harnessed to generate autonomous motion.
Bhalla, Amneet Pal Singh; Bale, Rahul; Griffith, Boyce E.; Patankar, Neelesh A.
2013-10-01
Many problems of interest in biological fluid mechanics involve interactions between fluids and solids that require the coupled solution of momentum equations for both the fluid and the solid. In this work, we develop a mathematical framework and an adaptive numerical method for such fluid-structure interaction (FSI) problems in which the structure may be rigid, deforming, or elastic. We employ an immersed boundary (IB) formulation of the problem that permits us to avoid body conforming discretizations and to use fast Cartesian grid solvers. Rigidity and deformational kinematic constraints are imposed using a formulation based on distributed Lagrange multipliers, and a conventional IB method is used to describe the elasticity of the immersed body. We use Cartesian grid adaptive mesh refinement (AMR) to discretize the equations of motion and thereby obtain a solution methodology that efficiently captures thin boundary layers at fluid-solid interfaces as well as flow structures shed from such interfaces. This adaptive methodology is validated for several benchmark problems in two and three spatial dimensions. In addition, we use this scheme to simulate free swimming, including the maneuvering of a two-dimensional model eel and a three-dimensional model of the weakly electric black ghost knifefish.
Andreani, Roberto; Friedlander, Ana; Mello, Margarida P.; Santos, Sandra A.
2005-06-01
In this work we show that the mixed nonlinear complementarity problem may be formulated as an equivalent nonlinear bound-constrained optimization problem that preserves the smoothness of the original data. One may thus take advantage of existing codes for bound-constrained optimization. This approach is implemented and tested by means of an extensive set of numerical experiments, showing promising results. The mixed nonlinear complementarity problems considered in the tests arise from the discretization of a motion planning problem concerning a set of rigid 3D bodies in contact in the presence of friction. We solve the complementarity problem associated with a single time frame, thus calculating the contact forces and accelerations of the bodies involved.
An integral equation formulation for rigid bodies in Stokes flow in three dimensions
Corona, Eduardo; Greengard, Leslie; Rachh, Manas; Veerapaneni, Shravan
2017-03-01
We present a new derivation of a boundary integral equation (BIE) for simulating the three-dimensional dynamics of arbitrarily-shaped rigid particles of genus zero immersed in a Stokes fluid, on which are prescribed forces and torques. Our method is based on a single-layer representation and leads to a simple second-kind integral equation. It avoids the use of auxiliary sources within each particle that play a role in some classical formulations. We use a spectrally accurate quadrature scheme to evaluate the corresponding layer potentials, so that only a small number of spatial discretization points per particle are required. The resulting discrete sums are computed in O (n) time, where n denotes the number of particles, using the fast multipole method (FMM). The particle positions and orientations are updated by a high-order time-stepping scheme. We illustrate the accuracy, conditioning and scaling of our solvers with several numerical examples.
李典灿
2013-01-01
To study boom system harmonic vibration of the concrete pump truck caused by the periodical load and frictional force in the delivery pipe, a virtual prototype model of rigid-flexible coupling body of actual pump truck boom system was created to simulate harmonic vibration analysis. First, the file of modal neutral file is created in the software Ansys; then, the file is imported into the software ADAMS. The simulation result shows that one order modal frequency of boom system is 0.71 Hz. In X direction and Y direction, displacement amplitude of frequency response is the maximal. Two order modal frequency of boom system is 0. 89 Hz, and vibration displacement and acceleration in Z direction of two order modal frequency is maximal.%主要研究了混凝土泵车输送管在周期性载荷作用下造成泵车臂架系统的谐响应振动问题.采用刚-柔耦合模型理论对某型号的泵车臂架系统创建虚拟样机模型,首先在Ansys中生成模态中性文件,然后将该文件导入ADAMS软件生成刚-柔耦合虚拟模型并进行谐响应动力学仿真分析.仿真分析结果表明臂架系统的1阶模态振动频率为0.71Hz,在X和Y方向上,1阶模态的位移频率响应幅值最大；臂架系统的2阶模态振动频率为0.89 Hz.臂架系统的2阶模态Z方向的振动位移和加速度同时达到最大.
Precession of a Freely Rotating Rigid Body Inelastic Relaxation in the Vicinity of Poles
Efroimsky, M
1999-01-01
When a solid body is freely rotating at an angular velocity ${\\bf \\Omega}$, the ellipsoid of constant angular momentum, in the space $\\Omega_1, \\Omega_2, \\Omega_3$, has poles corresponding to spinning about the minimal-inertia and maximal-inertia axes. The first pole may be considered stable if we neglect the inner dissipation, but becomes unstable if the dissipation is taken into account. This happens because the bodies dissipate energy when they rotate about any axis different from that of the maximal inertia. In the case of an oblate symmetrical body, the angular velocity describes a circular cone about the vector of (conserved) angular momentum. In the course of relaxation, the angle of this cone decreases, so that both the angular velocity and the maximal-inertia axis of the body align along the angular momentum. The generic case of an asymmetric body is far more involved. Even the symmetrical prolate body exhibits a sophisticated behaviour, because an infinitesimally small deviation of the body's shape ...
Disturbance Observers for Rigid Mechanical Systems: Equivalence, Stability, and Design
Schrijver, Erwin; Dijk, van Johannes
2002-01-01
Mechanical (direct-drive) systems designed for high-speed and high-accuracy applications require control systems that eliminate the influence of disturbances like cogging forces and friction. One way to achieve additional disturbance rejection is to extend the usual (P(I)D) controller with a disturb
Flutter Analysis of RX-420 Balistic Rocket Fin Involving Rigid Body Modes of Rocket Structures
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.
Glukharev, K. K.; Morozova, N. I.; Potemkin, B. A.; Solovyev, V. S.; Frolov, K. V.
1973-01-01
A mathematical model of the human body was constructed, under the action of harmonic vibrations, in the 2.5-7 Hz frequency range. In this frequency range, the model of the human body as a vibrating system, with concentrated parameters is considered. Vertical movements of the seat and vertical components of vibrations of the human body are investigated.
Chelnokov, Yu. N.
2013-01-01
The problem of reducing the body-attached coordinate system to the reference (programmed) coordinate system moving relative to the fixed coordinate system with a given instantaneous velocity screw along a given trajectory is considered in the kinematic statement. The biquaternion kinematic equations of motion of a rigid body in normalized and unnormalized finite displacement biquaternions are used as the mathematical model of motion, and the dual orthogonal projections of the instantaneous velocity screw of the body motion onto the body coordinate axes are used as the control. Various types of correction (stabilization), which are biquaternion analogs of position and integral corrections, are proposed. It is shown that the linear (obtained without linearization) and stationary biquaternion error equations that are invariant under any chosen programmed motion of the reference coordinate system can be obtained for the proposed types of correction and the use of unnormalized finite displacement biquaternions and four-dimensional dual controls allows one to construct globally regular control laws. The general solution of the error equation is constructed, and conditions for asymptotic stability of the programmed motion are obtained. The constructed theory of kinematic control of motion is used to solve inverse problems of robot-manipulator kinematics. The control problem under study is a generalization of the kinematic problem [1, 2] of reducing the body-attached coordinate system to the reference coordinate system rotating at a given (programmed) absolute angular velocity, and the presentedmethod for solving inverse problems of robotmanipulator kinematics is a development of the method proposed in [3-5].
Pandurangan, Arun Prasad; Topf, Maya
2012-09-15
To better analyze low-resolution cryo electron microscopy maps of macromolecular assemblies, component atomic structures frequently have to be flexibly fitted into them. Reaching an optimal fit and preventing the fitting process from getting trapped in local minima can be significantly improved by identifying appropriate rigid bodies (RBs) in the fitted component. Here we present the RIBFIND server, a tool for identifying RBs in protein structures. The server identifies RBs in proteins by calculating spatial proximity between their secondary structural elements. The RIBFIND web server and its standalone program are available at http://ribfind.ismb.lon.ac.uk. a.pandurangan@mail.cryst.bbk.ac.uk Supplementary data are available at Bioinformatics online.
Hagelueken, Gregor; Abdullin, Dinar; Ward, Richard; Schiemann, Olav
2013-10-01
Nanometer distance measurements based on electron paramagnetic resonance methods in combination with site-directed spin labelling are powerful tools for the structural analysis of macromolecules. The software package mtsslSuite provides scientists with a set of tools for the translation of experimental distance distributions into structural information. The package is based on the previously published mtsslWizard software for in silico spin labelling. The mtsslSuite includes a new version of MtsslWizard that has improved performance and now includes additional types of spin labels. Moreover, it contains applications for the trilateration of paramagnetic centres in biomolecules and for rigid-body docking of subdomains of macromolecular complexes. The mtsslSuite is tested on a number of challenging test cases and its strengths and weaknesses are evaluated.
A boundary integral approach to analyze the viscous scattering of a pressure wave by a rigid body
Homentcovschi, Dorel; Miles, Ronald N.
2008-01-01
The paper provides boundary integral equations for solving the problem of viscous scattering of a pressure wave by a rigid body. By using this mathematical tool uniqueness and existence theorems are proved. Since the boundary conditions are written in terms of velocities, vector boundary integral equations are obtained for solving the problem. The paper introduces single-layer viscous potentials and also a stress tensor. Correspondingly, a viscous double-layer potential is defined. The properties of all these potentials are investigated. By representing the scattered field as a combination of a single-layer viscous potential and a double-layer viscous potential the problem is reduced to the solution of a singular vectorial integral equation of Fredholm type of the second kind. In the case where the stress vector on the boundary is the main quantity of interest the corresponding boundary singular integral equation is proved to have a unique solution. PMID:18709178
Homentcovschi, Dorel
2008-01-01
This paper gives a regular vector boundary integral equation for solving the problem of viscous scattering of a pressure wave by a rigid body. Firstly, single-layer viscous potentials and a generalized stress tensor are introduced. Correspondingly, generalized viscous double-layer potentials are defined. By representing the scattered field as a combination of a single-layer viscous potential and a generalized viscous double-layer potential, the problem is reduced to the solution of a vectorial Fredholm integral equation of the second kind. Generally, the vector integral equation is singular. However, there is a particular stress tensor, called pseudostress, which yields a regular integral equation. In this case, the Fredholm alternative applies and permits a direct proof of the existence and uniqueness of the solution. The results presented here provide the foundation for a numerical solution procedure. PMID:19865494
Knowledge-in-action: a study on the integration of forces and energy in a rigid body
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.
Chen, Zhenxian; Zhang, Xuan; Ardestani, Marzieh M; Wang, Ling; Liu, Yaxiong; Lian, Qin; He, Jiankang; Li, Dichen; Jin, Zhongmin
2014-06-01
Lower extremity musculoskeletal computational models play an important role in predicting joint forces and muscle activation simultaneously and are valuable for investigating functional outcomes of the implants. However, current computational musculoskeletal models of total knee replacement rarely consider the bearing surface geometry of the implant. Therefore, these models lack detailed information about the contact loading and joint motion which are important factors for evaluating clinical performances. This study extended a rigid multi-body dynamics simulation of a lower extremity musculoskeletal model to incorporate an artificial knee joint, based upon a novel force-dependent kinematics method, and to characterize the in vivo joint contact mechanics during gait. The developed musculoskeletal total knee replacement model integrated the rigid skeleton multi-body dynamics and the flexible contact mechanics of the tibiofemoral and patellofemoral joints. The predicted contact forces and muscle activations are compared against those in vivo measurements obtained from a single patient with good agreements for the medial contact force (root-mean-square error = 215 N, ρ = 0.96) and lateral contact force (root-mean-square error = 179 N, ρ = 0.75). Moreover, the developed model also predicted the motion of the tibiofemoral joint in all degrees of freedom. This new model provides an important step toward the development of a realistic dynamic musculoskeletal total knee replacement model to predict in vivo knee joint motion and loading simultaneously. This could offer a better opportunity to establish a robust virtual modeling platform for future pre-clinical assessment of knee prosthesis designs, surgical procedures and post-operation rehabilitation.
On Uniform Motion of a Periodic System of Absolutely Rigid Stamps, in the Hollow Cylinder
Amirjanyan H. A.
2011-03-01
Full Text Available Axissymetric stress state of the infinite hollow cylinder when on the inner surface of the cylinder acts a periodic system of uniformly moving circular stamps and the outer surface is free of loads or rigidly clamped is considered The behavior of the contact stresses, acting under the stamp, in dependence on the physical and geometrical parameters of the cylinder is studied.
Approximate analysis of rigid plate loading on elastic multi-layered systems
Maina, JW
2008-07-01
Full Text Available Games software is well known for its capability to compute responses for uniformly distributed load acting on the surface of a multi-layered linear elastic system. In this study a method was developed to approximate rigid plate loading to be used...
The multivariate analysis of indications of rigid bronchoscopy in suspected foreign body aspiration.
Divarci, E; Toker, B; Dokumcu, Z; Musayev, A; Ozcan, C; Erdener, A
2017-09-01
Foreign body aspiration (FBA) could be a serious life-threatening condition in children. Patients usually underwent bronchoscopy with suspicious of FBA alone. In this study, we aimed to determine which patients need to go to bronchoscopy based on pre-operative findings. Retrospective analysis of patients underwent bronchoscopy between 1999 and 2015 was performed. Clinical symptoms, witnessed aspiration event (WAE), physical examination findings (PEFs) and radiological findings (RFs) were analyzed by multivariate analysis to evaluate the indications of bronchoscopy. 431 patients (266M, 165F) underwent bronchoscopy with a median age of 2 years (7 months-16 years). A foreign body was detected in 68% of the patients. Univariate analysis demonstrated that wheeze was the sole distinctive clinical symptom for detection of FBA (pMultivariate analysis was performed with considering the association between them. The rate of positive bronchoscopy was 91.3% in patients with positive WAE, PEFs and RFs together(84/92). In patients with a positive WAE alone who had not got PEFs and RFs, the rate of positive bronchoscopy was 34.2% (25/73). A foreign body was detected in 84% of the patients who had not got a WAE but positive PEFs and RFs together(21/25). Bronchial laceration was occurred in one patient during bronchoscopy. Pneumothorax was not seen in any of the other patients. The rate of mortality was 0.4% in the overall group (2 patients). The indications of bronchoscopy in suspected FBA are usually based on clinical suspicious. The definition of " suspicous" could be a WAE or positive PEFs and RFs. The association of these factors increase the rate of positive bronchoscopies. In the light of our study, the classical indication for suspected FBA is still valid as "suspicious requires bronchoscopy". Copyright © 2017 Elsevier B.V. All rights reserved.
Composite Sliding Mode Control for a Free-Floating Space Rigid-Flexible Coupling Manipulator System
Wang Congqing; Wu Pengfei; Zhou Xin; Pei Xiwu
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...
Euler-Poincaré Reduction of Externally Forced Rigid Body Motion
Wisniewski, Rafal; Kulczycki, P.
2004-01-01
. 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...
Konosevich, B. I.
2014-07-01
The error of the Wentzel-Kramers-Brillouin solution of the equations describing the angular motion of the axis of symmetry of rotation of a rigid body (projectile) is estimated. It is established that order of this estimate does not depend on whether the low-frequency oscillations of the axis of symmetry are damped or not
屈稳太; 应蓓华; 董凤莲
2014-01-01
Calculation of large rigid body pose and its high precision control was studied herein .Ai‐ming at the 6-DOF large rigid body pose alignment system ,a fast calculation approach to the pose and a high precision multi-axis coordinating control system was presented .Firstly ,mathematic models of large rigid body pose calculation were established respectively on a global frame which was found on the basic platform and a body-fixed frame system which was found on the center of the large rigid body .By detecting the initial positions and the final positions of four marks on the large rigid body ,the displacement increments of three coordinates of the four supports could be easily calculated .Then ,a compensation of synchronization error integration technology was proposed for the large rigid body pose alignment system .By the technology ,the precision and speed of large rigid pose alignment could be improved significantly .The simulation results show that the proposed approach is rapid and effec‐tive ,the control algorithm has guiding significance for engineering applications of large rigid body pose alignment .%大刚体的姿态计算及其高精度控制是飞机、舰船等大型机器总装生产线的关键技术。针对一种六自由度的大刚体的姿态控制系统提出一种快速的姿态计算方法和高精度的多轴协调控制方法。以基础平台建立固定坐标系，以大刚体的中心建立连体坐标系，在此基础上建立大刚体姿态计算数学模型，通过测量大刚体上4个靶标的初始位置和目标位置，就可计算出大刚体4个支撑柱的三坐标的位移增量；在多轴同步控制技术中，引入同步误差积分补偿方法（CSEI），通过同步误差在相反方向的控制作用，可显著提高大刚体姿态调整的速度和精度。仿真表明，所提出的姿态计算方法和 CSEI 控制方法快速有效，对工程应用具有指导意义。
Rupnik, Ewelina; Jansa, Josef
2013-04-01
Central to our investigation is determination of dynamic behaviour of a highly reflective platform floating on water, as well as derivation of parameters defining instantaneous water state. The employed imaging setup consists of three off-the-shelf dSLR cameras capable of video recording at a 30Hz frame rate. In order to observe a change, the non-rigid and non-diffuse bodies impose the adoption of artificial targetting and custom measurement algorithms. Attention will be given to an in-house software tool implemented to carry out point measurement, correspondence search, tracking and outlier detection methods in the presence of specular reflections and a multimedia scene. A methodology for retrieval of wave parameters in regular wave conditions is also automatically handled by the software and will be discussed. In the context of performed measurements and achieved results, we will point out the extent to which consumer grade camera can fulfil automation and accuracy demands of industrial applications and the pitfalls entailed. Lastly, we will elaborate on visual representation of computed motion and deformations.
Rigid Body Attitude Control Based on a Manifold Representation of Direction Cosine Matrices
Nakath, David; Clemens, Joachim; Rachuy, Carsten
2017-01-01
Autonomous systems typically actively observe certain aspects of their surroundings, which makes them dependent on a suitable controller. However, building an attitude controller for three degrees of freedom is a challenging task, mainly due to singularities in the different parametrizations of the three dimensional rotation group SO(3). Thus, we propose an attitude controller based on a manifold representation of direction cosine matrices: In state space, the attitude is globally and uniquely represented as a direction cosine matrix R ∈ SO(3). However, differences in the state space, i.e., the attitude errors, are exposed to the controller in the vector space ℝ3. This is achieved by an operator, which integrates the matrix logarithm mapping from SO(3) to so(3) and the map from so(3) to ℝ3. Based on this representation, we derive a proportional and derivative feedback controller, whose output has an upper bound to prevent actuator saturation. Additionally, the feedback is preprocessed by a particle filter to account for measurement and state transition noise. We evaluate our approach in a simulator in three different spacecraft maneuver scenarios: (i) stabilizing, (ii) rest-to-rest, and (iii) nadir-pointing. The controller exhibits stable behavior from initial attitudes near and far from the setpoint. Furthermore, it is able to stabilize a spacecraft and can be used for nadir-pointing maneuvers.
Howarth, Samuel J
2014-01-01
The purpose of this study was to compare the spine flexion angle time histories computed with the 2 described techniques (dot product [DP] and a modified joint coordinate system [JCS] approaches) that used vector algebra and used skin-mounted markers to the spine flexion angles derived using local coordinate systems constructed from rigid bodies affixed to the pelvis and thorax during spine flexion movements. Discrepancies between the simplified marker setup and a criterion standard (CS) method for measuring spine kinematics were quantified. Sixteen participants performed full forward spine flexion. Three-dimensional kinematic data were obtained from markers affixed bilaterally over the greater trochanters, iliac crests, and 10th ribs. Time varying spine flexion angles were derived from the 3-, and 2-dimensional marker data using a DP and a modified JCS approach. Criterion standard spine kinematics were obtained from clusters of markers adhered to 2 rigid fins that were affixed over the pelvis and trunk. The DP and JCS methods were compared with the CS by computing root mean squared differences and correlations during the spine flexion trials. Descriptive measurements of missing kinematic data were also obtained. On average, root mean squared differences were 30.1% lower for the JCS method of deriving spine flexion angles. Correlations were also higher for the JCS method by 2.5%, compared with the DP method. The findings suggest that the adapted JCS method is superior to the DP method for deriving spine flexion angles. This is especially true when only 2-dimensional coordinate data are available. Copyright © 2014 National University of Health Sciences. Published by Elsevier Inc. All rights reserved.
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.
MODEL OF CENTRIFUGAL EFFECT AND ATTITUDE MANEUVER STABILITY OF A COUPLED RIGID-FLEXIBLE SYSTEM
LI Zhi-bin; WANG Zhao-lin; WANG Tian-shu; LIU Ning
2005-01-01
The influences of nonlinear centrifugal force to large overall attitude motion of coupled rigid-flexible system was investigated. First the nonlinear model of the coupled rigidflexible system was deduced from the idea of "cenlrifugal potential field", and then the dynamic effects of the nonlinear centrifugal force to system attitude motion were analyzed by approximate calculation; At last, the Lyapunov function based on energy norm was selected,in the condition that only the measured values of attitude and attitude speed are available,and it is proved that the PD feedback control law can ensure the attitude stability during large angle maneuver.
Animation of multi-flexible body systems and its use in control system design
Juengst, Carl; Stahlberg, Ron
1993-01-01
Animation can greatly assist the structural dynamicist and control system analyst with better understanding of how multi-flexible body systems behave. For multi-flexible body systems, the structural characteristics (mode frequencies, mode shapes, and damping) change, sometimes dramatically with large angles of rotation between bodies. With computer animation, the analyst can visualize these changes and how the system responds to active control forces and torques. A characterization of the type of system we wish to animate is presented. The lack of clear understanding of the above effects was a key element leading to the development of a multi-flexible body animation software package. The resulting animation software is described in some detail here, followed by its application to the control system analyst. Other applications of this software can be determined on an individual need basis. A number of software products are currently available that make the high-speed rendering of rigid body mechanical system simulation possible. However, such options are not available for use in rendering flexible body mechanical system simulations. The desire for a high-speed flexible body visualization tool led to the development of the Flexible Or Rigid Mechanical System (FORMS) software. This software was developed at the Center for Simulation and Design Optimization of Mechanical Systems at the University of Iowa. FORMS provides interactive high-speed rendering of flexible and/or rigid body mechanical system simulations, and combines geometry and motion information to produce animated output. FORMS is designed to be both portable and flexible, and supports a number of different user interfaces and graphical display devices. Additional features have been added to FORMS that allow special visualization results related to the nature of the flexible body geometric representations.
DYNAMIC CHARACTERISTICS ON PRECISION NC LATHE BASED ON MULTI-BODY SYSTEM THEORY
Wu Nanxing; Sun Qinghong; Zhang Yonghong; Yu Dongling
2005-01-01
Based on multi-body system theory and the mainshaft system of precision NC lathe as object investigated, it is treated as a coupled rigid-flexible multi-body system which is made up of some rigid and elastic bodies in an especial linking mode. And a dynamic model is established. The problems of computing vibration characteristics are resolved by using multi-body system transfer matrix method. Results show that the mainshaft system of NC lathe is in the stable and reliable working area all the time. The method is simple and easy, the idea is clear. In addition, the method can be easily used and popularized in the other multi-body system.
Cross-Linked Liquid Crystalline Systems From Rigid Polymer Networks to Elastomers
Broer, Dirk
2011-01-01
With rapidly expanding interest in liquid crystalline polymers and elastomers among the liquid crystal community, researchers are currently exploring the wide range of possible application areas for these unique materials, including optical elements on displays, tunable lasers, strain gauges, micro-structures, and artificial muscles. Written by respected scientists from academia and industry around the world, who are not only active in the field but also well-known in more traditional areas of research, "Cross-Linked Liquid Crystalline Systems: From Rigid Polymer Networks to Elastomers&qu
STOCHASTIC DISCRETE MODEL OF TWO-STAGE ISOLATION SYSTEM WITH RIGID LIMITERS
HE Hua; FENG Qi; SHEN Rong-ying; WANG Yu
2006-01-01
The possible intermittent impacts of a two-stage isolation system with rigid limiters have been investigated. The isolation system is under periodic external excitation disturbed by small stationary Gaussian white noise after shock. The maximal impact Then in the period after shock, the zero order approximate stochastic discrete model and the first order approximate stochastic model are developed. The real isolation system of an MTU diesel engine is used to evaluate the established model. After calculating of the numerical example, the effects of noise excitation on the isolation system are discussed.The results show that the property of the system is complicated due to intermittent impact. The difference between zero order model and the first order model may be great.The effect of small noise is obvious. The results may be expected useful to the naval designers.
Meng Wanli; Chen Renliang
2013-01-01
This paper focuses on the prediction of the safe autorotation landing operations of a helicopter following engine failure. The autorotation landing procedure is formulated as a nonlinear optimal control problem based on an augmented six-degree-of-freedom rigid-body flight dynamic model. First, the cost function and constraints are properly selected. The direct transcription approach is then employed to solve the optimal control problem. For a UH-60 helicopter, the opti-mal solutions with the rigid-body model are compared with those obtained using a two-dimensional point-mass model. It is found that the optimal solutions using the two different models show rea-sonably good agreement, and furthermore the optimal solutions using the rigid-body model involve the time histories of angular rates and attitudes, lateral velocity and position, as well as pitch con-trols. Finally the optimal control formulations with different cost functions are proposed for taking account of 1-s time delay and minimum touchdown speed. The calculated control strategies and trajectories are realistic.
含刚性体可展开结构的展开过程动力学分析方法%Dynamic analysis of deployable structures with rigid bodies
吴明儿; 项平
2011-01-01
在可展结构中设置刚性体可以有效提高展开效率，保证形状精度，因此含刚性体可展结构具有较高的实用价值。刚性体按需要可为刚性曲板等，一般形状复杂且形式多样，含任意形状刚性体可展结构的展开过程动力学分析比较困难。本文以笛卡尔坐标系下节点坐标及位移为变量，利用广义逆矩阵建立了一种通用的刚性体动力学方程，给出了利用Newmark—β法进行展开过程动力学分析的数值计算方法。通过算例分析及与ADAMS软件结果进行对比，验证了本文方法的正确性。与传统的多体系统动力学方法相比，该分析方法的优点是数学描述简洁明快，包含的未知量少，能够有效地分析含任意形状刚性体的可展开结构动力学问题。%Deployable structures with internal rigid bodies can improve both the deploying efficiency and the deploying precision. Thus, this kind of hybrid deployable structures is of high practical value. The surface of rigid bodies can be curved panels or other shapes. There is no efficient method to analyze the deploying dynamic process of this kind of deployable structure by now because it is difficult to describe the rigid surface in analysis. In this paper, the dynamic equation of rigid body using nodal coordinates and displacements as variables was established at first. Then, the dynamic equation was introduced to the deploying process analysis through using Moore-Penrose generalized inverse matrix method and Newmark numerical integration. In the end, a numerical example was given and the validity of the method was investigated compared with the calculation results of soft package ADAMS. Compared with multi-body system dynamics,the method suggested in this paper is easy in formulation and can be used to analyze the dynamic problems of deployable structures consisting of rigid bodies with arbitrary shapes.
Seginer, A
2011-08-01
Medical guidance systems often employ several data sources using different coordinate systems. In order to map positions from one coordinate system to the other, these guidance systems usually employ rigid-body point-based registration, using pairs of fiducial points: pairs which describe the same physical positions, but in different coordinate systems. The customary test for the quality of the registration is the fiducial registration error (FRE), which is the root-mean-square of the mismatch between the fiducials in each pair (after the registration). The FRE, however, does not give an answer to the question which is usually of interest, and that is the accuracy at a "target" point which is not part of the set of fiducial points. The statistics of the target registration error (TRE) have been studied before and approximate expressions were derived, but those expressions require as input the unknown true fiducial positions. In the present paper, it is proven that by replacing these unknowable true positions with the known measured positions in the expression for mean-square TRE, a higher order approximation is achieved. In other words, it is shown that more accurate estimates are obtained by using less accurate, but available, inputs. Furthermore, in previous approximations FRE and TRE were shown to be statistically independent, whereas here, due to the higher approximation level, it is shown that a slight dependence exists. Thus, the knowledge of FRE can in fact be employed to improve predictions of the TRE statistics. These results are supported by simulations and hold even for fiducial localization error (FLE) distributions with large standard deviations.
A Linear Active Disturbance Rejection Control for a Ball and Rigid Triangle System
Carlos Aguilar-Ibanez
2016-01-01
Full Text Available This paper proposes an application of linear flatness control along with active disturbance rejection control (ADRC for the local stabilization and trajectory tracking problems in the underactuated ball and rigid triangle system. To this end, an observer-based linear controller of the ADRC type is designed based on the flat tangent linearization of the system around its corresponding unstable equilibrium rest position. It was accomplished through two decoupled linear extended observers and a single linear output feedback controller, with disturbance cancelation features. The controller guarantees locally exponentially asymptotic stability for the stabilization problem and practical local stability in the solution of the tracking error. An advantage of combining the flatness and the ADRC methods is that it possible to perform online estimates and cancels the undesirable effects of the higher-order nonlinearities discarded by the linearization approximation. Simulation indicates that the proposed controller behaves remarkably well, having an acceptable domain of attraction.
Yin, S. H.; Gong, S.
2016-10-01
In ultra-precision oblique axis grinding process for machining micro aspherical mould, form error of aspherical surface is caused by the inconsistence elastic deformation of grinding system, which derived from differences velocity from inside to out. In this case, whole PV value can meet requirements, however, pits are produced in central after error compensation, which is unworkable. In this paper, mechanism of machining error caused by grinding system rigidity is analyzed, and experiments are carried out. Form error compensation grinding are carried out in the central local area, based on traditional error compensation method, which can effectively eliminate the pits of surface center. In this method, cemented carbide YG8 which diameter is about 6mm is ground. The results showed that the form accuracy under PV 200 nm and under PV 50 nm within the scope of 1 mm, and the surface roughness under Ra2nm.
Lumped mass formulations for modeling flexible body systems
Rampalli, Rajiv
1989-01-01
The efforts of Mechanical Dynamics, Inc. in obtaining a general formulation for flexible bodies in a multibody setting are discussed. The efforts being supported by MDI, both in house and externally are summarized. The feasibility of using lumped mass approaches to modeling flexibility in a multibody dynamics context is examined. The kinematics and kinetics for a simple system consisting of two rigid bodies connected together by an elastic beam are developed in detail. Accuracy, efficiency and ease of use using this approach are some of the issues that are then looked at. The formulation is then generalized to a superelement containing several nodes and connecting several bodies. Superelement kinematics and kinetics equations are developed. The feasibility and effectiveness of the method is illustrated by the use of some examples illustrating phenomena common in the context of spacecraft motions.
Jun Wang
2015-01-01
Full Text Available The aim of this paper is to develop a new frequency response function- (FRF- based indirect inverse substructuring method without measuring system-level FRFs in the coupling DOFs for the analysis of the dynamic characteristics of a three-substructure coupled product transport system with rigid and flexible coupling. By enforcing the dynamic equilibrium conditions at the coupling coordinates and the displacement compatibility conditions, a closed-form analytical solution to inverse substructuring analysis of multisubstructure coupled product transport system is derived based on the relationship of easy-to-monitor component-level FRFs and the system-level FRFs at the coupling coordinates. The proposed method is validated by a lumped mass-spring-damper model, and the predicted coupling dynamic stiffness is compared with the direct computation, showing exact agreement. The method developed offers an approach to predict the unknown coupling dynamic stiffness from measured FRFs purely. The suggested method may help to obtain the main controlling factors and contributions from the various structure-borne paths for product transport system.
Girondel Vincent
2006-01-01
Full Text Available This paper describes a system for human body analysis (segmentation, tracking, face/hands localisation, posture recognition from a single view that is fast and completely automatic. The system first extracts low-level data and uses part of the data for high-level interpretation. It can detect and track several persons even if they merge or are completely occluded by another person from the camera's point of view. For the high-level interpretation step, static posture recognition is performed using a belief theory-based classifier. The belief theory is considered here as a new approach for performing posture recognition and classification using imprecise and/or conflicting data. Four different static postures are considered: standing, sitting, squatting, and lying. The aim of this paper is to give a global view and an evaluation of the performances of the entire system and to describe in detail each of its processing steps, whereas our previous publications focused on a single part of the system. The efficiency and the limits of the system have been highlighted on a database of more than fifty video sequences where a dozen different individuals appear. This system allows real-time processing and aims at monitoring elderly people in video surveillance applications or at the mixing of real and virtual worlds in ambient intelligence systems.
Small solar system bodies as granular systems
Hestroffer, Daniel; Campo Bagatín, Adriano; Losert, Wolfgang; Opsomer, Eric; Sánchez, Paul; Scheeres, Daniel J.; Staron, Lydie; Taberlet, Nicolas; Yano, Hajime; Eggl, Siegfried; Lecomte, Charles-Edouard; Murdoch, Naomi; Radjai, Fahrang; Richardson, Derek C.; Salazar, Marcos; Schwartz, Stephen R.; Tanga, Paolo
2017-06-01
Asteroids and other Small Solar System Bodies (SSSBs) are currently of great scientific and even industrial interest. Asteroids exist as the permanent record of the formation of the Solar System and therefore hold many clues to its understanding as a whole, as well as insights into the formation of planetary bodies. Additionally, SSSBs are being investigated in the context of impact risks for the Earth, space situational awareness and their possible industrial exploitation (asteroid mining). In all these aspects, the knowledge of the geophysical characteristics of SSSB surface and internal structure are of great importance. Given their size, constitution, and the evidence that many SSSBs are not simple monoliths, these bodies should be studied and modelled as self-gravitating granular systems in general, or as granular systems in micro-gravity environments in particular contexts. As such, the study of the geophysical characteristics of SSSBs is a multi-disciplinary effort that lies at the crossroads between Granular Mechanics, Celestial Mechanics, Soil Mechanics, Aerospace Engineering and Computer Sciences.
Small solar system bodies as granular systems
Hestroffer Daniel
2017-01-01
Full Text Available Asteroids and other Small Solar System Bodies (SSSBs are currently of great scientific and even industrial interest. Asteroids exist as the permanent record of the formation of the Solar System and therefore hold many clues to its understanding as a whole, as well as insights into the formation of planetary bodies. Additionally, SSSBs are being investigated in the context of impact risks for the Earth, space situational awareness and their possible industrial exploitation (asteroid mining. In all these aspects, the knowledge of the geophysical characteristics of SSSB surface and internal structure are of great importance. Given their size, constitution, and the evidence that many SSSBs are not simple monoliths, these bodies should be studied and modelled as self-gravitating granular systems in general, or as granular systems in micro-gravity environments in particular contexts. As such, the study of the geophysical characteristics of SSSBs is a multi-disciplinary effort that lies at the crossroads between Granular Mechanics, Celestial Mechanics, Soil Mechanics, Aerospace Engineering and Computer Sciences.
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.
Romano, Marcello
2012-01-01
The exact analytic solution is introduced for the rotational motion of a rigid body having three equal principal moments of inertia and subjected to an external torque vector which is constant for an observer fixed with the body, and to arbitrary initial angular velocity. In the paper a parametrization of the rotation by three complex numbers is used. In particular, the rows of the rotation matrix are seen as elements of the unit sphere and projected, by stereographic projection, onto points on the complex plane. In this representation, the kinematic differential equation reduces to an equation of Riccati type, which is solved through appropriate choices of substitutions, thereby yielding an analytic solution in terms of confluent hypergeometric functions. The rotation matrix is recovered from the three complex rotation variables by inverse stereographic map. The results of a numerical experiment confirming the exactness of the analytic solution are reported. The newly found analytic solution is valid for any...
Estimating the magnitude of steric effects in rigid systems by NMR
Yoneda, Julliane Diniz [Universidade Federal Fluminense (UFF), Niteroi, RJ (Brazil). Programa Pos-Graduacao em Quimica Organica; Seidl, Peter Rudolf [Universidade Federal do Rio de Janeiro (UFRJ), RJ (Brazil). Escola de Quimica; Leal, Katia Zaccur, E-mail: pseidl@eq.ufrj.br [Universidade Federal Fluminense (UFF), Niteroi, RJ (Brazil). Dept. de Fisico-Quimica. Programa de Pos-Graduacao em Quimica Organica
2008-07-01
The rapid advance of supramolecular chemistry has led to a better understanding of the forces and interactions that are responsible for many different phenomena. Among these, steric effects play an important role in determining the constraints to association between the species involved. Although the role of steric effects has been recognized for a long time, quantitative information has been mainly related to the comparison of these effects on a chemical reaction or conformational equilibrium rather than the properties of the group of atoms that is responsible for their manifestation. This situation has been changing with the increase in power of computational methods and the accumulation of data on model compounds that can be used for the purpose of comparison. Here we present a short review of our recent work on NMR of rigid carbocyclic systems and apply this type of approach to di- and triamantane systems. Our results show how NMR can be used to locate the segment of a molecule that is subjected to steric effects and evaluate the degree to which these effects will distort its geometry. (author)
Huang, Fong-yin; Chiu, Chi-cheng
2017-01-01
Ion pair amphiphile (IPA), a molecular complex composed of a pair of cationic and anionic surfactants, has been proposed as a novel phospholipid substitute. Controlling the physical stability of IPA vesicles is important for its application developments such as cosmetic and drug deliveries. To investigate the effects of IPA alkyl chain combinations and the cholesterol additive on the structural and mechanical properties of IPA vesicular bilayers, we conducted a series of molecular dynamics studies on the hexadecyltrimethylammonium-dodecylsulfate (HTMA-DS) and dodecyltrimethylammonium-hexadecylsulfate (DTMA-HS) IPA bilayers with cholesterol. We found that both IPA bilayers are in the gel phase at 298 K, consistent with experimental observations. Compared with the HTMA-DS system, the DTMA-HS bilayer has more disordered alkyl chains in the hydrophobic region. When adding cholesterol, it induces alkyl chain ordering around its rigid sterol ring. Yet, cholesterol increases the molecular areas for all species and disturbs the molecular packing near the hydrophilic region and the bilayer core. Cholesterol also promotes the alkyl chain mismatch between the IPA moieties, especially for the DTMA-HS bilayer. The combined effects lead to non-monotonically enhancement of the membrane mechanical moduli for both IPA-cholesterol systems. Furthermore, cholesterol can form H-bonds with the alkylsulfate and thus enhance the contribution of alkylsulfate to the overall mechanical moduli. Combined results provide valuable molecular insights into the roles of each IPA component and the cholesterol on modulating the IPA bilayer properties.
Photophysics, Dynamics, and Energy Transfer in Rigid Mimics of GFP-based Systems.
Dolgopolova, Ekaterina A; Rice, Allison M; Smith, Mark D; Shustova, Natalia B
2016-08-01
Engineering of novel systems capable of efficient energy capture and transfer in a predesigned pathway could potentially boost applications varying from organic photovoltaics to catalytic platforms and have implications for energy sustainability and green chemistry. While light-harvesting properties of different materials have been studied for decades, recently, there has been great progress in the understanding and modeling of short- and long-range energy transfer processes through utilization of metal-organic frameworks (MOFs). In this Forum Article, the recent advances in efficient multiple-chromophore coupling in well-defined metal-organic materials through mimicking a protein system possessing near 100% energy transfer are discussed. Utilization of a MOF as an efficient replica of a protein β-barrel to maintain chromophore emission was also demonstrated. Furthermore, we established a novel dependence of a photophysical response on an electronic configuration for chromophores with the benzylidene imidazolinone core. For that, we prepared 16 chromophores, in which the benzylidene imidazolinone core was modified with electron-donating and electron-withdrawing substituents. To establish the structure-dependent photophysical properties of the prepared chromophores, 11 novel molecular structures were determined by single-crystal X-ray diffraction. These findings allow one to predict the chromophore emission profile inside a rigid framework as a function of the substituent, a key parameter for achieving the spectral overlap necessary to study and increase resonance energy transfer efficiency in MOF-based materials.
Fiber Optic Systems for Light Curing Rigidization of Inflatable Structures Project
National Aeronautics and Space Administration — Light (UV and visible) curing composite matrix resins are being explored as an attractive means for rigidizing inflatable spacecraft for large space-deployed...
Panciroli, Riccardo; Porfiri, Maurizio
2013-12-01
The objective of this work is to verify the accuracy of indirect pressure measurement from particle image velocimetry in water entry problems. The pressure is evaluated by solving the incompressible Navier-Stokes equations, whose kinematic components are estimated from particle image velocimetry. We focus on the water entry of a rigid wedge, for which we explore variations of the entry velocity. Experimental results are verified through comparison with well-established analytical formulations based on potential flow theory. Our findings demonstrate the feasibility of accurately reconstructing the hydrodynamic pressure field over the entire duration of the impact. Along with a thorough experimental validation of the method, we also offer insight into experimentally relevant factors, such as the maximum resolved fluid velocity and the required spatial integration area.
1976-10-01
transformation (R] 2 Society of Naval trchitects and Marine Engineers, " Nomenclature for Treating the Motion of a Submerged Body through a Fluid ," SNAKE Technical...of Naval Architects and Marine Engineers, " Nomenclature for Treating the Motion of a Submerged Body through a Fluid ," SNAME Technical and Research
Connolly, C. M.; Konik, A.; Dasari, P. K. R.; Segars, P.; Zheng, S.; Johnson, K. L.; Dey, J.; King, M. A.
2011-03-01
Patient motion can cause artifacts, which can lead to difficulty in interpretation. The purpose of this study is to create 3D digital anthropomorphic phantoms which model the location of the structures of the chest and upper abdomen of human volunteers undergoing a series of clinically relevant motions. The 3D anatomy is modeled using the XCAT phantom and based on MRI studies. The NURBS surfaces of the XCAT are interactively adapted to fit the MRI studies. A detailed XCAT phantom is first developed from an EKG triggered Navigator acquisition composed of sagittal slices with a 3 x 3 x 3 mm voxel dimension. Rigid body motion states are then acquired at breath-hold as sagittal slices partially covering the thorax, centered on the heart, with 9 mm gaps between them. For non-rigid body motion requiring greater sampling, modified Navigator sequences covering the entire thorax with 3 mm gaps between slices are obtained. The structures of the initial XCAT are then adapted to fit these different motion states. Simultaneous to MRI imaging the positions of multiple reflective markers on stretchy bands about the volunteer's chest and abdomen are optically tracked in 3D via stereo imaging. These phantoms with combined position tracking will be used to investigate both imaging-data-driven and motion-tracking strategies to estimate and correct for patient motion. Our initial application will be to cardiacperfusion SPECT imaging where the XCAT phantoms will be used to create patient activity and attenuation distributions for each volunteer with corresponding motion tracking data from the markers on the body-surface. Monte Carlo methods will then be used to simulate SPECT acquisitions, which will be used to evaluate various motion estimation and correction strategies.
On the dynamics of chain systems. [applications in manipulator and human body models
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.
Bertolesi, Elisa; Milani, Gabriele; Casolo, Siro
2016-12-01
A simple homogenized rigid body and spring model (HRBSM) is presented and applied for the non-linear dynamic analysis of 3D masonry structures. The approach, previously developed by the authors for the modeling of in-plane loaded walls is herein extended to real 3D buildings subjected to in- and out-of-plane deformation modes. 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. All the simulations here presented are performed using the commercial software Abaqus. 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.
Li, Tong; Tracka, Malgorzata B; Uddin, Shahid; Casas-Finet, Jose; Jacobs, Donald J; Livesay, Dennis R
2015-07-01
The effects of somatic mutations that transform polyspecific germline (GL) antibodies to affinity mature (AM) antibodies with monospecificity are compared among three GL-AM Fab pairs. In particular, changes in conformational flexibility are assessed using a Distance Constraint Model (DCM). We have previously established that the DCM can be robustly applied across a series of antibody fragments (VL to Fab), and subsequently, the DCM was combined with molecular dynamics (MD) simulations to similarly characterize five thermostabilizing scFv mutants. The DCM is an ensemble based statistical mechanical approach that accounts for enthalpy/entropy compensation due to network rigidity, which has been quite successful in elucidating conformational flexibility and Quantitative Stability/Flexibility Relationships (QSFR) in proteins. Applied to three disparate antibody systems changes in QSFR quantities indicate that the VH domain is typically rigidified, whereas the VL domain and CDR L2 loop become more flexible during affinity maturation. The increase in CDR H3 loop rigidity is consistent with other studies in the literature. The redistribution of conformational flexibility is largely controlled by nonspecific changes in the H-bond network, although certain Arg to Asp salt bridges create highly localized rigidity increases. Taken together, these results reveal an intricate flexibility/rigidity response that accompanies affinity maturation.
Tong Li
2015-07-01
Full Text Available The effects of somatic mutations that transform polyspecific germline (GL antibodies to affinity mature (AM antibodies with monospecificity are compared among three GL-AM Fab pairs. In particular, changes in conformational flexibility are assessed using a Distance Constraint Model (DCM. We have previously established that the DCM can be robustly applied across a series of antibody fragments (VL to Fab, and subsequently, the DCM was combined with molecular dynamics (MD simulations to similarly characterize five thermostabilizing scFv mutants. The DCM is an ensemble based statistical mechanical approach that accounts for enthalpy/entropy compensation due to network rigidity, which has been quite successful in elucidating conformational flexibility and Quantitative Stability/Flexibility Relationships (QSFR in proteins. Applied to three disparate antibody systems changes in QSFR quantities indicate that the VH domain is typically rigidified, whereas the VL domain and CDR L2 loop become more flexible during affinity maturation. The increase in CDR H3 loop rigidity is consistent with other studies in the literature. The redistribution of conformational flexibility is largely controlled by nonspecific changes in the H-bond network, although certain Arg to Asp salt bridges create highly localized rigidity increases. Taken together, these results reveal an intricate flexibility/rigidity response that accompanies affinity maturation.
Aspects concerning verification methods and rigidity increment of complex technological systems
Casian, M.
2016-11-01
Any technological process and technology aims a quality and precise product, something almost impossible without high rigidity machine tools, equipment and components. Therefore, from the design phase, it is very important to create structures and machines with high stiffness characteristics. At the same time, increasing the stiffness should not raise the material costs. Searching this midpoint between high rigidity and minimum expenses leads to investigations and checks in structural components through various methods and techniques and sometimes quite advanced methods. In order to highlight some aspects concerning the significance of the mechanical equipment rigidity, the finite element method and an analytical method based on the use Mathcad software were used, by taking into consideration a subassembly of a grinding machine. Graphical representations were elaborated, offering a more complete image about the stresses and deformations able to affect the considered mechanical subassembly.
You, Bin Di; Wen, Jian Min; Zhao, Yang
2014-03-01
In this paper, a nonlinear dynamic modeling method for a rigid-flexible coupling satellite antenna system composed of laminated shell reflector is proposed undergoing a large overall motion. For the study of the characteristics of the reflector using laminated shell structure, the displacement field description of a point in a 3-noded shell element is acquired in conjunction with the length stretch, lateral bending and torsional deformation. Hence, a nonlinear dynamic model of the satellite antenna system is deduced based on Lagrange's equations. The complete expressions of nonlinear terms of elastic deformation and coupling terms between rigid motion and large deflection are considered in the dynamic equations, and the dynamic behavior of the rigid-flexible coupling system is analyzed using linear model and nonlinear model, respectively. In order to eliminate the system vibration, the PD with vibration force feedback control strategy is used to achieve its desired angles and velocity in a much shorter duration, and can further accomplish reduction of residual vibration. Then, the asymptotic stability of the system is proved based on the Lyapunov method. Through numerical computation, the results show that the linear model cannot capture the motion-induced coupling terms and geometric nonlinearity variations. However, the nonlinear model is suitable for dealing with large deformation rigid-flexible problem undergoing large overall motions. Hence, the satellite antenna pointing accuracy would be predicted based on the nonlinear model. Furthermore, the results also show that the proposed control strategy can suppress system vibration quickly. The above conclusions would have important academic significance and engineering value.
Lamare, F [INSERM, U650, Laboratoire du Traitement de l' Information Medicale (LaTIM), Brest, F-29200 (France); Carbayo, M J Ledesma [ETSI Telecomunicacion Universidad Politecnica de Madrid, Ciudad Universitaria s/n 28040, Madrid (Spain); Cresson, T [INSERM, U650, Laboratoire du Traitement de l' Information Medicale (LaTIM), Brest, F-29200 (France); Kontaxakis, G [ETSI Telecomunicacion Universidad Politecnica de Madrid, Ciudad Universitaria s/n 28040, Madrid (Spain); Santos, A [ETSI Telecomunicacion Universidad Politecnica de Madrid, Ciudad Universitaria s/n 28040, Madrid (Spain); Rest, C Cheze Le [INSERM, U650, Laboratoire du Traitement de l' Information Medicale (LaTIM), Brest, F-29200 (France); Reader, A J [School of Chemical Engineering and Analytical Science, University of Manchester, Manchester (United Kingdom); Visvikis, D [INSERM, U650, Laboratoire du Traitement de l' Information Medicale (LaTIM), Brest, F-29200 (France)
2007-09-07
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.
某型转管机枪刚柔耦合多体发射动力学仿真%Simulation of Coupled Rigid and Flexible Multi-body Dynamics on Gatling Gun
李涛; 王瑞林; 张军挪; 蔡伟
2013-01-01
以某型转管机枪为对象,研究了将CAD软件中复杂实体模型导入到ADAMS软件中的方法；考虑转管机枪实际射击条件下土壤本构关系和射手边界问题,建立了驻锄—土壤参数模型与人—枪参数模型；以多刚体动力学和柔性多体动力学理论为基础,采用ADAMS/Flex柔性体模块,建立了某型转管机枪刚柔耦合的虚拟样机仿真模型.通过对所建立的模型构件之间添加相互作用力,并进行多体发射动力学仿真和分析,获得了自动机运动过程中各主要部件的动力学特性.选取机枪自动机的速度和位移为校验指标,通过与试验数据中枪口响应位移比较,证明建立的刚柔耦合模型科学合理、准确有效,为该枪后期的结构优化与改进提供了模拟试验平台.%The method of translation complex model from CAD to ADAMS was studied on the object of Gatling gun; considering the soil constitutive relationship and the striker boundary problem in the actual shooting condition,spade-soil system and Parameter models of man-gun system were built; based on rigid multi-body dynamics and flexible body dynamics theories,the coupled rigid and flexible ADAMS model of the Gatling gun was established by using ADAMS/Flex module.The whole gun's kinematics circumstances and a series of dynamic curves were obtained during the course of simulation and analysis of coupled rigid and flexible multi-body dynamics.The Model was testified rational,accuracy and effective by comparing simulating results with the experimental data of the velocity and displacement of muzzle,which has laid the foundation for further simulation and structural optimization.
Massimiliano Aragona; Raffaella Catapano; Camillo Loriedo; Daniela Alliani
2011-01-01
Traditionally, the key features of the family system of Eating Disorders (EDs) have been considered those originally outlined by Minuchin in his description of the "psychosomatic" family patterns of interaction. This controlled study tests two of the principal characteristics of Minuchin's model, namely enmeshment and rigidity, operationalised as extreme cohesion and low adaptability. Perceived and desired cohesion and adaptability, measured with the FACES III, were compared between 30 clinic...
采用移轴技术在SAP5程序实现刚体模态计算%Using the technology of moving the axle to compute the pattern of rigid body
施群德
2001-01-01
Elaborates how to use the technology of moving the axle to compute the pattern of rigid body,introduces this technology into the program SAP5 and realizes the calculation of the pattern of rigid body.%论述了如何采用移轴技术实现对刚体模态的计算，并将移轴求刚体模态的技术引入著名的SAP5程序中，实现了对刚体模态的计算。
Critical stability of few-body systems
Karmanov, V A
2013-01-01
When a two-body system is bound by a zero-range interaction, the corresponding three-body system -- considered in a non-relativistic framework -- collapses, that is its binding energy is unbounded from below. In a paper by J.V. Lindesay and H.P. Noyes it was shown that the relativistic effects result in an effective repulsion in such a way that three-body binding energy remains also finite, thus preventing the three-body system from collapse. Later, this property was confirmed in other works based on different versions of relativistic approaches. However, the three-body system exists only for a limited range of two-body binding energy values. For stronger two-body interaction, the relativistic three-body system still collapses. A similar phenomenon was found in a two-body systems themselves: a two-fermion system with one-boson exchange interaction in a state with zero angular momentum J=0 exists if the coupling constant does not exceed some critical value but it also collapses for larger coupling constant. Fo...
陆念力; 张广芸; 车仁炜
2011-01-01
根据虚功原理和达郎伯原理推导了计及二阶效应的柔性单元运动方程,并利用刚化条件得到了刚性梁单元运动方程,给出了刚柔耦合连杆系统动力学建模与分析的方法.对构件刚度相差悬殊的多体系统进行动力学分析时,如若当作多刚体系统分析,会因忽略弹性变形导致结果不准确；当作多柔体系统建模分析求解,则因自由度太多导致方程庞大难求解.可行的方法是:将刚性单元与柔性单元耦合建模,在多柔体系统基础上,引入刚性单元和刚性约束条件,对刚性构件自身的动力学特性进行等效,然后按照一般弹性系统有限元方法集成得到虚拟柔性系统动力学方程,建立过渡坐标与广义坐标关系,消除非独立坐标,得到真实的系统运动方程,降低系统方程维数,提高分析效率.以曲柄滑块机构为例,介绍了计及二阶效应的刚柔耦合系统动力学的建模分析过程.%By applying the virtual work and d'Alembert principles,a kinematical equation of flexible elements is deduced via second-order effects. Meanwhile,a kinematical equation of rigid beam elements is derived from rigid conditions. Accordingly,a dynamical modeling-analysis method is proposed for rigid-flexible-coupled connecting rod systems. When a dynamical analysis is conducted on the multi-body system with significant differences among component rigidities, e. G. A multi-body rigid system is assumed, the ignorance of elastic deformations leads to inaccurate outcomes. Whilst a multi-body flexible system is supposed, the equation can scarcely be solved due to overwhelming DOFs. As such, a feasible approach, I. E. Coupling between rigid and flexible elements,is proposed. Based on the multi-body flexible system, the rigid elements and constraints are introduced. In this manner,the dynamical property equivalence is first undertaken for rigid components. Then, the dynamical equation of virtual flexible system is
Exact calculation of the number of degrees of freedom of a rigid body constituted by n particles
Bernal, Jorge; Carbajal-Dominguez, Adrian
2010-01-01
In this work we discuss how to correctly obtain the number of degrees of freedom of a system constituted by n particles with fixed relative distances and which are immerse in a three-dimensional space. As a result of our analysis, we develop expressions which yield the number of degrees of freedom of an analogous system, not only in three, but in any arbitrary number D of dimensions.
Liu, Jing; Shao, Yimin
2017-06-01
Rotor bearing systems (RBSs) play a very valuable role for wind turbine gearboxes, aero-engines, high speed spindles, and other rotational machinery. An in-depth understanding of vibrations of the RBSs is very useful for condition monitoring and diagnosis applications of these machines. A new twelve-degree-of-freedom dynamic model for rigid RBSs with a localized defect (LOD) is proposed. This model can formulate the housing support stiffness, interfacial frictional moments including load dependent and load independent components, time-varying displacement excitation caused by a LOD, additional deformations at the sharp edges of the LOD, and lubricating oil film. The time-varying displacement model is determined by a half-sine function. A new method for calculating the additional deformations at the sharp edges of the LOD is analytical derived based on an elastic quarter-space method presented in the literature. The proposed dynamic model is utilized to analyze the influences of the housing support stiffness and LOD sizes on the vibration characteristics of the rigid RBS, which cannot be predicted by the previous dynamic models in the literature. The results show that the presented method can give a new dynamic modeling method for vibration formulation for a rigid RBS with and without the LOD on the races.
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).
4自由度并联机构刚体动力学模型%Rigid-body Dynamic Model of a Four-DOF Parallel Mechanism
贾凯凯; 梅江平; 刘松涛; 田二勋
2016-01-01
Focused on a 4-DOF parallel mechanism with the spatial motion called SCARA (three dimensional translation and one-dimensional rotation), the establishment of its simplified dynamic model of rigid body is systematically researched to improve the accuracy to solve torque. Based on the kinematics analysis, the complete dynamic model of rigid body is established with the virtual work principle, and its accuracy is examined by ADAMS. To reduce the computational complexity, taking the structure and state of motion in every moving part of the mechanism into consideration, the simplified dynamic model of rigid body with single parameter is established. For the expected simplification, when the mechanism is moving along the standard trajectory, the average of maximum absolute torque difference between values solved from the complete dynamic model and the simplified dynamic model as optimization function are taken and the relation between the function and scale parameters is analyzed. Under the authentication of the analysis results, based on a set of given parameters, the optimal value is obtained by using the single objective optimization method. The validity of the method is verified through a set of image contrast compared with existed theories.%以一种具有空间SCARA运动(三维平动和一维转动)的四自由度并联机构为研究对象，系统研究其简化刚体动力学模型的创建方法，提高了力矩求解精度。在运动学分析的基础上，利用虚功原理，建立机构的完备刚体动力学模型，并利用ADAMS校验该模型的正确性。考虑机构各活动构件的结构和运动状态，建立机构的单变量简化刚体动力学模型，奠定了变量优化的模型基础。以机构沿标准轨迹运动时，将完备模型和简化模型计算所得的单轴驱动力矩差值的最大值的绝对值的平均值作为优化目标，分析各尺度参数对优化目标的影响规律，为简化模型的最优
Xu Zhang; Wen-Xian Li; Yi-Rong Cai
2015-01-01
Background:In China,tracheobronchial foreign body (TFB) aspiration,a major cause of emergency episode and accident death in children,remains a challenge for anesthetic management.Here,we share our experience and discuss the anesthetic consideration and management of patients with TFB aspiration.Methods:This was a single-institution retrospective study in children with an inhaled foreign body between 1991 and 2010 that focused on the complications following rigid bronchoscopy (RB).Data including the clinical characteristics of patients and TFB,anesthetic method,and postoperative severe complications were analyzed by different periods.Results:During the 20-year study period,the charts of 3149 patients who underwent RB for suspected inhaled TFB were reviewed.There were 2079 male and 1070 female patients (1.94:1).A nut (84％) was the most commonly inhaled object.The study revealed a 9％ (n =284) overall rate of severe postoperative complications related to severe hypoxemia,laryngeal edema,complete laryngospasm,pneumothorax,total segmental atelectasis,and death with incidences of 3.2％,0.9％,1.3％,0.3％,0.3％,and 0.1％,respectively.The rates of preoperative airway impairment,negative findings of TFB,and adverse postoperative events have been on the rise in the past 5 years.Conclusions:The survey results confirmed that hypoxemia remains the most common postoperative complication in different periods.Both controlled ventilation and spontaneous ventilation were effective during the RB extraction of the foreign body at our hospital in the modern technique period.An active respiratory symptom was commonly seen in the groups with negative findings.
邓锂强
2013-01-01
The designing experiment of “modification of the experimental instrument of the rigid body moment of inertia”is introduced .The experiment requires students to understand the principles of moment of inertia and rigid body dynamics ,modification of the experimental in-strument of the rigid body moment of inertia ,using the existing laboratory instruments ,and to put forward new experimental principle .It can correct moment of resistance .This experimental device is required in measuring rigid body moment of inertia .%介绍了设计性实验“刚体转动惯量实验仪的改装”。以转动惯量及刚体动力学原理为基础，利用实验室现有仪器，对刚体转动惯量实验仪进行改装，并提出新的实验原理，可以对阻力矩进行修正，并利用该实验装置测量刚体转动惯量。
Numerical Study on Fixed-Axis Rotation of Rigid Body under Variable Moment Inertia%变转动惯量刚体定轴转动的数值研究
唐军杰; 王爱军; 赵昆; 张鹏
2012-01-01
Given a model of variable moment inertia of rigid body,a numerical method with Matlab has been applied to study the fixed-axis rotation of rigid body under variable moment inertia and constant external torque. Because at the initial stage the changes in variable moment inertia are very small , the movement of rigid body is similar to that when moment inertia is constant. As the changes in moment inertia become greater,the angular velocity of rigid body changes periodically under the impact of elastic restoring forces.%给出一个变转动惯量刚体模型,用数值方法研究了在恒力矩作用下变转动惯量刚体的定轴转动问题.在开始阶段由于转动惯量变化很小,刚体运动与刚体转动惯量不变的情况相似,随着转动惯量变化增大,在弹性恢复力的作用下,刚体角速度呈周期性变化.
Badriev, I. B.; Makarov, M. V.; Paimuhin, V. N.
2016-11-01
We study the problems of deformation mechanics of sandwich constructions with taking into account the interaction with the contour reinforcing rods. To derive the basic equations of equilibrium, static boundary conditions for the shell and reinforcing rods, as well as conditions of the kinematic conjugation the carrier layers with a core, the carrier layers and a core with reinforcing rods we use a generalized variational Lagrange principle. We reduce the boundary value problem on the to the integral-algebraic system of Volterra equations of the second kind. To approximate the obtained integral equations of Volterra type a collocation method with Gaussian nodes and a method for constructing the integrating matrices are proposed. For the numerical realization of the proposed methods we have developed a software package. Numerical calculations were performed. Analyze the results of numerical experiments is carried out.
Meson, Alejandro M., E-mail: meson@iflysib.unlp.edu.ar; Vericat, Fernando, E-mail: vericat@iflysib.unlp.edu.ar [CONICET-UNLP, Instituto de Fisica de Liquidos y Sistemas Biologicos (IFLYSIB) (Argentina)
2011-12-15
We analyze when a multifractal spectrum can be used to recover the potential. This phenomenon is known as multifractal rigidity. We prove that for a certain class of potentials the multifractal spectrum of local entropies uniquely determines their equilibrium states. This leads to a classification which identifies two systems up to a change of variables.
Electrostatics of Rigid Polyelectrolytes
Wong, G.C.L.
2009-06-04
The organization of rigid biological polyelectrolytes by multivalent ions and macroions are important for many fundamental problems in biology and biomedicine, such as cytoskeletal regulation and antimicrobial sequestration in cystic fibrosis. These polyelectrolytes have been used as model systems for understanding electrostatics in complex fluids. Here, we review some recent results in theory, simulations, and experiments.
Electoral Stability and Rigidity
Levy, Michael Y
2016-01-01
Some argue that political stability is best served through a two-party system. This study refutes this. The author mathematically defines the stability and rigidity of electoral systems comprised of any quantity of electors and parties. In fact, stability is a function of the quantity of electors - i.e., the number of occupied seats at the table. As the number of electors increases, the properties of an electorate are increasingly well resolved, and well described by those of an electorate that is least excessive -- that is to say an electorate that is closest to equilibrium. Further, electoral rigidity is a function of the quantity of parties and their probabilities of representation. An absolutely rigid system admits no fluctuations -- whatever happens to one elector will happen to all electors. As the quantity of parties increases so does the number of party lines, and with it the quantity of alternatives with which to respond to an external stimulus. Rigidity is significant in a social system that places ...
Aronov, V.; D' Souza, A.F.; Kalpakjian, S.; Shareef, I.
1980-03-01
Progress in friction and wear studies is reported. After an extensive study of various possible systems for friction, wear and vibration measurements, a pin and disk sliding system has been designed to be used on a rigid lathe bed. This versatile design has the capability of controlling the applied load, rigidity and damping of the total frictional system. The design and construction of the pin holding assembly has been completed with certain features to render it suitable for acquisition of appropriate data such as forces and displacements. Special instrumentation has been obtained the major components of which are a tri-axial quartz piezoelectric force transducer, a tri-axial ceramic piezoelectric accelerometer for measurements of vibrations of the slider, charge preamplifiers with dc power supply, and monitoring equipment such as a spectral analyzer and an oscillograph. Preliminary experiments indicate that the system, as designed and constructed, is appropriate for the type of study undertaken in this project. Some preliminary experimental results are included here. The method of describing functions and harmonic balance is being employed for the study of friction induced self-excited vibrations. Some new developments of this method have been obtained to take into account the coupling between the degrees of freedom in the normal and frictional directions.
Li Qun-Hong; Tan Jie-Yan
2011-01-01
A two-degree-of-freedom vibro-impact system having symmetrical rigid stops and subjected to periodic excitation is investigated in this paper. By introducing local maps between different stages of motion in the whole impact process,the Poincar6 map of the system is constructed. Using the Poincare map and the Gram-Schmidt orthonormalization, a method of calculating the spectrum of Lyapunov exponents of the above vibro-impact system is presented. Then the phase portraits of periodic and chaotic attractors for the system and the corresponding convergence diagrams of the spectrum of Lyapunov exponents are given out through the numerical simulations. To further identify the validity of the aforementioned computation method, the bifurcation diagram of the system with respect to the bifurcation parameter and the corresponding largest Lyapunov exponents are shown.
A rigid surface boundary element for soil-structure interaction analysis in the direct time domain
Rizos, D. C.
Many soil-structure interaction problems involve studies of single or multiple rigid bodies of arbitrary shape and soil media. The commonly used boundary element methods implement the equations of the rigid body in a form that depends on the particulars of the geometry and requires partitioning and condensation of the associated algebraic system of equations. The present work employs the direct time domain B-Spline BEM for 3D elastodynamic analysis and presents an efficient implementation of rigid bodies of arbitrary shape in contact with, or embedded in, elastic media. The formulation of a rigid surface boundary element introduced herein is suitable for direct superposition in the BEM system of algebraic equations. Consequently, solutions are computed in a single analysis step, eliminating, thus, the need for partitioning of the system of equations. Computational efficiency is also achieved due to the extremely sparse form of the associated coefficient matrices. The proposed element can be used for the modeling of single or multiple rigid bodies of arbitrary shape within the framework of the BEM method. The efficiency and general nature of the proposed element is demonstrated through applications related to the dynamic analysis of rigid surface and embedded foundations and their interaction with embedded rigid bodies of arbitrary shape.
Shared body representations and the 'Whose' system.
de Vignemont, Frédérique
2014-03-01
Mirroring has been almost exclusively analysed in motor terms with no reference to the body that carries the action. According to the standard view, one activates motor representations upon seeing other people moving. However, one does not only see movements, one also sees another individual's body. The following questions then arise. To what extent does one recruit body representations in social context? And does it imply that body representations are shared between self and others? This latter question is all the more legitimate since recent evidence indicates the existence of shared cortical networks for bodily sensations, including pain (e.g., Singer et al., 2004) and touch (e.g., Keysers et al., 2004; Blakemore, Bristow, Bird, Frith, & Ward, 2005). But if body representations are shared, then it seems that their activation cannot suffice to discriminate between one's body and other people's bodies. Does one then need a 'Whose' system to recognise one's body as one's own, in the same way that Jeannerod argues that one needs a 'Who' system to recognise one's actions as one's own? © 2013 Published by Elsevier Ltd.
刘稳航; 余尚江; 杨源祯; 马骁; 徐世钊; 宁奥杰
2015-01-01
韧性剪切带是构造地质学研究的重要内容。传统研究韧性剪切带主要是野外露头解析和室内显微构造研究来综合判断剪切带的属性。近些年来，许多国内外学者对于剪切带中刚体(砾石、颗粒等)的研究，特别是使用模拟软件(如：Ansys、Matlab、Mathcad)试图恢复刚体的运动学轨迹，拓宽了学者们对于韧性剪切带中赋存刚体的研究思路。目前，对于刚体的模拟研究介绍甚少。基于此，本文对韧性剪切带中如何定量研究刚体的理论进行详细的介绍，并利用 Mathcad 编写程序恢复了刚体在给定条件下的运动学轨迹。%Ductile shear zone is an important subject in the research of tectonics.The traditional study of duc-tile shear zone focuses on discrimination of property of shear zone through analysis of outcrops in the field and indoor study of microstructure.In recent years scholars from China and abroad tended to study the rigid bodies in shear zone (gravel and grain)and they attempted to recover the kinematic trajectory of rigid bodies by using simulation software (Ansys,Matlab,Mathcad)while it also broadened the ideas of research on rigid bodies occurred in ductile shear zone.In light of the scarcity of introduction to simulation study on rigid body,this paper elaborated on theories of quantitative study on rigid body in ductile shear zone and recovered kinematic trajectory of rigid bodies under certain conditions by using Mathcad.
Chaotic dynamics in N-body systems
Boekholt, Tjarda Coenraad Nico
2015-01-01
Ever since Isaac Newton in 1687 posed the N-body problem, astronomers have been looking for its solutions in order to understand the evolution of dynamical systems, such as our own solar system, star clusters and galaxies. The main difficulty is that small errors grow exponentially, so that numerica
Chaotic dynamics in N-body systems
Boekholt, Tjarda Coenraad Nico
2015-01-01
Ever since Isaac Newton in 1687 posed the N-body problem, astronomers have been looking for its solutions in order to understand the evolution of dynamical systems, such as our own solar system, star clusters and galaxies. The main difficulty is that small errors grow exponentially, so that
Inoue, Minoru; Yoshimura, Michio, E-mail: myossy@kuhp.kyoto-u.ac.jp; Sato, Sayaka; Nakamura, Mitsuhiro; Yamada, Masahiro; Hirata, Kimiko; Ogura, Masakazu; Hiraoka, Masahiro [Department of Radiation Oncology and Image-Applied Therapy, Kyoto University Graduate School of Medicine, Kyoto 606-8507 (Japan); Sasaki, Makoto; Fujimoto, Takahiro [Division of Clinical Radiology Service, Kyoto University Hospital, Kyoto 606-8507 (Japan)
2015-04-15
Purpose: To investigate image-registration errors when using fiducial markers with a manual method and the point-based rigid-body registration (PRBR) algorithm in accelerated partial breast irradiation (APBI) patients, with accompanying fiducial deviations. Methods: Twenty-two consecutive patients were enrolled in a prospective trial examining 10-fraction APBI. Titanium clips were implanted intraoperatively around the seroma in all patients. For image-registration, the positions of the clips in daily kV x-ray images were matched to those in the planning digitally reconstructed radiographs. Fiducial and gravity registration errors (FREs and GREs, respectively), representing resulting misalignments of the edge and center of the target, respectively, were compared between the manual and algorithm-based methods. Results: In total, 218 fractions were evaluated. Although the mean FRE/GRE values for the manual and algorithm-based methods were within 3 mm (2.3/1.7 and 1.3/0.4 mm, respectively), the percentages of fractions where FRE/GRE exceeded 3 mm using the manual and algorithm-based methods were 18.8%/7.3% and 0%/0%, respectively. Manual registration resulted in 18.6% of patients with fractions of FRE/GRE exceeding 5 mm. The patients with larger clip deviation had significantly more fractions showing large FRE/GRE using manual registration. Conclusions: For image-registration using fiducial markers in APBI, the manual registration results in more fractions with considerable registration error due to loss of fiducial objectivity resulting from their deviation. The authors recommend the PRBR algorithm as a safe and effective strategy for accurate, image-guided registration and PTV margin reduction.
Misra, Gaurav; Izadi, Maziar; Sanyal, Amit; Scheeres, Daniel
2016-04-01
The effects of dynamical coupling between the rotational (attitude) and translational (orbital) motion of spacecraft near small Solar System bodies is investigated. This coupling arises due to the weak gravity of these bodies, as well as solar radiation pressure. The traditional approach assumes a point-mass spacecraft model to describe the translational motion of the spacecraft, while the attitude motion is considered to be completely decoupled from the translational motion. The model used here to describe the rigid-body spacecraft dynamics includes the non-uniform rotating gravity field of the small body up to second degree and order along with the attitude dependent terms, solar tide, and solar radiation pressure. This model shows that the second degree and order gravity terms due to the small body affect the dynamics of the spacecraft to the same extent as the orbit-attitude coupling due to the primary gravity (zeroth order) term. Variational integrators are used to simulate the dynamics of both the rigid spacecraft and the point mass. The small bodies considered here are modeled after Near-Earth Objects (NEO) 101955 Bennu, and 25143 Itokawa, and are assumed to be triaxial ellipsoids with uniform density. Differences in the numerically obtained trajectories of a rigid spacecraft and a point mass are then compared, to illustrate the impact of the orbit-attitude coupling on spacecraft dynamics in proximity of small bodies. Possible implications on the performance of model-based spacecraft control and on the station-keeping budget, if the orbit-attitude coupling is not accounted for in the model of the dynamics, are also discussed. An almost globally asymptotically stable motion estimation scheme based solely on visual/optical feedback that estimates the relative motion of the asteroid with respect to the spacecraft is also obtained. This estimation scheme does not require a model of the dynamics of the asteroid, which makes it perfectly suited for asteroids whose
Michael-Tsabari, Nava; Lavee, Yoav
2012-06-01
Despite growing research interest in family businesses, little is known about the characteristics of the families engaging in them. The present paper uses Olson's (Journal of Psychotherapy & the Family, 1988, 4(12), 7-49; Journal of Family Therapy, 2000, 22, 144-167) Circumplex Model of Marital and Family Systems to look at first-generation family firms. We describe existing typologies of family businesses and discuss similarities between the characteristics of first-generation family firms and the rigidly enmeshed family type described in the Circumplex Model. The Steinberg family business (Gibbon & Hadekel (1990) Steinberg: The breakup of a family empire. ON, Canada: MacMillan) serves to illustrate the difficulties of rigidly enmeshed first-generation family firms. Implications for understanding troubled family businesses are discussed together with guidelines for the assessment of a family business in crisis and for intervention: enhancing open communication; allowing for more flexible leadership style, roles, and rules; and maintaining a balance between togetherness and separateness.
Massimiliano Aragona
2011-06-01
Full Text Available Traditionally, the key features of the family system of Eating Disorders (EDs have been considered those originally outlined by Minuchin in his description of the "psychosomatic" family patterns of interaction. This controlled study tests two of the principal characteristics of Minuchin's model, namely enmeshment and rigidity, operationalised as extreme cohesion and low adaptability. Perceived and desired cohesion and adaptability, measured with the FACES III, were compared between 30 clinical families (mothers, fathers and daughters with an ED and 30 non-clinical families. Differences across ED family members were also considered, as well as differences between ED symptomatological subgroups (restricting anorectics vs EDs with bulimic symptoms. High cohesion scores were found in ED families, but similar findings were also reported in control families. Cohesion scores were significantly higher in restricting anorectics than in patients with bulimic symptoms. Adaptability was normal in both ED and control families. This study does not support Minuchin's observations on family enmeshment and rigidity. Although high levels of cohesion were found in ED families, the same relational pattern was found in the control families, suggesting that a tendency to a hyper-involvement of family members might be "normal" in some sociocultural contexts.
Analysis of Large Flexible Body Deformation in Multibody Systems Using Absolute Coordinates
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.
硬质聚氨酯发泡体系发泡动力学模拟%DYNAMICAL SIMULATIONS OF FOAMING SYSTEM OF RIGID POLYURETHANE
王伟力; 钱七虎; 毕亚军; 徐标
2001-01-01
通过流体动力学和热力学理论，建立了描述硬质聚氨酯发泡体系发泡动力学的模型，模拟了模塑反应体系的发泡过程，预报了模塑体的密度和分布，探讨了影响气泡涨大、模塑体密度和分布、气泡迁移和泄出等的因素。模型是合理的，结果是可信的，对实际应用具有指导意义，并为通过理论进行材料设计提供了手段。%This paper has established a model describing dynamics of foaming system of rigid polyurethane with fluid dynamics and thermal mechanics. Using this model. we has simulated the process of foaming. forecasted the density and distribution of molded body. and discussed factors to affect the expansion, motion and leakage of vapor bubbles. the density and distribution of molded body. The model is reasonable. The results are believable. They will provide a direction to practical application, and a method to theoretical design of material.
Accurate upper body rehabilitation system using kinect.
Sinha, Sanjana; Bhowmick, Brojeshwar; Chakravarty, Kingshuk; Sinha, Aniruddha; Das, Abhijit
2016-08-01
The growing importance of Kinect as a tool for clinical assessment and rehabilitation is due to its portability, low cost and markerless system for human motion capture. However, the accuracy of Kinect in measuring three-dimensional body joint center locations often fails to meet clinical standards of accuracy when compared to marker-based motion capture systems such as Vicon. The length of the body segment connecting any two joints, measured as the distance between three-dimensional Kinect skeleton joint coordinates, has been observed to vary with time. The orientation of the line connecting adjoining Kinect skeletal coordinates has also been seen to differ from the actual orientation of the physical body segment. Hence we have proposed an optimization method that utilizes Kinect Depth and RGB information to search for the joint center location that satisfies constraints on body segment length and as well as orientation. An experimental study have been carried out on ten healthy participants performing upper body range of motion exercises. The results report 72% reduction in body segment length variance and 2° improvement in Range of Motion (ROM) angle hence enabling to more accurate measurements for upper limb exercises.
Level rearrangement in three-body systems
Richard, Jean-Marc
2016-01-01
We study systems of three bosons bound by a long-range interaction supplemented by a short-range potential of variable strength. This generalizes the usual two-body exotic atoms where the Coulomb interaction is modified by nuclear forces at short distances. The energy shift due to the short-range part of the interaction combines two-body terms similar to the ones entering the Trueman-Deser formula, and three-body contributions. A phenomenon of level rearrangement is observed, similar to the Zel'dovich effect, by the onset of an additional stable level which is eventually absorbed by the two-body threshold energy, and can be interpreted as an Efimov-like state of the short-range potential.
Composition of Solar System Small Bodies
Vernazza, Pierre
2016-01-01
The aim of the chapter is to summarize our understanding of the compositional distribution across the different reservoirs of small bodies (main belt asteroids, giant planet trojans, irregular satellites of the giant planets, TNOs, comets). We then use this information to i) discuss current dynamical models (Nice and Grand Tack models), ii) mention possible caveats in these models if any, and iii) draw a preliminary version of the primordial compositional gradient across the solar system before planetary migrations occured. Note that the composition of both planetary satellites (the regular ones) and that of the transient populations (NEOs, centaurs) is not discussed here. We strictly focus on the composition of the main reservoirs of small bodies. The manuscript's objective is to provide a global and synthetic view of small bodies' compositions rather than a very detailed one, for specific reviews regarding the composition of small bodies, see papers by Burbine (2014) for asteroids, Emery et al. (2015) for J...
2R Pseudo-Rigid-Body Dynamic Model of Compliant Mechanism With Moment Load%力矩载荷下的柔顺机构2R伪刚体动力学模型
李茜; 余跃庆
2011-01-01
Much research has been done in the structures and kinematics of compliant mechanisms based on the pseudo-rigid-body model. However, the study on the dynamics of compliant mechanisms is very little. In this paper, a new dynamic model of the compliant beam with moment load is proposed in terms of the 2R pseudo-rigid-body model. Then the dynamic equation of the compliant beam is derived by Lagrange equation,and the dynamic characteristic is analyzed with the proposed dynamic model. The characteristic curves are drown and discussed. Compared with the 1R pseudo-rigid-body model, the dynamic model of 2R pseudo-rigid-body can reflect the complicated deibrmation and motion of the compliant mechanisms exactly.%柔顺机构的研究在结构学及运动学方面取得了大量成果,但是在动力学方面的成果却很少.本文首次以柔顺杆为研究对象,建立其在力矩载荷下的2R伪刚体动力学模型,并应用拉格朗日方程推导出动力学方程,进行了动力学响应分析,给出了相应的动态位形图.同时与1R伪刚体动力学模型做比较,从方程、响应曲线等方面分析2R伪刚体动力学模型的特点,表明此模型的优越性.
He, Chenxu; Wylie, William
2011-01-01
In this paper we study the space of solutions to an overdetermined linear system involving the Hessian of functions. We show that if the solution space has dimension greater than one, then the underlying manifold has a very rigid warped product structure. This warped product structure will be used to study warped product Einstein structures in our paper "The space of virtual solutions to the warped product Einstein equation".
Visuals and Visualisation of Human Body Systems
Mathai, Sindhu; Ramadas, Jayashree
2009-01-01
This paper explores the role of diagrams and text in middle school students' understanding and visualisation of human body systems. We develop a common framework based on structure and function to assess students' responses across diagram and verbal modes. Visualisation is defined in terms of understanding transformations on structure and relating…
TANG Hua-ping; PENG Ya-qing
2005-01-01
A kind of active vibration control method was presented through optimal design of driving load of multi-body system with quick startup and brake. Dynamical equation of multi-body system with quick startup and brake was built, and mathematical model of representing vibration control was also set up according to the moving process from startup to brake. Then optimization vibration control model of system driving load was founded by applying theory of optimization control, which takes rigid body moving variable of braking moment as the known condition, and vibration control equation of multi-body system with quick startup and brake was converted into boundary value problem of differential equation. The transient control algorithm of vibration was put forward, which is the analysis basis for the further research. Theoretical analysis and calculation of numerical examples show that the optimal design method for the multi-body system driving load can decrease the vibration of system with duplication.
杨永; 张根宝; 宁小磊; 陈连华
2011-01-01
In order to get rid of the limitation of Rodrigues parameter represents rigid body attitude, similar Rodrigues parameters were proposed for attitude determination in this paper, which would avoid singularity that appeared in Rodrigues parameters and modified Rodrigues parameters at π- π, 2π, -2π in definition. A simple derivation of similar Rodrigues parameters based attitude kinematics equation was presented. Coordinate transformation using similar Rodrigues parameters was given. The property and operation of similar Rodrigues parameters were discussed. The exclusion of attitude representation based on similar Rodrigues parameters was proved. The relationship of similar Rodrigues parameters with other attitude representation, such as Euler angle, quaternion, rotation vector and direction cosine matrix were also provided. A recursive solution of similar Rodrigues parameters was given to attitude algorithm to facilitate its application in SINS. The simulation results of some standard ballistic tracer which generated from STK in Matlab software showed that the attitude estimation algorithm using similar Rodrigues parameter could avoid the occurrence of singularity and was more efficient on calculations than widely used quaternion based kinematics equation, which was an important significance in theory and reference.%针对Rodrigues参数描述刚体姿态运动时的缺陷，提出了一种类Rodrigues参数的姿态估计算法，从定义上避免了Rodrigues参数和修正Rodrigues参数在π-，-π，2π，-2π时的奇异。推导了类Rodrigues参数描述的姿态运动学微分方程，给出了坐标变换的类Rodrigues参数描述，讨论了类Rodrigues的性质和运算，证明了类Rodrigues参数描述姿态的唯一性，并导出了类Rodrigues参数与其他常用姿态描述间的转换公式。给出了用于捷联惯导的姿态解算中的类Rodrigues递推解法。在Matlab软件中时基于STK生成的某标准弹道轨迹的仿真结果
Rykov, A I; Shmakov, A N; Kriventsov, V N [Siberian Synchrotron Radiation Center, Budker INP, Lavrentieva 11, Novosibirsk 630090 (Russian Federation); Ueda, Y; Isobe, M [Institute for Solid State Physics, University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8581 (Japan); Nakayama, N [Department of Advanced Materials Science and Engineering, Yamaguchi University, Ube 755-8611 (Japan); Pavlyukhin, Yu T; Petrov, S A [Institute of Solid State Chemistry MC, Siberian Branch RAS, Novosibirsk 630128 (Russian Federation); Vasiliev, A N, E-mail: rykov@woody.ocn.ne.j [Low Temperature Physics Department, Moscow State University, Moscow 119991 (Russian Federation)
2010-04-15
Rietveld profiles, Moessbauer spectra and x-ray absorption fine structure (XAFS) were used to analyze the source of the structural phase transition at T{sub s}=355 K in HoBaCo{sub 4}O{sub 7}. Excess of oxygen content over 'O{sub 7}' was avoided by annealing the samples in an argon flow at 600 {sup 0}C. Space groups (S.G.) Pbn2{sub 1} and P6{sub 3}mc were used to refine the structure parameters in the low- and high-temperature phases, respectively. Additionally, the Cmc2{sub 1} symmetry was considered as a concurrent model of structure of the low-temperature phase. In the high-temperature phase, severe anisotropy of thermal motion of the majority of the oxygen atoms was observed. The variation of quadrupole splitting {epsilon} near T{sub s} is not similar to the step-like anomaly frequently seen at the charge-ordering transition. We observe instead a dip-like anomaly of the average {epsilon} near T{sub s}. Narrow distribution of the electric field gradient (EFG) over different cobalt sites is observed. XAFS spectra show no evidence of significant difference between YBaCo{sub 4}O{sub 7} (T>T{sub s}) and HoBaCo{sub 4}O{sub 7} (T
Saied Mostafa Moazzami
2014-09-01
Full Text Available Direct restoration of severely damaged endodontically treated teeth (ETT using available and conventional and current matrix systems is sometimes impractical and in some clinical cases is impossible. The aim of this paper is to introduce and describe a new matrix system based on Rigid Tray Technique (RTT for dealing with such difficult clinical cases.
21 CFR 874.4710 - Esophagoscope (flexible or rigid) and accessories.
2010-04-01
... generic type of device includes the flexible foreign body claw, flexible biopsy forceps, rigid biopsy curette, flexible biopsy brush, rigid biopsy forceps and flexible biopsy curette, but excludes...
Quantum scaling in many-body systems
Continentino, Mucio A
2001-01-01
This book on quantum phase transitions has been written by one of the pioneers in the application of scaling ideas to many-body systems - a new and exciting subject that has relevance to many areas of condensed matter and theoretical physics. One of the few books on the subject, it emphasizes strongly correlated electronic systems. Although dealing with complex problems in statistical mechanics, it does not lose sight of the experiments and the actual physical systems which motivate the theoretical work. The book starts by presenting the scaling theory of quantum critical phenomena. Critical e
Takayuki Kurashima
2015-09-01
Full Text Available Influential stakeholders have highlighted many constraints inherent in conventional scientific forest management plans for community forestry (CF and presented simpler alternatives. Nevertheless, some developing countries continue to use rigid, complex and high-cost plans and regulations. This article considers two issues: (1 why heavily-regulated or rigid CF systems were originally introduced and why they continue to be used in developing countries despite critiques and counterproposals; and (2 under what circumstances will such CF systems face an impasse, and what can be done to resolve the situation. Using Cambodia as a case study, we examine the development of a rigid CF system, review negative factors influencing the upland forested area, clarify the unfavorable situations arising from these factors and discuss likely problems associated with the CF management system. International organizations played a key role in the introduction and maintenance of rigid, complex and high-cost CF systems in Cambodia. Conflicts and crises arise when the administration prosecutes local farmers for illegal cultivation or deprives communities of CF management rights because of the expansion of commercial crop cultivation and the lack of adequate community management in response to unprecedented changes. A likely practical solution to the probable impasse is the development and funding of a functional network of CF management committees, rather than the adoption of an entirely new, alternative system.
Study on rigid-flexible coupling dynamics of hub-plate system
ZHAO Feiyun; XIE Yongcheng; ZHANG Ming; HE Yinbiao
2007-01-01
Dynamic modeling of a rotating flexible hubplate system is investigated by using Jourdain's variation principle in which the finite element method (FEM) is used as discretization method for a flexible plate. Different from the previous modeling of a plate with a prescribed large overall motion, the coupling between large overall motion of the system and elastic deformation of the flexible plate is taken into account in the proposed coupling model. The quadratic terms are included in the strain-displacement expression,such that the dynamic stiffening terms are included. Simulation of a rotating hub-plate system indicates that the linear model based on linear strain-displacement assumption may lead to erroneous results in the case of high rotation speed. Conservation of energy verifies the validity of the proposed model. Furthermore, frequency analysis of a hub-plate system shows the difference between the frequencies of the system with free and prescribed large overall motion, and parameter analysis of the system reveals the coupling characteristics of the rotational motion and the deformation.
Earth system multi-body restriction dynamics model research
ZHANG; Qingxian; BI; Siwen; GONG; Huili
2006-01-01
Research provides a theoretical basis for an Earth system multi-body mechanics model and its dynamics, including the Earth system multi-body restriction function and its power, Earth system multi-body restriction under decreasing generalized velocity and decreasing partial palstance, the Earth system multi-body decreasing generalized force, a moving mechanics function, and the Earth system multi-body restriction's wattful and wattless forces.
On the development of a low-cost rigid borescopic fringe projection system
Schlobohm, Jochen; Pösch, Andreas; Kästner, Markus; Reithmeier, Eduard
2015-01-01
Examining the geometry of complex industrial free form objects, like a blade integrated disk (blisk) of a jet engine compressor, is currently subject to research. High measurement precision and speed are required and the complex geometry poses a challenge for state of the art measurement systems. In order to fulfill typical inspection requirements, the fringe projection methodology was adapted in this work to accomplish the task of fast and precise geometry examination. A low cost borescopic fringe projection system for 3D shape measurement based on consumer electronics combined with state of the art optics was developed. Nevertheless, it is able to provide measurement uncertainties comparable to professional systems. We are using a portable consumer LED-beamer, which we have modified to fit the optics of the borescope and a Raspberry Pi single-board computer with a 5 megapixel camera to capture the fringe patterns. With this setup and fringe projection algorithms, which have been developed by this institute over the last years, we were able to perform high quality measurements while still being suitable for a compact inspection system. Measurements with high point densities are possible even in narrow areas of parts with complex geometries like blisks. The measuring system and first measurement results will be presented at the conference.
Gortler, Steven J; Liu, Ligang; Thurston, Dylan P
2010-01-01
We study the properties of affine rigidity of a hypergraph and prove a variety of fundamental results. First, we show that affine rigidity is a generic property (i.e., depends only on the hypergraph, not the particular embedding). Then we prove that a graph is generically neighborhood affinely rigid in d-dimensional space if it is (d+1)-vertex-connected. We also show neighborhood affine rigidity of a graph implies universal rigidity of its squared graph. Our results, and affine rigidity more generally, have natural applications in point registration and localization, as well as connections to manifold learning.
Steven J. Gortler
2013-12-01
Full Text Available We study the properties of affine rigidity of a hypergraph and prove a variety of fundamental results. First, we show that affine rigidity is a generic property (i.e., depends only on the hypergraph, not the particular embedding. Then we prove that a graph is generically neighborhood affinely rigid in d-dimensional space if it is (d+1-vertex-connected. We also show neighborhood affine rigidity of a graph implies universal rigidity of its squared graph. Our results, and affine rigidity more generally, have natural applications in point registration and localization, as well as connections to manifold learning.
Kurasov V. S.
2016-04-01
Full Text Available The main reason of the developmental delay of the RF livestock sector below the level of its inherent potential capacity is a detrimental alteration in methodological procedure of livestock and poultry management, occurring due to shortage of traditional feeds. As a result, a necessity to develop the yearlong production of additional fodders, allowing for balanced feeding throughout the year, arose. The method of hydroponic green fodder (HGF cultivation meets these requirements. Analysis of HGF production methods and labor saver mechanisms makes possible to claim that existing systems are characterized by high costs and difficulties in fabrication, and require a number of additional mechanical devices to work. In the FSBEI HE “KSMTU”, a one-tier hydroponic system has been developed, fitted with curved (arched guideways and rigid elastic load-carrying components, where loading of seeds and takeout of grown HGF occur by gravity without additional devices of labour input. Based on analysis performed on design features of the proposed system, it has been established that emergence of parametric resonances in the system under consideration is possible; and the study of tray dynamical stability has been carried out with the aim to prevent them. The motion of the hydroponic system tray under consideration is described by the classical Mathieu equation, including two parameters a and q. The further studies of sets of stable and unstable solutions in the plane of a and q parameters are presented by the Ince-Strutt diagram. As a result of the performed calculations, the diameter of the loadcarrying component was identified (d=5 mm, which should ensure reliable working capacity and stability of the hydroponic system in whole
Modeling and simulation for non-smooth dynamics of planar-motion rigid-body%非光滑平面运动刚体动力学建模与数值计算方法
王晓军; 杨小斌; 刘志军
2015-01-01
基于接触力学理论和线性互补问题的算法,给出了一种含接触、碰撞以及Coulomb干摩擦的平面运动刚体动力学的建模与数值计算方法. 文中的摩擦力模型采用Coulomb干摩擦模型;考虑刚体模型在接触点的局部变形,用局部变形量与变形速度的非线性函数表示物体间的法向接触力;应用牛顿欧拉方法建立系统的动力学方程. 为计算非光滑动力学方程,建立了摩擦定律的互补条件和互补关系式,并利用事件驱动法,将接触点黏滞与滑移运动状态切换的判断以及静摩擦力的计算转化成线性互补问题的求解. 最后通过数值算例分析含摩擦与碰撞平面运动刚体的动力学特性,并验证了该算法的有效性.%A modeling and numerical method for the dynamics of a planar motion rigid -body with contact , im-pact and Coulomb's dry friction is presented based on the theory of contact mechanics and the arithmetic of linear complementarity problem ( LCP) .The friction law adopts Coulomb's dry friction model .The local deformations in contact bodies are taken into account although bodies are assumed to be rigid .The normal contact forces are ex-pressed as nonlinear functions of penetration depth and its speed .The dynamical equatuons of the rigid -body are obtained by using Newton -Euler nethod .The complementarity conditions and formulations about the friction law are given in order to compute the non -smooth dynamical equatiions .Based on the event -driven scheme , the problems of detecting stick -slip state transitions and solving the static frictional forces are formulated and solved as a linear complementarity problem .Finally, the numerical example of a planar -motion rigid-body is given to analyze its dynamical behaviour affected by impact and dry friction as well as shown that the proposed method is effective .
Configuration maintaining control of three-body ring tethered system based on thrust compensation
Huang, Panfeng; Liu, Binbin; Zhang, Fan
2016-06-01
Space multi-tethered systems have shown broad prospects in remote observation missions. This paper mainly focuses on the dynamics and configuration maintaining control of space spinning three-body ring tethered system for such mission. Firstly, we establish the spinning dynamic model of the three-body ring tethered system considering the elasticity of the tether using Newton-Euler method, and then validate the suitability of this model by numerical simulation. Subsequently, LP (Likins-Pringle) initial equilibrium conditions for the tethered system are derived based on rigid body's equilibrium theory. Simulation results show that tether slack, snapping and interaction between the tethers exist in the three-body ring system, and its' configuration can not be maintained without control. Finally, a control strategy based on thrust compensation, namely thrust to simulate tether compression under LP initial equilibrium conditions is designed to solve the configuration maintaining control problem. Control effects are verified by numerical simulation compared with uncontrolled situation. Simulation results show that the configuration of the three-body ring tethered system could maintain under this active control strategy.
6自由度在刚体初始轨迹中的数值研究%A Rigid Body Numerical Simulation Based on Six Degrees of Freedom Method
杨磊; 肖天航
2014-01-01
采用6自由度方法对刚体的运动姿态进行了仿真研究，通过求解刚体的动力学方程和运动学方程确定刚体的质心位置。在分析研究传统求解刚体欧拉角缺点的基础上，采用全角度转换的四元数法求解欧拉角，解决了非全角度转换的四元数法在大攻角情况下转换不准确的问题。对6自由度方法进行了算例验证，结果表明该方法正确、实用，与已有的模型相比具有更好的工程应用价值。%It introduces the simulation of rigid body motion attitude with six degrees of freedom method .In order to determine the CG position of the rigid body , it solves the equation of rigid body dynamics and kinematics e-quations .Based on the shortcomings analysis of traditional methods and comparing with non -point conversion quaternion method , it shows that the proposed method can avoid the problem of inaccurate conversion for solving speed and angle of attack .The results prove that this method is correct and practical , and has better value in en-gineering applications than the existing other methods .
Korayem, M H; Nekoo, S R
2015-01-01
This article investigates finite-time optimal and suboptimal controls for time-varying systems with state and control nonlinearities. The state-dependent Riccati equation (SDRE) controller was the main framework. A finite-time constraint imposed on the equation changes it to a differential equation, known as the state-dependent differential Riccati equation (SDDRE) and this equation was applied to the problem reported in this study that provides general formulation and stability analysis. The following four solution methods were developed for solving the SDDRE; backward integration, state transition matrix (STM) and the Lyapunov based method. In the Lyapunov approach, both positive and negative definite solutions to related SDRE were used to provide suboptimal gain for the SDDRE. Finite-time suboptimal control is applied for robotic manipulator, as finite-time constraint strongly decreases state error and operation time. General state-dependent coefficient (SDC) parameterizations for rigid and flexible joint arms (prismatic or revolute joints) are introduced. By including nonlinear control inputs in the formulation, the actuator׳s limits can be inserted directly to the state-space equation of a manipulator. A finite-time SDRE was implemented on a 6R manipulator both in theory and experimentally. And a reduced 3R arm was modeled and tested as a flexible joint robot (FJR). Evaluations of load carrying capacity and operation time were investigated to assess the capability of this approach, both of which showed significant improvement.
Dance recognition system using lower body movement.
Simpson, Travis T; Wiesner, Susan L; Bennett, Bradford C
2014-02-01
The current means of locating specific movements in film necessitate hours of viewing, making the task of conducting research into movement characteristics and patterns tedious and difficult. This is particularly problematic for the research and analysis of complex movement systems such as sports and dance. While some systems have been developed to manually annotate film, to date no automated way of identifying complex, full body movement exists. With pattern recognition technology and knowledge of joint locations, automatically describing filmed movement using computer software is possible. This study used various forms of lower body kinematic analysis to identify codified dance movements. We created an algorithm that compares an unknown move with a specified start and stop against known dance moves. Our recognition method consists of classification and template correlation using a database of model moves. This system was optimized to include nearly 90 dance and Tai Chi Chuan movements, producing accurate name identification in over 97% of trials. In addition, the program had the capability to provide a kinematic description of either matched or unmatched moves obtained from classification recognition.
Chemical evolution of primitive solar system bodies
Oro, J.; Mills, T.
1989-01-01
Observations on organic molecules and compounds containing biogenic elements in the interstellar medium and in the primitive bodies of the solar system are reviewed. The discovery of phosphorus molecular species in dense interstellar clouds, the existence of organic ions in the dust and gas phase of the comas of Comet Halley, and the presence of presolar, deuterium-hydrogen ratios in the amino acids of carbonaceous chondrites are discussed. The relationships between comets, dark asteroids, and carbonaceous chondrites are examined. Also, consideration is given to the chemical evolution of Titan, the primitive earth, and early Mars.
Xiangbo Xu
2015-08-01
Full Text Available Harmonic vibrations of high-speed rotors in momentum exchange devices are primary disturbances for attitude control of spacecraft. Active magnetic bearings (AMBs, offering the ability to control the AMB-rotor dynamic behaviors, are preferred in high-precision and micro-vibration applications, such as high-solution Earth observation satellites. However, undesirable harmonic displacements, currents, and vibrations also occur in the AMB-rotor system owing to the mixed rotor imbalances and sensor runout. To compensate the rotor imbalances and to suppress the harmonic vibrations, two control methods are presented. Firstly, a four degrees-of-freedom AMB-rotor model with the static imbalance, dynamic imbalance, and the sensor runout are described. Next, a synchronous current reduction approach with a variable-phase notch feedback is proposed, so that the rotor imbalances can be identified on-line through the analysis of the synchronous displacement relationships of the geometric, inertial, and rotational axes of the rotor. Then, the identified rotor imbalances, which can be represented at two prescribed balancing planes of the rotor, are compensated by discrete add-on weights whose masses are calculated in the vector form. Finally, a repetitive control algorithm is utilized to suppress the residual harmonic vibrations. The proposed field balancing and harmonic vibration suppression strategies are verified by simulations and experiments performed on a control moment gyro test rig with a rigid AMB-rotor system. Compared with existing methods, the proposed strategies do not require trial weights or an accurate model of the AMB-rotor system. Moreover, the harmonic displacements, currents, and vibrations can be well-attenuated simultaneously.
Xu, Xiangbo; Chen, Shao
2015-08-31
Harmonic vibrations of high-speed rotors in momentum exchange devices are primary disturbances for attitude control of spacecraft. Active magnetic bearings (AMBs), offering the ability to control the AMB-rotor dynamic behaviors, are preferred in high-precision and micro-vibration applications, such as high-solution Earth observation satellites. However, undesirable harmonic displacements, currents, and vibrations also occur in the AMB-rotor system owing to the mixed rotor imbalances and sensor runout. To compensate the rotor imbalances and to suppress the harmonic vibrations, two control methods are presented. Firstly, a four degrees-of-freedom AMB-rotor model with the static imbalance, dynamic imbalance, and the sensor runout are described. Next, a synchronous current reduction approach with a variable-phase notch feedback is proposed, so that the rotor imbalances can be identified on-line through the analysis of the synchronous displacement relationships of the geometric, inertial, and rotational axes of the rotor. Then, the identified rotor imbalances, which can be represented at two prescribed balancing planes of the rotor, are compensated by discrete add-on weights whose masses are calculated in the vector form. Finally, a repetitive control algorithm is utilized to suppress the residual harmonic vibrations. The proposed field balancing and harmonic vibration suppression strategies are verified by simulations and experiments performed on a control moment gyro test rig with a rigid AMB-rotor system. Compared with existing methods, the proposed strategies do not require trial weights or an accurate model of the AMB-rotor system. Moreover, the harmonic displacements, currents, and vibrations can be well-attenuated simultaneously.
Kim, Hyun; Lee, Sung-Jae [Department of Biomedical Engineering, Inje University, Gimhae 621749 (Korea, Republic of); Lim, Do-Hyung [Korea Institute of Industrial Technology, Cheonan 331825 (Korea, Republic of); Oh, Hyun-Ju [Korea Food and Drug Administration, Seoul 363951 (Korea, Republic of); Lee, Kwon-Yong, E-mail: sjl@bme.inje.ac.kr [Department of Mechanical Engineering, Sejong University, Seoul 143747 (Korea, Republic of)
2011-10-15
Recently, various types of semi-rigid pedicle screw fixation systems have been developed for the surgical treatment of the lumbar spine. They were introduced to address the adverse issues commonly found in traditional rigid spinal fusion--abnormally large motion at the adjacent level and subsequent degeneration. The semi-rigid system uses more compliant materials (nitinol or polymers) and/or changes in rod design (coiled or twisted rods) as compared to the conventional rigid straight rods made of Ti alloys (E = 114 GPa, {upsilon} = 0.32). However, biomechanical studies on the semi-rigid pedicle screw systems were usually limited to linear modeling of the implant and anatomic elements, which may not be capable of reflecting realistic post-operative motions of the spine. In this study, we evaluated the effects of nonlinearity in materials used for semi-rigid pedicle screw fixation systems to evaluate the changes in biomechanical behaviors using finite element analysis. Changes in range of motion (ROM) and center of rotation (COR) were assessed at the operated and adjacent levels. Actual load-displacement results of the semi-rigid rod from mechanical test were carried out to reflect the nonlinearity of the implant. In addition, nonlinear material properties of various spinal ligaments studies were used for the finite element modeling. The post-operative models were constructed by modifying the previously validated intact model of the L1-S1 spine. Eight different post-operative models were made to address the effects of nonlinearity-with a traditional stiffness modulus rod (with linear ligaments, case 1; with nonlinear ligaments, case 5), with a rigid rod (with linear ligaments, case 2; with nonlinear ligaments, case 6), with a soft rod (with linear ligaments, case 3; with nonlinear ligaments, case 7), and with a nonlinear rod (with linear ligaments, case 4; with nonlinear ligaments, case 8). To simulate the load on the lumbar spine in a neutral posture, follower load
Saye, Robert
2017-09-01
In this two-part paper, a high-order accurate implicit mesh discontinuous Galerkin (dG) framework is developed for fluid interface dynamics, facilitating precise computation of interfacial fluid flow in evolving geometries. The framework uses implicitly defined meshes-wherein a reference quadtree or octree grid is combined with an implicit representation of evolving interfaces and moving domain boundaries-and allows physically prescribed interfacial jump conditions to be imposed or captured with high-order accuracy. Part one discusses the design of the framework, including: (i) high-order quadrature for implicitly defined elements and faces; (ii) high-order accurate discretisation of scalar and vector-valued elliptic partial differential equations with interfacial jumps in ellipticity coefficient, leading to optimal-order accuracy in the maximum norm and discrete linear systems that are symmetric positive (semi)definite; (iii) the design of incompressible fluid flow projection operators, which except for the influence of small penalty parameters, are discretely idempotent; and (iv) the design of geometric multigrid methods for elliptic interface problems on implicitly defined meshes and their use as preconditioners for the conjugate gradient method. Also discussed is a variety of aspects relating to moving interfaces, including: (v) dG discretisations of the level set method on implicitly defined meshes; (vi) transferring state between evolving implicit meshes; (vii) preserving mesh topology to accurately compute temporal derivatives; (viii) high-order accurate reinitialisation of level set functions; and (ix) the integration of adaptive mesh refinement. In part two, several applications of the implicit mesh dG framework in two and three dimensions are presented, including examples of single phase flow in nontrivial geometry, surface tension-driven two phase flow with phase-dependent fluid density and viscosity, rigid body fluid-structure interaction, and free
Saye, Robert
2017-09-01
In this two-part paper, a high-order accurate implicit mesh discontinuous Galerkin (dG) framework is developed for fluid interface dynamics, facilitating precise computation of interfacial fluid flow in evolving geometries. The framework uses implicitly defined meshes-wherein a reference quadtree or octree grid is combined with an implicit representation of evolving interfaces and moving domain boundaries-and allows physically prescribed interfacial jump conditions to be imposed or captured with high-order accuracy. Part one discusses the design of the framework, including: (i) high-order quadrature for implicitly defined elements and faces; (ii) high-order accurate discretisation of scalar and vector-valued elliptic partial differential equations with interfacial jumps in ellipticity coefficient, leading to optimal-order accuracy in the maximum norm and discrete linear systems that are symmetric positive (semi)definite; (iii) the design of incompressible fluid flow projection operators, which except for the influence of small penalty parameters, are discretely idempotent; and (iv) the design of geometric multigrid methods for elliptic interface problems on implicitly defined meshes and their use as preconditioners for the conjugate gradient method. Also discussed is a variety of aspects relating to moving interfaces, including: (v) dG discretisations of the level set method on implicitly defined meshes; (vi) transferring state between evolving implicit meshes; (vii) preserving mesh topology to accurately compute temporal derivatives; (viii) high-order accurate reinitialisation of level set functions; and (ix) the integration of adaptive mesh refinement. In part two, several applications of the implicit mesh dG framework in two and three dimensions are presented, including examples of single phase flow in nontrivial geometry, surface tension-driven two phase flow with phase-dependent fluid density and viscosity, rigid body fluid-structure interaction, and free
Integrable systems, toric degenerations and Okounkov bodies
Harada, Megumi
2012-01-01
Let X be a smooth projective variety of dimension n over C equipped with a very ample line bundle L. Using the theory of Okounkov bodies and an associated toric degeneration, we construct -- under a mild technical hypothesis on X -- an integrable system on X in the sense of symplectic geometry. More precisely, we construct a collection of real-valued functions {H_1, ..., H_n} on X which are continuous on all of X, smooth on an open dense subset U of X, and pairwise Poisson-commute on U. Here the symplectic structure on X is the pullback of the Fubini-Study form on P(H^0(X, L)^*) via the Kodaira embedding. The image of the `moment map' (H_1, ..., H_n): X to R^n is precisely the Okounkov body \\Delta = \\Delta(R, v) associated to the homogeneous coordinate ring R of X, and an appropriate choice of valuation v on R. Our main technical tools come from algebraic geometry, differential (Kaehler) geometry, and analysis. Specifically, we use: a toric degeneration of X to a (not necessarily normal) toric variety X_0, th...
Kutscher, HL.; Gao, D.; Li, S.; Massa, CB.; Cervelli, J.; Deshmukh, M.; Joseph, LB.; Laskin, DL.; Sinko, PJ.
2013-01-01
The toxicodynamic relationship between the number and size of pulmonary microemboli resulting from uniformly sized, rigid polystyrene microparticles (MPs) administered intravenously and their potential effects on pulmonary gas exchange was investigated. CD-1 male mice (6–8 wk) were intravenously administered 10, 25 and 45 μm diameter MPs. Oxygen hemoglobin saturation in the blood (SpO2) was measured non-invasively using a pulse oximeter while varying inhaled oxygen concentration (FIO2). Resulting data were fit to a physiologically based non-linear mathematical model that estimates 2 parameters: ventilation-perfusion ratio (VA/Q) and shunt (percentage of deoxygenated blood returning to systemic circulation). The number of MPs administered prior to a statistically significant reduction in normalized VA/Q was dependent on particle size. MP doses that resulted in a significant reduction in normalized VA/Q one day post-treatment were 4,000, 40,000 and 550,000 MPs/g for 45, 25 and 10 μm MPs, respectively. The model estimated VA/Q and shunt returned to baseline levels 7 days post-treatment. Measuring SpO2 alone was not sufficient to observe changes in gas exchange; however, when combined with model-derived VA/Q and shunt early reversible toxicity from pulmonary microemboli was detected suggesting that the model and physical measurements are both required for assessing toxicity. Moreover, it appears that the MP load required to alter gas exchange in a mouse prior to lethality is significantly higher than the anticipated required MP dose for effective drug delivery. Overall, the current results indicate that the microemboli-based approach for targeted pulmonary drug delivery is potentially safe and should be further explored. PMID:23142466
Rigidity and flexibility of biological networks
Gaspar, Merse E
2012-01-01
The network approach became a widely used tool to understand the behaviour of complex systems in the last decade. We start from a short description of structural rigidity theory. A detailed account on the combinatorial rigidity analysis of protein structures, as well as local flexibility measures of proteins and their applications in explaining allostery and thermostability is given. We also briefly discuss the network aspects of cytoskeletal tensegrity. Finally, we show the importance of the balance between functional flexibility and rigidity in protein-protein interaction, metabolic, gene regulatory and neuronal networks. Our summary raises the possibility that the concepts of flexibility and rigidity can be generalized to all networks.
Rijkhoff, Jan
2010-01-01
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...
Changala, P Bryan
2016-01-01
We present a perturbative method for ab initio calculations of rotational and rovibrational effective Hamiltonians of both rigid and non-rigid molecules. Our approach is based on a curvilinear implementation of second order vibrational M{\\o}ller-Plesset perturbation theory (VMP2) extended to include rotational effects via a second order contact transformation. Though more expensive, this approach is significantly more accurate than standard second order vibrational perturbation theory (VPT2) for systems that are poorly described to zeroth order by rectilinear normal mode harmonic oscillators. We apply this method and demonstrate its accuracy on two molecules: Si$_2$C, a quasilinear triatomic with significant bending anharmonicity, and CH$_3$NO$_2$, which contains a completely unhindered methyl rotor. In addition to these two examples, we discuss several key technical aspects of the method, including an efficient implementation of Eckart and quasi-Eckart frame embedding that does not rely on numerical finite d...
Kutscher, H.L. [Department of Pharmaceutics, Ernest Mario School of Pharmacy, Rutgers, The State University of New Jersey, Piscataway, NJ 08854 (United States); Gao, D.; Li, S. [Department of Pharmaceutics, Ernest Mario School of Pharmacy, Rutgers, The State University of New Jersey, Piscataway, NJ 08854 (United States); UMDNJ-Rutgers CounterACT Research Center of Excellence, Rutgers, The State University of New Jersey, Piscataway, NJ 08854 (United States); Massa, C.B.; Cervelli, J. [Department of Pharmacology and Toxicology, Ernest Mario School of Pharmacy, Rutgers, The State University of New Jersey, Piscataway, NJ 08854 (United States); Deshmukh, M. [Department of Pharmaceutics, Ernest Mario School of Pharmacy, Rutgers, The State University of New Jersey, Piscataway, NJ 08854 (United States); UMDNJ-Rutgers CounterACT Research Center of Excellence, Rutgers, The State University of New Jersey, Piscataway, NJ 08854 (United States); Joseph, L.B.; Laskin, D.L. [UMDNJ-Rutgers CounterACT Research Center of Excellence, Rutgers, The State University of New Jersey, Piscataway, NJ 08854 (United States); Department of Pharmacology and Toxicology, Ernest Mario School of Pharmacy, Rutgers, The State University of New Jersey, Piscataway, NJ 08854 (United States); Sinko, P.J., E-mail: sinko@rci.rutgers.edu [Department of Pharmaceutics, Ernest Mario School of Pharmacy, Rutgers, The State University of New Jersey, Piscataway, NJ 08854 (United States); UMDNJ-Rutgers CounterACT Research Center of Excellence, Rutgers, The State University of New Jersey, Piscataway, NJ 08854 (United States)
2013-01-15
The toxicodynamic relationship between the number and size of pulmonary microemboli resulting from uniformly sized, rigid polystyrene microparticles (MPs) administered intravenously and their potential effects on pulmonary gas exchange were investigated. CD-1 male mice (6–8 weeks) were intravenously administered 10, 25 and 45 μm diameter MPs. Oxygen hemoglobin saturation in the blood (SpO{sub 2}) was measured non-invasively using a pulse oximeter while varying inhaled oxygen concentration (F{sub I}O{sub 2}). The resulting data were fit to a physiologically based non-linear mathematical model that estimates 2 parameters: ventilation–perfusion ratio (V{sub A}/Q) and shunt (percentage of deoxygenated blood returning to systemic circulation). The number of MPs administered prior to a statistically significant reduction in normalized V{sub A}/Q was dependent on particle size. MP doses that resulted in a significant reduction in normalized V{sub A}/Q one day post-treatment were 4000, 40,000 and 550,000 MPs/g for 45, 25 and 10 μm MPs, respectively. The model estimated V{sub A}/Q and shunt returned to baseline levels 7 days post-treatment. Measuring SpO{sub 2} alone was not sufficient to observe changes in gas exchange; however, when combined with model-derived V{sub A}/Q and shunt early reversible toxicity from pulmonary microemboli was detected suggesting that the model and physical measurements are both required for assessing toxicity. Moreover, it appears that the MP load required to alter gas exchange in a mouse prior to lethality is significantly higher than the anticipated required MP dose for effective drug delivery. Overall, the current results indicate that the microemboli-based approach for targeted pulmonary drug delivery is potentially safe and should be further explored. -- Highlights: ► Murine pulmonary gas exchange after microembolization was non-invasively studied. ► A physiologically based model quantified impairment of pulmonary gas exchange.
Generic Rigidity Matroids with Dilworth Truncations
Tanigawa, Shin-ichi
2010-01-01
We prove that the linear matroid that defines generic rigidity of $d$-dimensional body-rod-bar frameworks (i.e., structures consisting of disjoint bodies and rods mutually linked by bars) can be obtained from the union of ${d+1 \\choose 2}$ graphic matroids by applying variants of Dilworth truncation $n_r$ times, where $n_r$ denotes the number of rods. This leads to an alternative proof of Tay's combinatorial characterizations of generic rigidity of rod-bar frameworks and that of identified body-hinge frameworks.
Rapid maneuvering of multi-body dynamic systems with optimal motion compensation
Bishop, B.; Gargano, R.; Sears, A.; Karpenko, M.
2015-12-01
Rapid maneuvering of multi-body dynamical systems is an important, yet challenging, problem in many applications. Even in the case of rigid bodies, it can be difficult to maintain precise control over nominally stationary links if it is required to move some of the other links quickly because of the various nonlinearities and coupled interactions that occur between the bodies. Typical control concepts treat the multi-body motion control problem in two-stages. First, the nonlinear and coupling terms are treated as disturbances and a trajectory tracking control law is designed in order to attenuate their effects. Next, motion profiles are designed, based on kinematics parameterizations, and these are used as inputs to the closed loop system to move the links. This paper describes an approach for rapid maneuvering of multi-body systems that uses optimal control theory to account for dynamic nonlinearities and coupling as part of the motion trajectory design. Incorporating appropriate operational constraints automatically compensates for these multi-body effects so that motion time can be reduced while simultaneously achieving other objectives such as reducing the excitation of selected links. Since the compensatory effect is embedded within the optimal motion trajectories, the performance improvement can be obtained even when using simple closed-loop architectures for maneuver implementation. Simulation results for minimum time control of a two-axis gimbal system and for rapid maneuvering of a TDRS single-access antenna, wherein it is desired to limit the excitation of the satellite body to which the antenna is attached, are presented to illustrate the concepts.
Clark, Timothy B P
2011-01-01
In this paper we investigate the class of rigid monomial ideals. We give a characterization of the minimal free resolutions of certain classes of these ideals. Specifically, we show that the ideals in a particular subclass of rigid monomial ideals are lattice-linear and thus their minimal resolution can be constructed as a poset resolution. We then use this result to give a description of the minimal free resolution of a larger class of rigid monomial ideals by using $\\mathcal{L}(n)$, the lattice of all lcm-lattices of monomial ideals with $n$ generators. By fixing a stratum in $\\mathcal{L}(n)$ where all ideals have the same total Betti numbers we show that rigidity is a property which is upward closed in $\\mathcal{L}(n)$. Furthermore, the minimal resolution of all rigid ideals contained in a fixed stratum is shown to be isomorphic to the constructed minimal resolution.
罗宏
2014-01-01
Two pendulums were designed to demonstrate the translational motion and plane-paral-lel motion of rigid bodies .The periods of the two pendulums were deduced with Lagrange equation . The reason of the different periods of two pendulums was analyzed by comparing the Lagrange fuc-tio n .%设计了2种摆来分别演示刚体的平动和平面平行运动，并比较了在2种不同运动形式下摆的周期。用拉格朗日方程得到了两摆周期的表达式，通过比较二者的拉格朗日函数，分析了两摆周期不同的原因。
Johansson, Adam; Balter, James; Cao, Yue
2017-06-15
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, 2017. © 2017 International Society for Magnetic Resonance in Medicine. © 2017 International Society for Magnetic Resonance in Medicine.
侯健; 张方方
2012-01-01
为研究非标准条件下高速旋转弹丸的刚体外弹道性能,基于坐标变换理论建立了地球曲率影响下的外弹道数学模型,分析了自然风对弹丸气动力及气动力矩的作用,并在考虑气温气压及重力加速度变化的基础上得到了非标准务件下旋转弹丸的刚体外弹道模型.利用该模型对某105 mm榴弹外弹道进行仿真,结果表明:地球曲率引起旋转弹丸外弹道性能参数值少量增加,且增加量随弹丸射程的增大而增加,验证了自然风对弹丸动态稳定性有较大影响,进而影响弹丸的各弹道参数的结论.%To study the rigid body external trajectory performance of spinning projectile under non-standard conditions,the effect of natural wind on earth curvature was analyzed. Moreover,a rigid body external trajectory model was established according to the variations in atmospheric pressure,temperature and acceleration of gravity. The simulation was carried out on the external trajectory of a 105 mm shrapnel by this model. The calculated results show that the external trajectory performance parameters are increased with the fire range by earth curvature,thereby verifying the influence of natural wind upon the dynamical stability of the projectile,which further affects the external trajectory performance parameters.
Long, W. S.
1977-01-01
Attempts are made to generate acceptable coordinate systems for two-body configurations. The first method to be tried was to use the body-fitted coordinate system technique to obtain the best system. This technique alone did not produce very good results, so another approach was investigated. This new approach involved using a combination of the body fitted coordinate system procedure and a complex variable transformation method that was used successfully in conformal mapping.
Discrimination of Body Odor Using Odor Sieving Sensor System
Takamizawa, Tadashi; Miyagi, Kazuki; Miyauchi, Hitoshi; Imahashi, Masahiro; Hayashi, Kenshi
2011-09-01
We have been focusing on sebum for discriminating human body odor. In this study, we examined body odor sampled from 12 male examinees. Through the experiment, we detected statistically-significant differences between 56 pairs of examinees out of 66 pairs (approximately 85%). This result shows that our system and principle enabled discrimination of body odor between examinees to a certain extent.
Kitada, Ryo; Sadato, Norihiro; Lederman, Susan J
2012-01-01
Rigid surfaces consisting of spatially jittered 2-D raised-dot patterns with different inter-element spacings were moved back and forth across the skin at three different speeds (10-fold range). Within each psychophysical experiment, participants numerically estimated the perceived magnitude of either unpleasantness (nonpainful) or roughness of 2-D raised-dot surfaces applied to two stationary body sites (experiment 1: fingers; experiment 2: forearm). The psychophysical functions for the two types of perceptual judgment were highly similar at both body loci; more specifically, the perceived magnitude of unpleasantness and roughness both increased monotonically as a power function of increasing inter-element spacing, with the rate of growth declining at the upper end of the continuum. These results suggest that inter-element spacing is a critical determinant of the perceived magnitude of unpleasantness (nonpainful), as well as of roughness. Each perceptual judgment also increased as a function of increasing relative speed at both body loci. However, the magnitude of this effect was significantly greater for perceived unpleasantness than for perceived roughness; conversely, the speed effect was significantly greater on the forearm than on the fingers. Several possible explanations for these findings are considered.
Analysis of an idealized body-vortex systems
Pedersen, Johan Rønby; Aref, Hassan
2008-01-01
We explore the class of dynamical systems consisting of a body, N point vortices, and one or more passive particles in an ideal, unbounded, planar fluid. The body is represented by a closed curve and is free to move in response to the fluid motion. The vortices have fixed strengths and are intended...... in hand. They can be analyzed using techniques from the theory of dynamical systems with a finite number of degrees of freedom. The simplest such system, a single point vortex and a circular body, is integrable. If we add vortices, or change other features of the system such as the body shape, the motion...
Stavroulakis, Petros I.; Chen, Shuxiao; Sims-Waterhouse, Danny; Piano, Samanta; Southon, Nicholas; Bointon, Patrick; Leach, Richard
2017-06-01
In non-rigid fringe projection 3D measurement systems, where either the camera or projector setup can change significantly between measurements or the object needs to be tracked, self-calibration has to be carried out frequently to keep the measurements accurate1. In fringe projection systems, it is common to use methods developed initially for photogrammetry for the calibration of the camera(s) in the system in terms of extrinsic and intrinsic parameters. To calibrate the projector(s) an extra correspondence between a pre-calibrated camera and an image created by the projector is performed. These recalibration steps are usually time consuming and involve the measurement of calibrated patterns on planes, before the actual object can continue to be measured after a motion of a camera or projector has been introduced in the setup and hence do not facilitate fast 3D measurement of objects when frequent experimental setup changes are necessary. By employing and combining a priori information via inverse rendering, on-board sensors, deep learning and leveraging a graphics processor unit (GPU), we assess a fine camera pose estimation method which is based on optimising the rendering of a model of a scene and the object to match the view from the camera. We find that the success of this calibration pipeline can be greatly improved by using adequate a priori information from the aforementioned sources.
Fermi golden rule for $N$-body systems in a black-body radiation
Ostilli, Massimo
2016-01-01
We review the calculation of the Fermi golden rule for a system of $N$-body dipoles, magnetic or electric, weakly interacting with a black-body radiation. By using the magnetic or electric field-field correlation function evaluated in the 1960s for the black body radiation, we deduce a general formula for the transition rates and study its limiting, fully coherent or fully incoherent, regimes.
Visualizing Astrophysical N-body Systems
Dubinski, John
2008-01-01
I begin with a brief history of N-body simulation and visualization and then go on to describe various methods for creating images and animations of modern simulations in cosmology and galactic dynamics. These techniques are incorporated into a specialized particle visualization software library called MYRIAD that is designed to render images within large parallel N-body simulations as they run. I present several case studies that explore the application of these methods to animations of star clusters, interacting galaxies and cosmological structure formation.
Dynamical Configurations of Celestial Systems Comprised of Multiple Irregular Bodies
Jiang, Yu; Baoyin, Hexi; Li, Junfeng
2016-01-01
This manuscript considers the main features of the nonlinear dynamics of multiple irregular celestial body systems. The gravitational potential, static electric potential, and magnetic potential are considered. Based on the three established potentials, we show that three conservative values exist for this system, including a Jacobi integral. The equilibrium conditions for the system are derived and their stability analyzed. The equilibrium conditions of a celestial system comprised of n irregular bodies are reduced to 12n minus 9 equations. The dynamical results are applied to simulate the motion of multiple-asteroid systems. The simulation is useful for the study of the stability of multiple irregular celestial body systems and for the design of spacecraft orbits to triple asteroid systems discovered in the solar system. The dynamical configurations of the five triple-asteroid systems 45 Eugenia, 87 Sylvia, 93 Minerva, 216 Kleopatra, and 136617 1994CC, and the six-body system 134340 Pluto are calculated and...
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.
HOMOLOGY RIGIDITY OF GRASSMANNIANS
Li Fang; Duan Haibao
2009-01-01
Applying the theory of GrSbner basis to the Schubert presentation for the cohomology of Grassmannians [2], we extend the homology rigidity results known for the classical Grassmaniaas to the exceptional cases.
Crack identification for rigid pavements using unmanned aerial vehicles
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.
Auto-measuring System of 3- Dimensional Human Body
李勇; 尚保平; 付小莉; 尚会超
2001-01-01
To realize the automation of fashion industry measuring,designing and manufacturing, the auto-measurement of 3D size of human body is of great importance. The auto measurement system of 3D human body based on Charge Coupled Devices (CCD) and infrared sensors is presented in this paper. The system can measure the bare size of human body that excludes the effect of clothing quickly and accurately.
The relationship between the stomatognathic system and body posture
Antonino Cuccia; Carola Caradonna
2009-01-01
In recent years, many researchers have investigated the various factors that can influence body posture: mood states, anxiety, head and neck positions, oral functions (respiration, swallowing), oculomotor and visual systems, and the inner ear. Recent studies indicate a role for trigeminal afferents on body posture, but this has not yet been demonstrated conclusively. The present study aims to review the papers that have shown a relationship between the stomatognathic system and body posture. ...
Discrete Time Crystals: Rigidity, Criticality, and Realizations
Yao, N. Y.; Potter, A. C.; Potirniche, I.-D.; Vishwanath, A.
2017-01-01
Despite being forbidden in equilibrium, spontaneous breaking of time translation symmetry can occur in periodically driven, Floquet systems with discrete time-translation symmetry. The period of the resulting discrete time crystal is quantized to an integer multiple of the drive period, arising from a combination of collective synchronization and many body localization. Here, we consider a simple model for a one-dimensional discrete time crystal which explicitly reveals the rigidity of the emergent oscillations as the drive is varied. We numerically map out its phase diagram and compute the properties of the dynamical phase transition where the time crystal melts into a trivial Floquet insulator. Moreover, we demonstrate that the model can be realized with current experimental technologies and propose a blueprint based upon a one dimensional chain of trapped ions. Using experimental parameters (featuring long-range interactions), we identify the phase boundaries of the ion-time-crystal and propose a measurable signature of the symmetry breaking phase transition.
Discrete Time Crystals: Rigidity, Criticality, and Realizations.
Yao, N Y; Potter, A C; Potirniche, I-D; Vishwanath, A
2017-01-20
Despite being forbidden in equilibrium, spontaneous breaking of time translation symmetry can occur in periodically driven, Floquet systems with discrete time-translation symmetry. The period of the resulting discrete time crystal is quantized to an integer multiple of the drive period, arising from a combination of collective synchronization and many body localization. Here, we consider a simple model for a one-dimensional discrete time crystal which explicitly reveals the rigidity of the emergent oscillations as the drive is varied. We numerically map out its phase diagram and compute the properties of the dynamical phase transition where the time crystal melts into a trivial Floquet insulator. Moreover, we demonstrate that the model can be realized with current experimental technologies and propose a blueprint based upon a one dimensional chain of trapped ions. Using experimental parameters (featuring long-range interactions), we identify the phase boundaries of the ion-time-crystal and propose a measurable signature of the symmetry breaking phase transition.
A comparison of neighbor search algorithms for large rigid molecules.
Artemova, Svetlana; Grudinin, Sergei; Redon, Stephane
2011-10-01
Fast determination of neighboring atoms is an essential step in molecular dynamics simulations or Monte Carlo computations, and there exists a variety of algorithms to efficiently compute neighbor lists. However, most of these algorithms are general, and not specifically designed for a given type of application. As a result, although their average performance is satisfactory, they might be inappropriate in some specific application domains. In this article, we study the case of detecting neighbors between large rigid molecules, which has applications in, e.g., rigid body molecular docking, Monte Carlo simulations of molecular self-assembly or diffusion, and rigid body molecular dynamics simulations. More precisely, we compare the traditional grid-based algorithm to a series of hierarchy-based algorithms that use bounding volumes to rapidly eliminate large groups of irrelevant pairs of atoms during the neighbor search. We compare the performance of these algorithms based on several parameters: the size of the molecules, the average distance between them, the cutoff distance, as well as the type of bounding volume used in the culling hierarchy (AABB, OBB, wrapped, or layered spheres). We demonstrate that for relatively large systems (> 100,000 atoms) the algorithm based on the hierarchy of wrapped spheres shows the best results and the traditional grid-based algorithm gives the worst timings. For small systems, however, the grid-based algorithm and the one based on the wrapped sphere hierarchy are beneficial. Copyright © 2011 Wiley Periodicals, Inc.
High School Students' Understanding of the Human Body System
Assaraf, Orit Ben-Zvi; Dodick, Jeff; Tripto, Jaklin
2013-01-01
In this study, 120 tenth-grade students from 8 schools were examined to determine the extent of their ability to perceive the human body as a system after completing the first stage in their biology curriculum--"The human body, emphasizing homeostasis". The students' systems thinking was analyzed according to the STH thinking model, which roughly…
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 Geology Sampling System for Small Bodies
Naids, Adam J.; Hood, Anthony D.; Abell, Paul; Graff, Trevor; Buffington, Jesse
2016-01-01
Human exploration of microgravity bodies is being investigated as a precursor to a Mars surface mission. Asteroids, comets, dwarf planets, and the moons of Mars all fall into this microgravity category and some are being discussed as potential mission targets. Obtaining geological samples for return to Earth will be a major objective for any mission to a small body. Currently, the knowledge base for geology sampling in microgravity is in its infancy. Humans interacting with non-engineered surfaces in microgravity environment pose unique challenges. In preparation for such missions a team at the NASA Johnson Space Center has been working to gain experience on how to safely obtain numerous sample types in such an environment. This paper describes the type of samples the science community is interested in, highlights notable prototype work, and discusses an integrated geology sampling solution.
A Geology Sampling System for Microgravity Bodies
Hood, Anthony; Naids, Adam
2016-01-01
Human exploration of microgravity bodies is being investigated as a precursor to a Mars surface mission. Asteroids, comets, dwarf planets, and the moons of Mars all fall into this microgravity category and some are been discussed as potential mission targets. Obtaining geological samples for return to Earth will be a major objective for any mission to a microgravity body. Currently the knowledge base for geology sampling in microgravity is in its infancy. Humans interacting with non-engineered surfaces in microgravity environment pose unique challenges. In preparation for such missions a team at the NASA Johnson Space Center has been working to gain experience on how to safely obtain numerous sample types in such an environment. This paper describes the type of samples the science community is interested in, highlights notable prototype work, and discusses an integrated geology sampling solution.
Amel'kin, N. I.
2009-01-01
The set of steady motions of the system named in the title is represented parametrically via the gyro gimbal rotation angle for an arbitrary position of the gimbal axis. We study the set of steady motions for a system in which the gyro gimbal axis is parallel to a principal plane of inertia as well
A DYNAMIC MODEL FOR ROCKET LAUNCHER WITH COUPLED RIGID AND FLEXIBLW MOTION
ZHANG Ding-guo; XIAO Jian-qiang
2005-01-01
The dynamics of a coupled rigid-flexible rocket launcher is reported. The coupled rigid-flexible rocket launcher is divided into two subsystems, one is a system of rigid bodies,the other a flexible launch tube which can undergo large overall motions spatially. First, the mathematical models for these two subsystems were established respectively. Then the dynamic model for the whole system was obtained by considering the coupling effect between these two subsystems. The approach, which divides a complex system into several simple subsystems first and then obtains the dynamic model for the whole system via combining the existing dynamic models for simple subsystems, can make the modeling procedure efficient and convenient.
Quantum charged rigid membrane
Cordero, Ruben [Departamento de Fisica, Escuela Superior de Fisica y Matematicas del I.P.N., Unidad Adolfo Lopez Mateos, Edificio 9, 07738 Mexico, D.F. (Mexico); Molgado, Alberto [Unidad Academica de Fisica, Universidad Autonoma de Zacatecas, Zacatecas Zac. (Mexico); Rojas, Efrain, E-mail: cordero@esfm.ipn.mx, E-mail: amolgado@fisica.uaz.edu.mx, E-mail: efrojas@uv.mx [Departamento de Fisica, Facultad de Fisica e Inteligencia Artificial, Universidad Veracruzana, 91000 Xalapa, Veracruz (Mexico)
2011-03-21
The early Dirac proposal to model the electron as a charged membrane is reviewed. A rigidity term, instead of the natural membrane tension, involving linearly the extrinsic curvature of the worldvolume swept out by the membrane is considered in the action modeling the bubble in the presence of an electromagnetic field. We set up this model as a genuine second-order derivative theory by considering a non-trivial boundary term which plays a relevant part in our formulation. The Lagrangian in question is linear in the bubble acceleration and by means of the Ostrogradski-Hamiltonian approach, we observed that the theory comprises the management of both first- and second-class constraints. We thus show that our second-order approach is robust allowing for a proper quantization. We found an effective quantum potential which permits us to compute bounded states for the system. We comment on the possibility of describing brane world universes by invoking this kind of second-order correction terms.
Quantum charged rigid membrane
Cordero, Ruben; Rojas, Efrain
2010-01-01
The early Dirac proposal to model the electron as a charged membrane is reviewed. A rigidity term, instead of the natural membrane tension, involving linearly the extrinsic curvature of the worldvolume swept out by the membrane is considered in the action modeling the bubble in the presence of an electromagnetic field. We set up this model as a genuine second-order derivative theory by considering a non-trivial boundary term which plays a relevant part in our formulation. The Lagrangian in question is linear in the bubble acceleration and by means of the Ostrogradski-Hamiltonian approach we observed that the theory comprises the management of both first- and second-class constraints. We show thus that our second-order approach is robust allowing for a proper quantization. We found an effective quantum potential which permits to compute bounded states for the system. We comment on the possibility of describing brane world universes by invoking this kind of second-order correction terms.
Fuller, Robert G., Ed.; And Others
This is part of a series of 42 Calculus Based Physics (CBP) modules totaling about 1,000 pages. The modules include study guides, practice tests, and mastery tests for a full-year individualized course in calculus-based physics based on the Personalized System of Instruction (PSI). The units are not intended to be used without outside materials;…
0{sup +} ground state dominance in many-body systems
Zhao, Yu-Min [Southeast Univ., Dept. of Physics, Nanjing (China); Arima, Akito [The House of Councilors, Tokyo (Japan); Yoshinaga, Naotaka [Saitama Univ., Physics Dept., Saitama (Japan)
2002-12-01
We propose a simple approach to predict the angular momentum I ground states (Ig.s.) probabilities of many-body systems without diagonalization of the hamiltonian using random interactions. It is suggested that the 0g.s. dominance in boson systems and even valence nucleon systems is not given by the model space as previously assumed, but by specific two-body interactions. (author)
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...
Made-to-measure N-body systems
Syer, D
1996-01-01
We describe an algorithm for constructing N-body realisations of equilibrium stellar systems. The algorithm complements existing orbit-based modelling techniques using linear programming or other optimization algorithms. The equilibria are constructed by integrating an N-body system while slowly adjusting the masses of the particles until the time-averaged density field and other observables converge to a prescribed value. The procedure can be arranged to maximise a linear combination of the entropy of the system and the \\chi^2 statistic for the observables. The equilibria so produced may be useful as initial conditions for N-body simulations or for modelling observations of individual galaxies.
A system and method for imaging body areas
Goethals, F.P.C.
2013-01-01
The invention relates to a system for imaging one or more external human body areas comprising a photographic device configured to acquire, store and output an image or images of the one or more body areas. The invention also relates to a method for determining a probable disease state of an externa
Pal, Tanmoy; Bhattacharjee, Somendra M.
2016-05-01
The temperature dependence of DNA flexibility is studied in the presence of stretching and unzipping forces. Two classes of models are considered. In one case the origin of elasticity is entropic due to the polymeric correlations, and in the other the double-stranded DNA is taken to have an intrinsic rigidity for bending. In both cases single strands are completely flexible. The change in the elastic constant for the flexible case due to thermally generated bubbles is obtained exactly. For the case of intrinsic rigidity, the elastic constant is found to be proportional to the square root of the bubble number fluctuation.
Troiano, Giovanni Maria
Deformable and shape-changing interfaces are rapidly emerging in the field of human-computer interaction (HCI). Deformable interfaces provide users with newer input possibilities such as bending, squeezing, or stretching, which were impossible to achieve with rigid interfaces. Shape-changing inte......Deformable and shape-changing interfaces are rapidly emerging in the field of human-computer interaction (HCI). Deformable interfaces provide users with newer input possibilities such as bending, squeezing, or stretching, which were impossible to achieve with rigid interfaces. Shape...
Generalized parton distributions of few body systems
Scopetta, S
2007-01-01
The relevance of measuring Generalized Parton Distributions (GPDs) for few nucleon systems is illustrated. An approach which permits to calculate the GPDs of hadrons made of composite constituents by proper convolutions is described. The application of the method to the nucleon target, assumed to be made of composite constituents is reviewed. Calculations of GPDs for few nucleon systems are summarized, with special emphasis to the $^3$He target.
Analysis of Switched-Rigid Floating Oscillator
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.
On the Existence and Utility of Rigid Quasilocal Frames
Epp, Richard J; McGrath, Paul L
2013-01-01
The notion of a rigid quasilocal frame (RQF) provides a geometrically natural way to define a system in general relativity, and a new way to analyze the problem of motion. An RQF is defined as a two-parameter family of timelike worldlines comprising the boundary (topologically R x S^2) of the history of a finite spatial volume, with the rigidity conditions that the congruence of worldlines be expansion- and shear-free. In other words, the size and shape of the system do not change. In previous work, such systems in Minkowski space were shown to admit precisely the same six degrees of freedom of rigid body motion that we are familiar with in Newtonian space-time, without any constraints, circumventing a century-old theorem due to Herglotz and Noether. This is a consequence of the fact that a two-sphere of any shape always admits precisely six conformal Killing vector fields, which generate an action of the Lorentz group on the sphere. Here we review the previous work in flat spacetime and extend it in three di...
Coarse-grained rigid blob model for soft matter simulations
Chao, Sheng D.; Kress, Joel D.; Redondo, Antonio
2005-06-01
We have developed a coarse-grained multiscale molecular simulation method for soft matter systems that directly incorporates stereochemical information. We divide the material into disjoint groups of atoms or particles that move as separate rigid bodies; we call these groups "rigid blobs," hence the name coarse-grained rigid blob model. The method is enabled by the construction of transferable interblob potentials that approximate the net intermolecular interactions, as obtained from ab initio electronic structure calculations, other all-atom empirical potentials, experimental data, or any combination of the above. We utilize a multipolar expansion to obtain the interblob potential-energy functions. The series, which contains controllable approximations that allow us to estimate the errors, approaches the original intermolecular potential as the number of terms increases. Using a novel numerical algorithm, we can calculate the interblob potentials very efficiently in terms of a few interaction moment tensors. This reduces the labor well beyond what is required in standard molecular-dynamics calculations and allows large-scale simulations for temporal scales commensurate with characteristic times of nano- and mesoscale systems. A detailed derivation of the formulas is presented, followed by illustrative applications to several systems showing that the method can effectively capture realistic microscopic details and can easily extend to large-scale simulations.
冯金地
2016-01-01
通过猜想加证明的方式得到了求解刚体定轴转动惯量的一个新推论，由这个推论可以将组合定理进行推广。工程力学上常常遇到的求解形状复杂的均匀刚体的转动惯量时此推论将会特别有用。本文最后通过一道例题，说明它具有简单、快捷的优点，并有独到之处。%We obtain a new conclusion about solution of moment of inertia about a fixed axis by guess and proof in this article ,from the conclusion the com bination theorem of moment of inertia is generalized .It will be specially useful when we frequently confront solving moment of inertia of some com plicated - shaped rigid body on engineering mechanics .In the end we solve a problem for example by this conclusion to show its advantage of simpleness ,convenience and speciality .
田延岭; 郑欢莹; 周明岳; 任治
2012-01-01
The paper presented the analysis of a compliant guide mechanism used in micro/nano positioning stage based on the pseudo-rigid body(PRB) dynamics model.In order to examine the PRB dynamics characteristics of the compliant guide mechanism in the micro/nano positioning stage,the finite element analysis was also conducted.The computational analyses verified that the PRB model method of the mechanism dynamics analysis is feasible and effective.%本文以伪刚体(PRB)动力学模型为基础,对微纳米定位平台中的柔顺导向机构进行了分析.有限元分析的应用验证了柔顺导向机构在微纳米定位平台中伪刚体的动态特性.计算分析证明伪刚体模型法用于研究微纳米定位平台结构的动力学分析的可行性和有效性.
Vazquez, J. A.
2007-12-01
This research is focus in the integrable approximation of the gravity potencial of a new model that can be interpreted as a new alternative of solution in the problem of the two centers fixed. The solution of the diferential equations that describe the motion of a particle in a specific gravity field was reduced to the form of quadratures by using the Jacobi method in ellipsoidal coordinates. Circular trayectories of the particle were determined and also an investigation was performed based on the particle stability according to Liapunov theory. Bifurcation flows of Poincare-Chetaev and Smale were also constructed (in the plane of the integration constants) concerning different types of possible orbits according to Alekseev´s theory for the case of reduced systems as a function of the constant of areas and in terms of the energy constant. In this matter the following types of trayectories were investigated: 1 Motion among surfaces of an hyperboloid and an ellipsoid; 2 Motion among surfaces of ellipsoids and the interior of a hyperboloid; 3 Motion (not restricted) in the interior of a hyperboloid; 4 Motion (not restricted) in the interior of a hyperboloid and in the exterior of an ellipsoid; 5 Motion (not restricted) in the exterior of an ellipsoid and in the interior o a hyperboloid.
Regularities of many-body systems interacting by a two-body random ensemble
Zhao, Y.M. [Department of Physics, Shanghai Jiao-Tong University, Shanghai 200030 (China) and Cyclotron Center, Institute of Physical and Chemical Research - RIKEN, Hirosawa 2-1, Wako-shi, Saitama 351-0198 (Japan) and Department of Physics, Southeast University, Nanjing 210018 (China)]. E-mail: ymzhao@riken.jp; Arima, A. [Science Museum, Japan Science Foundation, 2-1 Kitanomaru-Koen, Chiyodaku, Tokyo 102-0091 (Japan); Yoshinaga, N. [Department of Physics, Saitama University, Saitama 338-0625 (Japan)
2004-10-01
The ground states of all even-even nuclei have angular momentum, I, equal to zero, I=0, and positive parity, {pi}=+. This feature was believed to be a consequence of the attractive short-range interaction between nucleons. However, in the presence of two-body random interactions, the predominance of I{pi}=0+ ground states (0 g.s.) was found to be robust both for bosons and for an even number of fermions. For simple systems, such as d bosons, sp bosons, sd bosons, and a few fermions in single-j shells for small j, there are a few approaches to predict and/or explain spin I ground state (I g.s.) probabilities. An empirical approach to predict I g.s. probabilities is available for general cases, such as fermions in a single-j (j>72) or many-j shells and various boson systems, but a more fundamental understanding of the robustness of 0 g.s. dominance is still out of reach. Further interesting results are also reviewed concerning other robust phenomena of many-body systems in the presence of random two-body interactions, such as the odd-even staggering of binding energies, generic collectivity, the behavior of average energies, correlations, and regularities of many-body systems interacting by a displaced two-body random ensemble.
Choreography and Gravitational Waves for 2-BODY and 3-BODY Gravitating Systems
Asada, Hideki
In the framework of general relativity, we discuss choreographic solutions for the three-body problem, where a solution is called choreographic if every massive particles move periodically in a single closed orbit. In general relativity, the periastron shift prohibits a binary system from orbiting in a single closed curve. Remarkably, a "figure-eight" solution is shown to be choreographic even at the PN approximation by carefully examining initial conditions. Next, gravitational waves for two- and three-body gravitating systems are discussed as an inverse problem. It is shown that quadrupole waveforms cannot distinguish these sources at particular configurations, especially through extending the definition of the chirp mass to such a three-body system. Finally, we present a conjecture on N particles for classification of sources with multipolar waveforms.
Complications of rigid internal fixation.
Campbell, Chris A; Lin, Kant Y
2009-03-01
Over the past 20 years, there have been many advances in the development of bone fixation systems used in the practice of craniomaxillofacial surgery. As surgical practices have evolved, the complications of each technologic advance have changed accordingly. Interfragmentary instability of interosseous wiring has been replaced by the risk of exposure, infection, and palpability of plate and screw fixation systems. The improved rigidity of plate fixation requires anatomic alignment of fracture fragments. Failure to obtain proper alignment has led to the phenomenon known as "open internal fixation" of fracture fragments without proper reduction. The size of the plates has decreased to minimize palpability and exposure. However limitations in their application have been encountered due to the physiologic forces of the muscles of mastication and bone healing. In the pediatric population, the long-standing presence of plates in the cranial vault resulted in reports of transcranial migration and growth restriction. These findings led to the development of resorbable plating systems, which are associated with self-limited plate palpability and soft tissue inflammatory reactions. Any rigid system including these produces growth restriction in varying amounts. In this discussion, we review the reported complication rates of miniplating and microplating systems as well as absorptive plating systems in elective and traumatic craniofacial surgery.
Resonances in nuclear few-body systems
Afnan, I.R. [Flinders Univ. (Australia)
1993-04-01
The author demonstrates that the method of contour rotation in momentum space is equivalent to the mapping of the Schroedinger equation in coordinate space onto that part of the second energy plane where resonance poles reside. In this way the author can demonstrate that resonances are eigenstates of the Hamiltonian with complex eigenvalues. The corresponding eigenstates are normalizable. This idea will be demonstrated in a model of {sup 5}Li as an {alpha}N system where the Coulomb energy difference between {sup 5}Li and {sup 5}He is calculated exactly, and by perturbation theory, for both the J{sup {pi}} = 3/2{sup {minus}} and 1/2{sup {minus}} resonances. To show how these ideas can be implemented for the Faddeev equations, the author first determines the low lying spectrum of the A=6 nuclei as an {alpha}NN system, and then demonstrates the possible formation of a {Sigma}-hypertriton as a YNN resonance near the threshold for {Sigma} production in {Lambda}d scattering.
Nonlocality in many-body quantum systems detected with two-body correlators
Tura, J., E-mail: jordi.tura@icfo.es [ICFO—Institut de Ciencies Fotoniques, Mediterranean Technology Park, 08860 Castelldefels (Barcelona) (Spain); Augusiak, R.; Sainz, A.B. [ICFO—Institut de Ciencies Fotoniques, Mediterranean Technology Park, 08860 Castelldefels (Barcelona) (Spain); Lücke, B.; Klempt, C. [Institut für Quantenoptik, Leibniz Universität Hannover, Welfengarten 1, D-30167 Hannover (Germany); Lewenstein, M.; Acín, A. [ICFO—Institut de Ciencies Fotoniques, Mediterranean Technology Park, 08860 Castelldefels (Barcelona) (Spain); ICREA—Institució Catalana de Recerca i Estudis Avançats, Lluis Campanys 3, 08010 Barcelona (Spain)
2015-11-15
Contemporary understanding of correlations in quantum many-body systems and in quantum phase transitions is based to a large extent on the recent intensive studies of entanglement in many-body systems. In contrast, much less is known about the role of quantum nonlocality in these systems, mostly because the available multipartite Bell inequalities involve high-order correlations among many particles, which are hard to access theoretically, and even harder experimentally. Standard, “theorist- and experimentalist-friendly” many-body observables involve correlations among only few (one, two, rarely three...) particles. Typically, there is no multipartite Bell inequality for this scenario based on such low-order correlations. Recently, however, we have succeeded in constructing multipartite Bell inequalities that involve two- and one-body correlations only, and showed how they revealed the nonlocality in many-body systems relevant for nuclear and atomic physics [Tura et al., Science 344 (2014) 1256]. With the present contribution we continue our work on this problem. On the one hand, we present a detailed derivation of the above Bell inequalities, pertaining to permutation symmetry among the involved parties. On the other hand, we present a couple of new results concerning such Bell inequalities. First, we characterize their tightness. We then discuss maximal quantum violations of these inequalities in the general case, and their scaling with the number of parties. Moreover, we provide new classes of two-body Bell inequalities which reveal nonlocality of the Dicke states—ground states of physically relevant and experimentally realizable Hamiltonians. Finally, we shortly discuss various scenarios for nonlocality detection in mesoscopic systems of trapped ions or atoms, and by atoms trapped in the vicinity of designed nanostructures.
Rigid body essential X-ray crystallography
Bjerrum, Esben Jannik; Biggin, Philip C
2008-01-01
The ligand-binding domain (LBD) from the ionotropic glutamate receptor subtype 2 (GluR2) has been shown to adopt a range of ligand-dependent conformational states. These states have been described in terms of the rotation required to fit subdomain (lobe) 2 following superposition of subdomain (lo...
Obituary--rigid contact lenses.
Efron, Nathan
2010-10-01
Scleral and corneal rigid lenses represented 100 per cent of the contact lens market immediately prior to the invention of soft lenses in the mid-1960s. In the United Kingdom today, rigid lenses comprise 2 per cent of all new lens fits. Low rates of rigid lens fitting are also apparent in 27 other countries which have recently been surveyed. Thus, the 1998 prediction of the author that rigid lenses--also referred to as 'rigid gas permeable' (RGP) lenses or 'gas permeable' (GP) lenses--would be obsolete by the year 2010 has essentially turned out to be correct. In this obituary, the author offers 10 reasons for the demise of rigid lens fitting: initial rigid lens discomfort; intractable rigid lens-induced corneal and lid pathology; extensive soft lens advertising; superior soft lens fitting logistics; lack of rigid lens training opportunities; redundancy of the rigid lens 'problem solver' function; improved soft toric and bifocal/varifocal lenses; limited uptake of orthokeratology; lack of investment in rigid lenses; and the emergence of aberration control soft lenses. Rigid lenses are now being fitted by a minority of practitioners with specialist skills/training. Certainly, rigid lenses can no longer be considered as a mainstream form of contact lens correction. May their dear souls (bulk properties) rest in peace.
Efimov physics in heteronuclear four-body systems.
Wang, Yujun; Laing, W Blake; von Stecher, Javier; Esry, B D
2012-02-17
We study three- and four-body Efimov physics in a heteronuclear atomic system with three identical heavy bosonic atoms and one light atom. We show that exchange of the light atom between the heavy atoms leads to both three- and four-body features in the low-energy inelastic rate constants that trace to the Efimov effect. Further, the effective interaction generated by this exchange can provide an additional mechanism for control in ultracold experiments. Finally, we find that there is no true four-body Efimov effect-that is, no infinite number of four-body states in the absence of two- and three-body bound states-resolving a decades-long controversy.
Electromagnetics of body area networks antennas, propagation, and RF systems
Werner, Douglas H
2016-01-01
The book is a comprehensive treatment of the field, covering fundamental theoretical principles and new technological advancements, state-of-the-art device design, and reviewing examples encompassing a wide range of related sub-areas. In particular, the first area focuses on the recent development of novel wearable and implantable antenna concepts and designs including metamaterial-based wearable antennas, microwave circuit integrated wearable filtering antennas, and textile and/or fabric material enabled wearable antennas. The second set of topics covers advanced wireless propagation and the associated statistical models for on-body, in-body, and off-body modes. Other sub-areas such as efficient numerical human body modeling techniques, artificial phantom synthesis and fabrication, as well as low-power RF integrated circuits and related sensor technology are also discussed. These topics have been carefully selected for their transformational impact on the next generation of body-area network systems and beyo...
Tool-Body Assimilation Model Based on Body Babbling and Neurodynamical System
Kuniyuki Takahashi
2015-01-01
Full Text Available We propose the new method of tool use with a tool-body assimilation model based on body babbling and a neurodynamical system for robots to use tools. Almost all existing studies for robots to use tools require predetermined motions and tool features; the motion patterns are limited and the robots cannot use novel tools. Other studies fully search for all available parameters for novel tools, but this leads to massive amounts of calculations. To solve these problems, we took the following approach: we used a humanoid robot model to generate random motions based on human body babbling. These rich motion experiences were used to train recurrent and deep neural networks for modeling a body image. Tool features were self-organized in parametric bias, modulating the body image according to the tool in use. Finally, we designed a neural network for the robot to generate motion only from the target image. Experiments were conducted with multiple tools for manipulating a cylindrical target object. The results show that the tool-body assimilation model is capable of motion generation.
LUO Kai
2005-01-01
Stability is a key problem that means whether a high rate rotor-active magnetic bearings system works reliably or not. Aiming at a bearings system described with nonlinear equations, this paper built a linear model according to the system behavior. Considering realization of the control system and behavior of a high rate rotor system (magnetic force is far smaller than input force produced by mass eccentricity) this paper proposes a design method of variable parameters PD control algorithm that can be used universally. The control system was simplified and a mass of adjusting work of control parameters was reduced. Analysis and simulation indicated that the bearings system could get a wider stable region of harmonic motion, and proved that the algorithm is robust and advanced. The control system can be realized because the winding electric currents are positive. The method is convenient for operation and can easily be used for engineering practice.
Accelerator-feasible N -body nonlinear integrable system
Danilov, V.; Nagaitsev, S.
2014-12-01
Nonlinear N -body integrable Hamiltonian systems, where N is an arbitrary number, have attracted the attention of mathematical physicists for the last several decades, following the discovery of some number of these systems. This paper presents a new integrable system, which can be realized in facilities such as particle accelerators. This feature makes it more attractive than many of the previous such systems with singular or unphysical forces.
Comparison of Systems for Levitation Heating of Electrically Conductive Bodies
Bohus Ulrych
2004-01-01
Full Text Available Levitation heating of nonmagnetic electrically conductive bodies can be realized in various systems consisting of one of more inductors. The paper deals with compassion of the resultant. Lorentz lifts force acting on such a body (cylinder, sphere and velocity of its heating for different shapes of coils and parameters of the field currents (amplitudes, frequency. The tack is solved in quasi-coupled formulation. Theoretical considerations are supplemented with an illustrative example whose results are discussed.
Ultracold atoms for simulation of many body quantum systems
Hutchinson, David A. W.
2017-01-01
Feynman famously proposed simulating quantum physics using other, better controlled, quantum systems. This vision is now a reality within the realm of ultracold atomic physics. We discuss how these systems can be used to simulate many body physics, concentrating the Berezinskii-Kosterlitz-Thouless transition in 2D physics and the role of disorder.
Spin Structure of Many-Body Systems with Two-Body Random Interactions
Kaplan, L; Johnson, C W; Kaplan, Lev; Papenbrock, Thomas; Johnson, Calvin W.
2001-01-01
We investigate the spin structure of many-fermion systems with a spin-conserving two-body random interaction. We find a strong dominance of spin-0 ground states and considerable correlations between energies and wave functions of low-lying states with different spin, but no indication of pairing. The spectral densities exhibit spin-dependent shapes and widths, and depend on the relative strengths of the spin-0 and spin-1 couplings in the two-body random matrix. The spin structure of low-lying states can largely be explained analytically.
邓晓宇; 张卫华
2016-01-01
文章研究了高速列车齿轮传动系统的动态特性及齿轮箱箱体的高频振动响应特性，基于多体动力学分析软件SIMPACK建立了国内某高速动车组列车动车的车辆动力学模型，并在模型中对车辆的齿轮传动系统进行了精确建模。同时，利用有限元分析软件ANSYS与SIMPACK联合仿真，将齿轮箱箱体考虑为柔性体，建立了刚柔耦合车辆系统动力学模型，比较分析了柔性箱体与刚性箱体的动态响应特性。结果表明：（1）刚性箱体与柔性箱体的振动位移差别不大；（2）柔性箱体振动速度、加速度响应均大于刚性箱体；（3）柔性箱体相对于刚性箱体产生了高频振动响应，并能引发箱体共振，使箱体振动加剧。%In order to study the dynamic characteristics of gear transmission system of the high-speed train and the high frequency vibration response characteristics of gear box,a vehicle dynamics model based on SIMPACK is established. And the gear transmission system is modeled accurately in the model.Meanwhile,a rigid-flexible coupling dynamic system model of the vehicle is established by considering the gear box as a flexible body with joint simulation using ANSYS and SIMPACK.The differences of the dynamic characteristics between the flexible/rigid gearboxes are compared and analyzed.The results show that:1 .there are little difference of vibration displacement between the rigid box and the flexible box;2.the vibration velocity and acceleration response of the flexible box are larger than those of the rigid body;3 .the high frequency vibration response is generated in the flexible box body,which can cause the box body to resonate.
Non-rigid body static model based miniature robotic arm pose estimation%基于非刚体静力模型的微型机械臂姿态估计
雷洋; 田书林; 程玉华
2012-01-01
A model based estimation approach is proposed to determine the real-time kinematic pose of a miniature cable driven robotic arm with ten passive planar rotation joints. A non-rigid body static equilibrium model is constructed, and the ten planar degree of freedom ( DOF) variables are transformed to one translational variable and one tensile force variable. An linear variable differential transformer(LVDT) sensor and a load cell are used in this robotic arm to measure the planar kinematic pose of its end actuator. The accuracy and error of the measurement results are analyzed; the advantage and insufficiency of this measurement approach are stated; and the proposed method is compared with other potential measurement schemes.%提出了一种针对具有10个被动平面转动关节的微型化柔索驱动机械臂运动姿态的实时估计方法.通过建立该微型机械臂的非刚体静力模型,将10个平面自由度变量转化为1个位移变量和1个张力变量.用一个线型差动变压位移传感器(linear variable differential transformer,LVDT)和一个微型载荷传感器(load cell)测量该微型机械臂终端执行器的平面运动姿态.通过对测量结果的精度和误差进行分析,指出了该测量方法的优势与不足,并与其他几种可能的测量方法进行了比较和讨论.
On numerical solving a rigid inclusions problem in 2D elasticity
Rudoy, Evgeny
2017-02-01
A 2D elastic problem for a body containing a set of bulk and thin rigid inclusions of arbitrary shapes is considered. It is assumed that rigid inclusions are bonded into elastic matrix. To state the equilibrium problem, a variational approach is used. The problem is formulated as a problem of minimization of the energy functional over the set of admissible displacements. Moreover, it is equivalent to a variational equality which holds for test functions belonging to the subspace of functions with the prescribed rigid displacement structure on the inclusions. We propose a novel algorithm of solving the equilibrium problem. The algorithm is based on reducing the original problem to a system of the Dirichlet and Neumann problems. A numerical examination is carried out to demonstrate the efficiency of the proposed technique.
Understanding quantum work in a quantum many-body system.
Wang, Qian; Quan, H T
2017-03-01
Based on previous studies in a single-particle system in both the integrable [Jarzynski, Quan, and Rahav, Phys. Rev. X 5, 031038 (2015)2160-330810.1103/PhysRevX.5.031038] and the chaotic systems [Zhu, Gong, Wu, and Quan, Phys. Rev. E 93, 062108 (2016)1539-375510.1103/PhysRevE.93.062108], we study the the correspondence principle between quantum and classical work distributions in a quantum many-body system. Even though the interaction and the indistinguishability of identical particles increase the complexity of the system, we find that for a quantum many-body system the quantum work distribution still converges to its classical counterpart in the semiclassical limit. Our results imply that there exists a correspondence principle between quantum and classical work distributions in an interacting quantum many-body system, especially in the large particle number limit, and further justify the definition of quantum work via two-point energy measurements in quantum many-body systems.
Flexible implementation of rigid solar cell technologies.
Hollowell, Andrew E.
2010-08-01
As a source of clean, remote energy, photovoltaic (PV) systems are an important area of research. The majority of solar cells are rigid materials with negligible flexibility. Flexible PV systems possess many advantages, such as being transportable and incorporable on diverse structures. Amorphous silicon and organic PV systems are flexible; however, they lack the efficiency and lifetime of rigid cells. There is also a need for PV systems that are light weight, especially in space and flight applications. We propose a solution to this problem by arranging rigid cells onto a flexible substrate creating efficient, light weight, and flexible devices. To date, we have created a working prototype of our design using the 1.1cm x 1cm Emcore cells. We have achieved a better power to weight ratio than commercially available PowerFilm{reg_sign}, which uses thin film silicon yielding .034W/gram. We have also tested our concept with other types of cells and verified that our methods are able to be adapted to any rigid solar cell technology. This allows us to use the highest efficiency devices despite their physical characteristics. Depending on the cell size we use, we can rival the curvature of most available flexible PV devices. We have shown how the benefits of rigid solar cells can be integrated into flexible applications, allowing performance that surpasses alternative technologies.
On the Interaction between a Nanoparticulate System and the Human Body in Body Area Nanonetworks
Valeria Loscrí
2015-08-01
Full Text Available In this work, we investigate the interaction of a nanoparticulate system for nanomedicine applications with the biological environment, i.e., the human body. Following the molecular communication paradigm, we assess how our nanoparticulate system model is suitable for coexistence in a biological environment. Specifically, we assume the presence of the human immune system that can affect the optimal behavior of nanoparticles, aiming to locally deliver drug inside the human body. When a flow of nanoparticles is injected into the blood, the interference due to the immune system can provide a strong decrease of the nanoparticle concentration, by means of “humoral immunity”, the phagocytosis process, etc. As a consequence, the correct drug delivery will occur with a lower probability. Since the mechanism behind the biological immune system is very complicated, in this paper, we start from a simplistic nanoparticulate model, where the nanoparticles and the cells of the immune system are subject to the diffusion laws. Finally, we derive the end-to-end physical model of our nanoparticulate nanomedicine system with the presence of the human immune system cells. The error analysis is then investigated in terms of how these errors can affect the performance of the system, i.e., nanoparticle survival probability.
The Geodesy of the Outer Solar System Bodies from Precise Spacecraft Tracking
Iess, L.; Asmar, S.; Anabtawi, A.
2014-12-01
Gravity is at the same time the main force acting on spacecraft and an essential tool to investigate the interior structure of planetary bodies. The large infrastructure of NASA's Deep Space Network (DSN), developed to support telecommunications and navigation of deep space probes, became therefore also a crucial instrument in planetary geodesy and geophysics. This dual role of the DSN was especially important in the Cassini mission, where the precise navigation of the spacecraft throughout the many flybys of Titan and the icy satellites of the Saturnian system was unavoidably entangled with the determination of the gravity fields and the ephemerides of those bodies. Thanks to precise range rate measurements enabled by the DSN and the onboard radio system, Cassini has been able to determine the density and the moment of inertia of Titan, and the presence of large tidal deformations indicating the presence of a global, internal, ocean. Gravity-topography correlations have also been used to infer the thickness and the rigidity of the satellite's icy shell. Recently, Doppler data acquired during three Enceladus flybys revealed the presence of a gravity anomaly in the southern polar region that is compatible with a regional sea at a depth of about 40 km. This sea is the likely source of the Enceladus's water plumes. Although current planetary geodesy experiments exploited tracking systems at X band (7.1-8.5 GHz), much improved range rate measurements can be attained with Ka band radio links (32.5-34 GHz), because of their larger immunity to plasma noise. This advanced system, available at the DSS 25 tracking antenna in Goldstone (CA), has been already used in the Cassini cruise phase to carry out an accurate test of general relativity, and will be exploited again by Juno in 2016 to determine the gravity field of Jupiter. Additional uses of the DSN Ka band system have been proposed in several precise geodesy experiments with future planetary missions, both with orbiters
Measuring entanglement entropy in a quantum many-body system.
Islam, Rajibul; Ma, Ruichao; Preiss, Philipp M; Tai, M Eric; Lukin, Alexander; Rispoli, Matthew; Greiner, Markus
2015-12-01
Entanglement is one of the most intriguing features of quantum mechanics. It describes non-local correlations between quantum objects, and is at the heart of quantum information sciences. Entanglement is now being studied in diverse fields ranging from condensed matter to quantum gravity. However, measuring entanglement remains a challenge. This is especially so in systems of interacting delocalized particles, for which a direct experimental measurement of spatial entanglement has been elusive. Here, we measure entanglement in such a system of itinerant particles using quantum interference of many-body twins. Making use of our single-site-resolved control of ultracold bosonic atoms in optical lattices, we prepare two identical copies of a many-body state and interfere them. This enables us to directly measure quantum purity, Rényi entanglement entropy, and mutual information. These experiments pave the way for using entanglement to characterize quantum phases and dynamics of strongly correlated many-body systems.
The relationship between the stomatognathic system and body posture
Antonino Cuccia
2009-01-01
Full Text Available In recent years, many researchers have investigated the various factors that can influence body posture: mood states, anxiety, head and neck positions, oral functions (respiration, swallowing, oculomotor and visual systems, and the inner ear. Recent studies indicate a role for trigeminal afferents on body posture, but this has not yet been demonstrated conclusively. The present study aims to review the papers that have shown a relationship between the stomatognathic system and body posture. These studies suggest that tension in the stomatognathic system can contribute to impaired neural control of posture. Numerous anatomical connections between the stomatognathic system's proprioceptive inputs and nervous structures are implicated in posture (cerebellum, vestibular and oculomotor nuclei, superior colliculus. If the proprioceptive information of the stomatognathic system is inaccurate, then head control and body position may be affected. In addition, the present review discusses the role the myofascial system plays in posture. If confirmed by further research, these considerations can improve our understanding and treatment of muscular-skeletal disorders that are associated with temporomandibular joint disorders, occlusal changes, and tooth loss.
The relationship between the stomatognathic system and body posture.
Cuccia, Antonino; Caradonna, Carola
2009-01-01
In recent years, many researchers have investigated the various factors that can influence body posture: mood states, anxiety, head and neck positions, oral functions (respiration, swallowing), oculomotor and visual systems, and the inner ear. Recent studies indicate a role for trigeminal afferents on body posture, but this has not yet been demonstrated conclusively. The present study aims to review the papers that have shown a relationship between the stomatognathic system and body posture. These studies suggest that tension in the stomatognathic system can contribute to impaired neural control of posture. Numerous anatomical connections between the stomatognathic system's proprioceptive inputs and nervous structures are implicated in posture (cerebellum, vestibular and oculomotor nuclei, superior colliculus). If the proprioceptive information of the stomatognathic system is inaccurate, then head control and body position may be affected. In addition, the present review discusses the role the myofascial system plays in posture. If confirmed by further research, these considerations can improve our understanding and treatment of muscular-skeletal disorders that are associated with temporomandibular joint disorders, occlusal changes, and tooth loss.
Kamei M
2012-08-01
Full Text Available Motohiro Kamei, Nagakazu Matsumura, Hirokazu Sakaguchi, Yusuke Oshima, Yasushi Ikuno, Kohji NishidaDepartment of Ophthalmology, Osaka University Graduate School of Medicine, Osaka, JapanPurpose: We evaluated the usefulness of commercially available materials for protecting the cornea from drying during vitrectomy with a wide-angle viewing system.Methods: Three vitreoretinal surgeons evaluated fundus visibility during vitrectomy on the images of five study materials used on the cornea: balanced saline solution, a viscoelastic agent, a vitrectomy contact lens, a rigid gas permeable (RGP contact lens, and a soft contact lens. Fundus visibility was graded using the following scale: grade 1, unclear; grade 2, slightly unclear; grade 3, clear; and grade 4, very clear.Results: Respective scores for each material used during core vitrectomy and membrane removal were: balanced saline solution, 3.3/3.3; viscoelastic agent, 3.8/3.3; vitrectomy contact lens, 3.3/4.0; RGP contact lens, 4.0/3.9; soft contact lens, 1.1/not applicable.Conclusion: The RGP contact lens provided visibility similar to or clearer than that obtained with other methods. Because of its ease of use and lower cost, use of the RGP contact lens is ideal during vitrectomy performed with a wide-angle viewing system.Keywords: contact lens, RGP, viscoelastic agent, vitrectomy, wide viewing system
Few-Body Systems in Low-Dimensional Geometries
Volosniev, Artem
2013-01-01
be applied. For this setup few-body bound structures are found for different polarization an- gles and dipole strengths by using stochastic variational methods. After that a similar analysis is provided for two-dimensional planes filled with dipolar par- ticles. At the end of the thesis, a system......The research in this dissertation is devoted to few-body bound state physics in experimentally relevant systems of trapped atoms and molecules. First, the complexes of tubes containing dipoles are considered. The tubes are assumed to have zero width such that one-dimensional treatment can...
Quasi-three body systems - properties and scattering
Amusia, M Ya
2016-01-01
We investigate systems of three mutually interacting particles with masses of which the inner is much bigger than the intermediate and the latter is much bigger than the outer. Then the three-body problem reduces to the two-body scattering or structure of the light one in the field of the pseudo-nucleus formed by two others. We calculate analytically the properties of considered systems, such as the scattering cross-sections, hyperfine splitting, Auger decay of exited states and Lamb shits, presenting them as expansions in powers of the ratio of light to intermediate particle masses. This ratio is the small parameter of the studied problems.
Body surface mounted biomedical monitoring system using Bluetooth.
Nambu, Masayuki
2007-01-01
Continuous monitoring in daily life is important for the health condition control of the elderly. However, portable or wearable devices need to carry by user on their own will. On the other hand, implantation sensors are not adoptable, because of generic users dislike to insert the any object in the body for monitoring. Therefore, another monitoring system of the health condition to carry it easily is necessary. In addition, ID system is necessary even if the subject live with few families. Furthermore, every measurement system should be wireless system, because not to obstruct the daily life of the user. In this paper, we propose the monitoring system, which is mounted on the body surface. This system will not obstruct the action or behavior of user in daily life, because this system attached the body surface on the back of the user. In addition, this system has wireless communication system, using Bluetooth, and acquired data transfer to the outside of the house via the Internet.
Inverse and forward dynamics: models of multi-body systems.
Otten, E
2003-01-01
Connected multi-body systems exhibit notoriously complex behaviour when driven by external and internal forces and torques. The problem of reconstructing the internal forces and/or torques from the movements and known external forces is called the 'inverse dynamics problem', whereas calculating motion from known internal forces and/or torques and resulting reaction forces is called the 'forward dynamics problem'. When stepping forward to cross the street, people use muscle forces that generate angular accelerations of their body segments and, by virtue of reaction forces from the street, a forward acceleration of the centre of mass of their body. Inverse dynamics calculations applied to a set of motion data from such an event can teach us how temporal patterns of joint torques were responsible for the observed motion. In forward dynamics calculations we may attempt to create motion from such temporal patterns, which is extremely difficult, because of the complex mechanical linkage along the chains forming the multi-body system. To understand, predict and sometimes control multi-body systems, we may want to have mathematical expressions for them. The Newton-Euler, Lagrangian and Featherstone approaches have their advantages and disadvantages. The simulation of collisions and the inclusion of muscle forces or other internal forces are discussed. Also, the possibility to perform a mixed inverse and forward dynamics calculation are dealt with. The use and limitations of these approaches form the conclusion. PMID:14561340
Jendly, A.; Graf, E.; Busca, G.; Brownsea, D. A.
1984-01-01
The BVA 5 MHz crystal equipped frequency sources exhibit a new blend of performances such as 10 to 11 daily stability, 5x10-13 short term stability (1 to 30 s time intervals) and close to the carrier low phase noise (1 Hz : -120 dBc, 10 Hz : -140 dBc), whereby retaining the customary crystal oscillator benefits of small volume, high reliability and low price, as opposed to more sophisticated frequency generators which would be required to achieve comparable performances. Examples illustrating the impact of the Oscilloquartz BVA oven-controlled crystal oscillator in different frequency generating systems are presented: cesium frequency standards; hydrogen frequency standard; a precision distribution sub-system for satellite ground stations; and high hierarchy exchanges of digital networks, synchronized by the master-slave method are discussed.
Carrell, Tom W G; Modarai, Bijan; Brown, James R I; Penney, Graeme P
2010-08-01
To examine the feasibility of an automated 2-dimensional (2D) to 3- dimensional (3D) image registration system to simplify the navigational challenges faced in complex endovascular aortic procedures. An automated 2D-3D image registration system was used to overlay pre-acquired 3D computed tomography images onto fluoroscopy images taken during endovascular aneurysm repair. Errors between the 3D overlay and digital subtraction angiograms were measured and correlated with aortic neck angulation. A mean discrepancy r = 0.75). Aortas with a maximum neck angulation 30 degrees had a mean error of 6.2+/-2.5 mm (p<0.0001). The major source of registration errors is aortic deformation caused by the presence of the introducer and endovascular graft. Further work is required if this technology is to be routinely applied to severely angulated aortic anatomy.
Mass-imbalanced Three-Body Systems in Two Dimensions
F. Bellotti, F.; Frederico, T.; T. Yamashita, M.
2013-01-01
We consider three-body systems in two dimensions with zero-range interactions for general masses and interaction strengths. The momentum-space Schr\\"odinger equation is solved numerically and in the Born-Oppenheimer (BO) approximation. The BO expression is derived using separable potentials...
Iterative variational approach to finite many-body systems
Sambataro, M.; Gambacurta, D.; Lo Monaco, L.
2011-01-01
A procedure is discussed that searches for the best description of the eigenstates of a Hamiltonian of a finite quantum many-body system in terms of a selected set of physically relevant configurations. The procedure resorts to iterative sequences of diagonalizations in spaces of very reduced size.
Tablet PC Enabled Body Sensor System for Rural Telehealth Applications
Nitha V. Panicker
2016-01-01
Full Text Available Telehealth systems benefit from the rapid growth of mobile communication technology for measuring physiological signals. Development and validation of a tablet PC enabled noninvasive body sensor system for rural telehealth application are discussed in this paper. This system includes real time continuous collection of physiological parameters (blood pressure, pulse rate, and temperature and fall detection of a patient with the help of a body sensor unit and wireless transmission of the acquired information to a tablet PC handled by the medical staff in a Primary Health Center (PHC. Abnormal conditions are automatically identified and alert messages are given to the medical officer in real time. Clinical validation is performed in a real environment and found to be successful. Bland-Altman analysis is carried out to validate the wrist blood pressure sensor used. The system works well for all measurements.
High performance computing for classic gravitational N-body systems
Capuzzo-Dolcetta, Roberto
2009-01-01
The role of gravity is crucial in astrophysics. It determines the evolution of any system, over an enormous range of time and space scales. Astronomical stellar systems as composed by N interacting bodies represent examples of self-gravitating systems, usually treatable with the aid of newtonian gravity but for particular cases. In this note I will briefly discuss some of the open problems in the dynamical study of classic self-gravitating N-body systems, over the astronomical range of N. I will also point out how modern research in this field compulsorily requires a heavy use of large scale computations, due to the contemporary requirement of high precision and high computational speed.
Logarithmic entanglement lightcone in many-body localized systems
Deng, Dong-Ling; Li, Xiaopeng; Pixley, J. H.; Wu, Yang-Le; Das Sarma, S.
2017-01-01
We theoretically study the response of a many-body localized system to a local quench from a quantum information perspective. We find that the local quench triggers entanglement growth throughout the whole system, giving rise to a logarithmic lightcone. This saturates the modified Lieb-Robinson bound for quantum information propagation in many-body localized systems previously conjectured based on the existence of local integrals of motion. In addition, near the localization-delocalization transition, we find that the final states after the local quench exhibit volume-law entanglement. We also show that the local quench induces a deterministic orthogonality catastrophe for highly excited eigenstates, where the typical wave-function overlap between the pre- and postquench eigenstates decays exponentially with the system size.
Periodically driven ergodic and many-body localized quantum systems
Ponte, Pedro [Perimeter Institute for Theoretical Physics, Waterloo, ON N2L 2Y5 (Canada); Department of Physics and Astronomy, University of Waterloo, ON N2L 3G1 (Canada); Chandran, Anushya [Perimeter Institute for Theoretical Physics, Waterloo, ON N2L 2Y5 (Canada); Papić, Z., E-mail: zpapic@perimeterinstitute.ca [Perimeter Institute for Theoretical Physics, Waterloo, ON N2L 2Y5 (Canada); Institute for Quantum Computing, Waterloo, ON N2L 3G1 (Canada); Abanin, Dmitry A. [Perimeter Institute for Theoretical Physics, Waterloo, ON N2L 2Y5 (Canada); Institute for Quantum Computing, Waterloo, ON N2L 3G1 (Canada)
2015-02-15
We study dynamics of isolated quantum many-body systems whose Hamiltonian is switched between two different operators periodically in time. The eigenvalue problem of the associated Floquet operator maps onto an effective hopping problem. Using the effective model, we establish conditions on the spectral properties of the two Hamiltonians for the system to localize in energy space. We find that ergodic systems always delocalize in energy space and heat up to infinite temperature, for both local and global driving. In contrast, many-body localized systems with quenched disorder remain localized at finite energy. We support our conclusions by numerical simulations of disordered spin chains. We argue that our results hold for general driving protocols, and discuss their experimental implications.
Dynamics of systems of extended bodies in monad representation
Chechin, L.M.
1995-07-01
A universal form proposed earlier by the author for the equations of motion is used to find a monad representation of the equations of motion of a system of N extended bodies in general relativity theory. An explicit form of the equations of motion in a fixed chronometric reference system is presented. It is shown that it differs from the known coordinate motion equations obtained by the Fock method.
Application of Three-dimensional Body Measurement System
无
2005-01-01
The configuration principles and functions of the non-contact three-dimensional (3D) body measurement system (BMS)developed by the Textile/Clothing Technology Corporation ([TC]2) are described in this paper. The advantages of this new system, compared with traditional contact body measurement instruments ( Martin instruments ) are discussed by selecting 40 female undergraduates of Donghua University as the scan objects. In the experiments both the Martin instruments and [TC]2 BMS were used respectively. According to the data of different position ( Bust Circumference, Full Waist, Full Hips, Bust Height, Front Waist Height and Back Waist Height) obtained from both of the methods we can get the correlation coefficient which is close to 1, indicating that the results of both methods have comparability. Finally some suggestions for the further applications of the non-contact BMS in the apparel development of China are given. Ke ywords : Body measurement, anth ro pormetr y , non- contact 3D body measurement system, apparel industry, made-tomeasure (MTM).
Parkinson's disease rigidity: relation to brain connectivity and motor performance
Nazanin eBaradaran
2013-06-01
Full Text Available Objective: 1 To determine the brain connectivity pattern associated with clinical rigidity scores in Parkinson's disease (PD and 2 to determine the relation between clinically-assessed rigidity and quantitative metrics of motor performance.Background: Rigidity, the resistance to passive movement, is exacerbated in PD by asking the subject to move the contralateral limb, implying that rigidity involves a distributed brain network. Rigidity mainly affects subjects when they attempt to move; yet the relation between clinical rigidity scores and quantitative aspects of motor performance are unknown.Methods: Ten clinically diagnosed PD patients (off medication and ten controls were recruited to perform an fMRI squeeze-bulb tracking task that included both visually guided and internally guided features. The direct functional connectivity between anatomically defined regions of interest was assessed with Dynamic Bayesian Networks (DBNs. Tracking performance was assessed by fitting Linear Dynamical System (LDS models to the motor performance, and was compared to the clinical rigidity scores. A cross-validated Least Absolute Shrinkage and Selection Operator (LASSO regression method was used to determine the brain connectivity network that best predicted clinical rigidity scores.Results: The damping ratio of the LDS models significantly correlated with clinical rigidity scores (p < 10-4. An fMRI connectivity network in subcortical and primary and premotor cortical regions accurately predicted clinical rigidity scores (p < 10-5. Conclusions: A widely distributed cortical/subcortical network is associated with rigidity observed in PD patients, which reinforces the importance of altered functional connectivity in the pathophysiology of PD. PD subjects with higher rigidity scores tend to have less overshoot in their tracking performance, and damping ratio may represent a robust, quantitative marker of the motoric effects of increasing rigidity.
Tammen, Harald; Hess, Rüdiger; Uckert, Stefan; Becker, Armin J; Stief, Christian G; Knappe, Peter Schulz; Schrader, Michael; Jonas, Udo
2002-05-01
To use Differential Peptide Display (DPD) technology to evaluate the patterns of low-molecular-mass peptides and small proteins in the systemic and cavernous blood taken from healthy adult male volunteers during the penile stages of flaccidity and rigidity. Results from basic research implicate a role of various peptides in the control of mammalian penile erectile tissue. Nevertheless, it is not yet known which particular peptides are essential in the regulation of penile flaccidity, tumescence, rigidity, and detumescence. Five healthy male subjects were exposed to visual and tactile erotic stimuli to elicit penile erection. Whole blood was simultaneously aspirated from the corpus cavernosum and cubital vein during penile flaccidity and rigidity. Plasma aliquots were subjected to DPD analysis by means of matrix-assisted-laser-desorption-ionization mass mapping and electrospray-ionization quadrupole--time-of-flight mass spectrometry. High-resolution two-dimensional peptide mass mapping revealed differences in the systemic and cavernous plasma samples related to penile flaccidity and rigidity. Distinct signals were recognized in the cavernous but not in the systemic plasma obtained during flaccidity. These signals were not registered in the plasma samples obtained from the corpus cavernosum during rigid erection. Although one signal was identified as the blood coagulation-activating peptide XIIIa, the remaining two signals could not be related to any known peptide. These signals may represent unknown local peptidergic factors that might be involved in the regulation of penile flaccidity. Our study demonstrates that DPD is a feasible method for detecting differences in the cavernous and systemic blood in relation to the different functional conditions of the penile erectile tissue. Additional studies using DPD should include the analysis of blood samples taken from the cavernous meshwork of healthy subjects during penile tumescence and detumescence to establish DPD as
Irreducible many-body correlations in topologically ordered systems
Liu, Yang; Zeng, Bei; Zhou, D. L.
2016-02-01
Topologically ordered systems exhibit large-scale correlation in their ground states, which may be characterized by quantities such as topological entanglement entropy. We propose that the concept of irreducible many-body correlation (IMC), the correlation that cannot be implied by all local correlations, may also be used as a signature of topological order. In a topologically ordered system, we demonstrate that for a part of the system with holes, the reduced density matrix exhibits IMCs which become reducible when the holes are removed. The appearance of these IMCs then represents a key feature of topological phase. We analyze the many-body correlation structures in the ground state of the toric code model in external magnetic fields, and show that the topological phase transition is signaled by the IMCs.
Design of a Dual-Band On-Body Antenna for a Wireless Body Area Network Repeater System
Kyeol Kwon
2012-01-01
Full Text Available A dual-band on-body antenna for a wireless body area network repeater system is proposed. The designed dual-band antenna has the maximum radiation directed toward the inside of the human body in the medical implantable communication service (MICS band in order to collect vital information from the human body and directed toward the outside in the industrial, scientific, and medical (ISM band to transmit that information to a monitoring system. In addition, the return loss property of the antenna is insensitive to human body effects by utilizing the epsilon negative zeroth-order resonance property.
Torsional Rigidity of Minimal Submanifolds
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...... for the torsional rigidity are actually attained and give conditions under which the geometric average of the stochastic mean exit time for Brownian motion at infinity is finite....
Research on the Earth system multi-body force system dynamical model
CHEN; Xiaofei; BI; Siwen; WU; Fei; DONG; Qianlin
2006-01-01
This paper presents an overview of the binding force and freedom force of Earth system, and describes force moment to point and line and force system in the Earth system. It introduces the force theory of the Earth system multi-body force system from special or equivalent force system of Earth system mechanics, general force and no-power force of Earth system. Finally it describes the force and moment of nodes of Earth system and provides basic model for the research of the Earth system multi-body dynamics.
Rigid collapsible dish structure
Palmer, William B. (Inventor); Giebler, Martin M. (Inventor)
1982-01-01
A collapsible dish structure composed of a plurality of rows of rigid radial petal assemblies concentric with the axis of the dish. The petal assemblies consist of a center petal and two side petals, the center petal hinged on an axis tangent to a circle concentric with the axis of the dish and the side petals hinged to the center petal at their mating edge. The center petal is foldable inwardly and the side petals rotate about their hinges such that the collapsed dish structure occupies a much smaller volume than the deployed dish. Means of controlling the shape of the dish to compensate for differential expansion of the deployed dish are also provided.
McGrath, Paul L
2014-01-01
In this thesis, I examine in detail the properties of rigid quasilocal frames (RQF), which have been proposed as a geometrically natural way to define spatially extended reference frames in general relativity. I also explore their usefulness, in particular, as a tool for constructing completely general conservation laws that do not rely on the presence of spacetime symmetries and include both matter and gravitational contributions without the need for any ad hoc structures such as pseudotensors. In doing so, I show how the RQF approach affords a deeper understanding of the nature of gravitational fluxes via the equivalence principle. Finally, I apply the RQF formalism to explore Ehrenfest's rotating disk paradox, a generalization of Archimedes' law to curved spacetime, tidal interactions for Earth's and Jupiter's moons, and more.
Troiano, Giovanni Maria
to convey particular information (e.g., big-isurgent, loud-is-up). The second work presents a large-scale analysis of 340 Sci-Fi movies that identifies instances of shape-changing interfaces. Results from the analysis reveals emergent behavioral patterns of shape change, namely Reconfiguration......Deformable and shape-changing interfaces are rapidly emerging in the field of human-computer interaction (HCI). Deformable interfaces provide users with newer input possibilities such as bending, squeezing, or stretching, which were impossible to achieve with rigid interfaces. Shape......-changing interfaces can reconfigure their shape dynamically, providing users with new affordances and output modalities. This thesis contributes to both the field of deformable interfaces and shape-changing interfaces through empirical research. In the area of deformable interfaces, this thesis presents two studies...
孙桂芳; 王永魁; 罗淑湘; 邱军付
2014-01-01
硬泡聚氨酯复合板是近两年发展形成的一种新型保温板材，该板材采用薄抹灰外墙外保温系统，许多工程应用后出现了板框可见、板缝裂缝等质量问题，轻质砂浆复合聚氨酯板外墙外保温系统能有效解决该问题。详细介绍了系统构造、组成材料的性能、工艺流程及施工要点，并对系统技术优势进行了分析，通过工程验证表明：轻质砂浆复合聚氨酯板外墙外保温系统是一项值得推广应用的外墙外保温技术。%Rigid polyurethane composite foam board is a new external thermal board. After application of the thin plastering external thermal insulation with rigid polyurethane foam board, some buildings appear the quality problems of visible board frames and cracking gaps of rigid polyurethane foam board. The external thermal insulation system based on lightweight mortar composite with rigid polyurethane foam board can successfully solve these problems. Technical structure, the performance of the composite materials, construction process and key points are introduced in detail,and the technical advantages in the system are analyzed. The engineering application result shows that external thermal insulation system based on lightweight mortar composite with rigid polyurethane foam board is worth popularizing and applying.
An Earth multi-body system elasticity and plasticity dynamics model
ZHANG Qingxian; BI Siwen; GONG Huili
2006-01-01
Research on the elasticity and plasticity dynamics of the Earth multi-body system, including the Earth multi-body system stratum-block's equivalent inertia force system and generalized inertia force, the Earth multi-body system stratum-block's equivalent inertia force system expressed with partial velocity and partial palstance, and Earth multi-body system generalized inertia force expressed with partial velocity and partial palstance. This research provides a theoretical foundation for further investigation of Earth multi-body dynamics.
General theory of many body localized systems coupled to baths
Nandkishore, Rahul; Gopalakrishnan, Sarang
2016-01-01
We consider what happens when a many body localized system is coupled to a heat bath. Unlike previous works, we do not restrict ourselves to the limit where the bath is large and effectively Markovian, nor to the limit where back action on the bath is negligible. We identify limits where the effect of the bath can be captured by classical noise, and limits where it cannot. We also identify limits in which the bath delocalizes the system, as well as limits in which the system localizes the bat...
Geometric methods for nonlinear many-body quantum systems
Lewin, Mathieu
2010-01-01
Geometric techniques have played an important role in the seventies, for the study of the spectrum of many-body Schr\\"odinger operators. In this paper we provide a formalism which also allows to study nonlinear systems. We start by defining a weak topology on many-body states, which appropriately describes the physical behavior of the system in the case of lack of compactness, that is when some particles are lost at infinity. We provide several important properties of this topology and use them to provide a simple proof of the famous HVZ theorem in the repulsive case. In a second step we recall the method of geometric localization in Fock space as proposed by Derezi\\'nski and G\\'erard, and we relate this tool to our weak topology. We then provide several applications. We start by studying the so-called finite-rank approximation which consists in imposing that the many-body wavefunction can be expanded using finitely many one-body functions. We thereby emphasize geometric properties of Hartree-Fock states and ...
挤压阻尼减振滑动轴承—刚性转子系统的研究%Research on a Rigid Rotor-Sliding Bearing System with a Squeeze Film Damper
陆永忠; 廖道训; 黄其柏
2001-01-01
In this paper, a dynamic model on a rigid rotor-sliding bearing system with a SFD is established. The stability and bifurcation behaviors of the system are studied. On the basis of the differential equations of fluid momentum and mass continuity, the distribution pressure function is derived by taking oil film inertia force into consideration. Damping force, clearance excitation force, interference force of different frequencies and static load are also considered in the model. Finally, the governing equations of the stability and bifurcation behaviors of the system are solved by Floquet theory. Simulation of dynamic model shows that the rigid rotor-sliding bearing system can maintain stability and exhibit a Hopf bifurcation phenomenon in a certain range.
Three-dimensional modeling of supine human and transport system under whole-body vibration.
Wang, Yang; Rahmatalla, Salam
2013-06-01
The development of predictive computer human models in whole-body vibration has shown some success in predicting simple types of motion, mostly for seated positions and in the uniaxial vertical direction. The literature revealed only a handful of papers that tackled supine human modeling in response to vertical vibration. The objective of this work is to develop a predictive, multibody, three-dimensional human model to simulate the supine human and underlying transport system in response to multidirectional whole-body vibration. A three-dimensional dynamic model of a supine human and its underlying transport system is presented in this work to predict supine-human biodynamic response under three-dimensional input random whole-body vibration. The proposed supine-human model consists of three interconnected segments representing the head, torso-arms, and pelvis-legs. The segments are connected via rotational and translational joints that have spring-damper components simulating the three-dimensional muscles and tissuelike connecting elements in the three x, y, and z directions. Two types of transport systems are considered in this work, a rigid support and a long spinal board attached to a standard military litter. The contact surfaces between the supine human and the underlying transport system are modeled using spring-damper components. Eight healthy supine human subjects were tested under combined-axis vibration files with a magnitude of 0.5 m/s2 (rms) and a frequency content of 0.5-16 Hz. The data from seven subjects were used in parameter identification for the dynamic model using optimization schemes in the frequency domain that minimize the differences between the magnitude and phase of the predicted and experimental transmissibility. The predicted accelerations in the time and frequency domains were comparable to those gathered from experiments under different anthropometric, input vibration, and transport conditions under investigation. Based on the
Universal three-body parameter in heteronuclear atomic systems
Wang, Yujun; D'Incao, J P; Greene, Chris H
2012-01-01
A three-body parameter (3BP) defines the energy spectrum of three particles when the Efimov effect arises. Until recently, it had been widely agreed that this parameter should not be universal. Our present study further predicts a universal 3BP for heteronuclear atomic systems near broad Feshbach resonances. In particular, we show for a system of one light and two heavy atoms a universal 3BP is expected even without an effective three-body short-range repulsion. This universality is explained by the universal properties of the van der Waals interactions in a simple Born-Oppenheimer (BO) picture. Finally, we show the numerically determined 3BPs for some combination of alkali atoms used in ultracold experiments.
Applying Twisted Boundary Conditions for Few-body Nuclear Systems
Körber, Christopher
2015-01-01
We describe and implement twisted boundary conditions for the deuteron and triton systems within finite-volumes using the nuclear lattice EFT formalism. We investigate the finite-volume dependence of these systems with different twists angles. We demonstrate how various finite-volume information can be used to improve calculations of binding energies in such a framework. Our results suggests that with appropriate twisting of boundaries, infinite-volume binding energies can be reliably extracted from calculations using modest volume sizes with cubic length $L\\approx8-14$ fm. Of particular importance is our derivation and numerical verification of three-body analogue of `i-periodic' twist angles that eliminate the leading order finite-volume effects to the three-body binding energy.
Entanglement replication in driven dissipative many-body systems.
Zippilli, S; Paternostro, M; Adesso, G; Illuminati, F
2013-01-25
We study the dissipative dynamics of two independent arrays of many-body systems, locally driven by a common entangled field. We show that in the steady state the entanglement of the driving field is reproduced in an arbitrarily large series of inter-array entangled pairs over all distances. Local nonclassical driving thus realizes a scale-free entanglement replication and long-distance entanglement distribution mechanism that has immediate bearing on the implementation of quantum communication networks.
Mechanism test bed. Flexible body model report
Compton, Jimmy
1991-01-01
The Space Station Mechanism Test Bed is a six degree-of-freedom motion simulation facility used to evaluate docking and berthing hardware mechanisms. A generalized rigid body math model was developed which allowed the computation of vehicle relative motion in six DOF due to forces and moments from mechanism contact, attitude control systems, and gravity. No vehicle size limitations were imposed in the model. The equations of motion were based on Hill's equations for translational motion with respect to a nominal circular earth orbit and Newton-Euler equations for rotational motion. This rigid body model and supporting software were being refined.
A REVIEW ON LOWER APPENDICULAR MUSCULOSKELETAL SYSTEM OF HUMAN BODY
M. Akhtaruzzaman
2016-04-01
Full Text Available Rehabilitation engineering plays an important role in designing various autonomous robots to provide better therapeutic exercise to disabled patients. Hence it is necessary to study human musculoskeletal system and also needs to be presented in scientific manner in order to describe and analyze the biomechanics of human body motion. This review focuses on lower appendicular musculoskeletal structure of human body to represent joints and links architectures; to identify muscle attachments and functions; and to illustrate muscle groups which are responsible for a particular joint movement. Firstly, human lower skeletal structure, linking systems, joint mechanisms, and their functions are described with a conceptual representation of joint architecture of human skeleton. This section also represents joints and limbs by comparing with mechanical systems. Characteristics of ligaments and their functions to construct skeletal joints are also discussed briefly in this part. Secondly, the study focuses on muscular system of human lower limbs where muscle structure, functions, roles in moving endoskeleton structure, and supporting mechanisms are presented ellaborately. Thirdly, muscle groups are tabulated based on functions that provide mobility to different joints of lower limbs. Finally, for a particular movement action of lower extremity, muscles are also grouped and tabulated to have a better understanding on functions of individual muscle. Basically the study presents an overview of the structure of human lower limbs by characterizing and classifying skeletal and muscular systems.KEYWORDS: Musculoskeletal system; Human lower limbs; Muscle groups; Joint motion; Biomechatronics; Rehabilitation.
Accuracy of the NDI Wave Speech Research System
Berry, Jeffrey J.
2011-01-01
Purpose: This work provides a quantitative assessment of the positional tracking accuracy of the NDI Wave Speech Research System. Method: Three experiments were completed: (a) static rigid-body tracking across different locations in the electromagnetic field volume, (b) dynamic rigid-body tracking across different locations within the…
Awwad, Talal; Donia, Modar
2016-03-01
2D finite element models were developed to analyze the effect of improved soft-soil foundation on the efficiency of a base-isolated concrete frame. Static and dynamic analyses were performed for a frame on raft foundation. Non-improved and improved soft-soil foundation using rigid inclusions were considered, as well as the use of high damping rubber bearing as base isolation. Results show that the use of rigid inclusions increases the efficiency of base isolation; base shear is reduced by 38% and maximum acceleration at the top of the frame by 30%.
Location tracking system using wearable on-body GPS antenna
Sabapathy Thennarasan
2017-01-01
Full Text Available An on-body location tracking system is developed and integrated with a wearable GPS antenna. Such system is beneficial in human location tracking of patients and elderly within a radius of 1 km. The system consists of a wearable antenna, a GPS module, a low cost microcontroller, two RF modules and a local monitoring system. A user equipped with the GPS antenna, GPS module and a RF transmitter is able send his/her location to the local monitoring system via a RF receiver. The proposed wearable antenna is validated to be safe for human use in terms of specific absorption rate (SAR. This antenna was then incorporated into the complete prototype and tested. Several suggestions for future improvements are also proposed and discussed.
Regularities in Many-body Systems Interacting by a Two-body Random Ensemble
Zhao, Y M; Yoshinaga, N
2003-01-01
The even-even nuclei always have zero ground state angular momenta $I$ and positive parities $\\pi$. This feature was believed to be just a consequence of the attractive short-range interactions between nucleons. However, in the presence of two-body random interactions, the predominance of $I^{\\pi}=0^+$ ground states (0 g.s.) was found to be robust both for bosons and for an even number of fermions. For simple systems, such as $d$ bosons, $sp$ bosons, $sd$ bosons, and a few fermions in single-$j$ shells for small $j$, there are a few approaches to predict and/or explain the distribution of angular momentum $I$ ground state probabilities. An empirical recipe to predict the $I$ g.s. probabilities is available for general cases, but a more fundamental understanding of the robustness of 0 g.s. dominance is still out of reach. Other interesting results are also reviewed concerning other robust phenomena of many-body systems in the presence of random interactions, such as odd-even staggering of binding energies, gen...
2011-06-01
Developing Systems Engineering Graduate Programs Aligned to the Body of Knowledge and Curriculum to Advance Systems Engineering (BKCASETM...Developing Systems Engineering Graduate Programs Aligned to the Body of Knowledge and Curriculum to Advance Systems Engineering (BKCASETM) Guidelines 5a
Experimental quantum simulation of entanglement in many-body systems.
Zhang, Jingfu; Wei, Tzu-Chieh; Laflamme, Raymond
2011-07-01
We employ a nuclear magnetic resonance (NMR) quantum information processor to simulate the ground state of an XXZ spin chain and measure its NMR analog of entanglement, or pseudoentanglement. The observed pseudoentanglement for a small-size system already displays a singularity, a signature which is qualitatively similar to that in the thermodynamical limit across quantum phase transitions, including an infinite-order critical point. The experimental results illustrate a successful approach to investigate quantum correlations in many-body systems using quantum simulators.
Experimental Quantum Simulation of Entanglement in Many-body Systems
Zhang, Jingfu; Laflamme, Raymond
2011-01-01
We employ a nuclear magnetic resonance (NMR) quantum information processor to simulate the ground state of an XXZ spin chain and measure its NMR analog of entanglement, or pseudo-entanglement. The observed pseudo-entanglement for a small system size already displays singularity, a signature which is qualitatively similar to that in thermodynamical limit across quantum phase transitions, including an infinite-order critical point. The experimental results illustrate a successful approach to investigate quantum correlations in many-body systems using quantum simulators.
Lower body lift with superficial fascial system suspension.
Lockwood, T
1993-11-01
Multiple body contour deformities of the trunk and thighs are commonly treated in separate stages to limit postoperative complications and disability. Recent advances in the surgical design of the medial thigh lift and the lateral thigh/buttock lift along with an understanding of the functional anatomy of the superficial fascial system have significantly improved results and decreased complications of trunk/thigh lifts. The enhanced safety of current trunk/thigh lifts has allowed new combinations to treat multiple body contour deformities in a single stage. Laxity of the entire lower trunk and thigh regions can be treated in one stage in selected patients. The lower body lift combines the transverse flank/thigh/buttock lift and the fascial anchoring medial thigh lift in one operation. In addition to the expected tightening of the flank, buttocks, and total thighs, this procedure results in a surprising degree of epigastric and hypogastric tightening of mild to moderate abdominal laxity without direct surgical undermining or umbilical transposition. Ten patients having the lower body lift alone or in combination with liposuction and other body contouring procedures were followed for 6 to 24 months. The primary indication for surgery is moderate to severe soft-tissue laxity of the lower trunk and thighs with minimal or mild residual fat deposits. Skin contour irregularities due to skin laxity (cellulite of laxity) or to postliposuction adhesions are frequently present and may be severe. Patients with significant fat deposits may be treated initially with liposuction 3 to 4 months earlier to become candidates for this procedure. Key technical elements of this procedure include (1) both supine and lateral decubitus positioning with the hip flexed and abducted to allow overcorrection, (2) appropriate direct surgical undermining through superficial fascial system zones of adherence in the superior thigh while avoiding the lymphatics of the femoral triangle, (3) more
International rigid contact lens prescribing.
Efron, Nathan; Morgan, Philip B; Helland, Magne; Itoi, Motozumi; Jones, Deborah; Nichols, Jason J; van der Worp, Eef; Woods, Craig A
2010-06-01
Rigid lenses have been fitted less since the introduction of soft lenses nearly 40 years ago. Data that we have gathered from annual contact lens fitting surveys conducted in Australia, Canada, Japan, the Netherlands, Norway, the UK and the USA between 2000 and 2008 facilitate an accurate characterization of the pattern of the decline of rigid lens fitting during the first decade of this century. There is a trend for rigid lenses to be utilized primarily for refitting those patients who are already successful rigid lens wearers-most typically older females being refit with higher Dk materials. Rigid lenses are generally fitted on a full-time basis (four or more days of wear per week) without a planned replacement schedule. Orthokeratology is especially popular in the Netherlands, but is seldom prescribed in the other countries surveyed.
Thin Thermoelectric Generator System for Body Energy Harvesting
Settaluri, Krishna T.; Lo, Hsinyi; Ram, Rajeev J.
2012-06-01
Wearable thermoelectric generators (TEGs) harvest thermal energy generated by the body to generate useful electricity. The performance of these systems is limited by (1) the small working temperature differential between the body and ambient, (2) the desire to use natural air convection cooling on the cold side of the generator, and (3) the requirement for thin, lightweight systems that are comfortable for long-term use. Our work has focused on the design of the heat transfer system as part of the overall thermoelectric (TE) system. In particular, the small heat transfer coefficient for natural air convection results in a module thermal impedance that is smaller than that of the heat sink. In this heat-sink-limited regime, the thermal resistance of the generator should be optimized to match that of the heat sink to achieve the best performance. In addition, we have designed flat (1 mm thickness) copper heat spreaders to realize performance surpassing splayed pin heat sinks. Two-dimensional (2-D) heat spreading exploits the large surface area available in a wristband and allows patterned copper to efficiently cool the TE. A direct current (DC)/DC converter is integrated on the wristband. The system generates up to 28.5 μW/cm2 before the converter and 8.6 μW/cm2 after the converter, with 30% efficiency. It generates output of 4.15 V with overall thickness under 5 mm.
KEY TECHNIQUES OF MULTI-BODY MODELING OF OCCUPANT RESTRAINT SYSTEM OF VEHICLE SIDE IMPACT
ZHANG Junyuan; ZHANG Min; DING Rufang; QIU Shaobo; ZHANG Yu; LI Hongjian
2006-01-01
Based on multi-body dynamics, the simulation models of auto-side structures and occupant's dynamic responses are set up, using the occupant injury simulation software MADYMO3D. These models include auto-body structure, impact barrier, seat and dummy. Definitions of multi-body and joints and dynamics properties of joints based on FE combination models, of model setup are introduced. Kelvin element of MADYMO is introduced to show the force action between non-adjoining rigid bodies, too. Then all examples of the methods mentioned are given. By the comparison of simulation and real test, the contract curves between simulation and real test for main structures and biology mechanics properties of dummy are obtained. The result shows the accuracy and validity of the models.
Health Monitoring System Based on Intra-Body Communication
Razak, A. H. A.; Ibrahim, I. W.; Ayub, A. H.; Amri, M. F.; Hamzi, M. H.; Halim, A. K.; Ahmad, A.; Junid, S. A. M. Al
2015-11-01
This paper presents a model of a Body Area Network (BAN) health monitoring system based on Intra-Body Communication. Intra-body Communication (IBC) is a communication technique that uses the human body as a medium for electrical signal communication. One of the visions in the health care industry is to provide autonomous and continuous self and the remote health monitoring system. This can be achieved via BAN, LAN and WAN integration. The BAN technology itself consists of short range data communication modules, sensors, controller and actuators. The information can be transmitted to the LAN and WAN via the RF technology such as Bluetooth, ZigBee and ANT. Although the implementations of RF communication have been successful, there are still limitations in term of power consumption, battery lifetime, interferences and signal attenuations. One of the solutions for Medical Body Area Network (MBANs) to overcome these issues is by using an IBC technique because it can operate at lower frequencies and power consumption compared to the existing techniques. The first objective is to design the IBC's transmitter and receiver modules using the off the shelf components. The specifications of the modules such as frequency, data rate, modulation and demodulation coding system were defined. The individual module were designed and tested separately. The modules was integrated as an IBC system and tested for functionality then was implemented on PCB. Next objective is to model and implement the digital parts of the transmitter and receiver modules on the Altera's FPGA board. The digital blocks were interfaced with the FPGA's on board modules and the discrete components. The signals that have been received from the transmitter were converted into a proper waveform and it can be viewed via external devices such as oscilloscope and Labview. The signals such as heartbeats or pulses can also be displayed on LCD. In conclusion, the IBC project presents medical health monitoring model
Confining rigid balls by mimicking quadrupole ion trapping
Fan, Wenkai; Wang, Sihui; Zhou, Huijun
2016-01-01
The rotating saddle not only is an interesting system that is able to trap a ball near its saddle point, but can also intuitively illustrate the operating principles of quadrupole ion traps in modern physics. Unlike the conventional models based on the mass-point approximation, we study the stability of a ball in a rotating-saddle trap using rigid-body dynamics. The stabilization condition of the system is theoretically derived and subsequently verified by experiments. The results are compared with the previous mass-point model, giving large discrepancy as the curvature of the ball is comparable to that of the saddle. We also point out that the spin angular velocity of the ball is analogous to the cyclotron frequency of ions in an external magnetic field utilized in many prevailing ion-trapping schemes.
Measuring entanglement entropy in a quantum many-body system
Rispoli, Matthew; Preiss, Philipp; Tai, Eric; Lukin, Alex; Schittko, Robert; Kaufman, Adam; Ma, Ruichao; Islam, Rajibul; Greiner, Markus
2016-05-01
The presence of large-scale entanglement is a defining characteristic of exotic quantum phases of matter. It describes non-local correlations between quantum objects, and is at the heart of quantum information sciences. However, measuring entanglement remains a challenge. This is especially true in systems of interacting delocalized particles, for which a direct experimental measurement of spatial entanglement has been elusive. Here we measure entanglement in such a system of itinerant particles using quantum interference of many-body twins. We demonstrate a novel approach to the measurement of entanglement entropy of any bosonic system, using a quantum gas microscope with tailored potential landscapes. This protocol enables us to directly measure quantum purity, Rényi entanglement entropy, and mutual information. In general, these experiments exemplify a method enabling the measurement and characterization of quantum phase transitions and in particular would be apt for studying systems such as magnetic ordering within the quantum Ising model.
Classical and quantum simulations of many-body systems
Murg, Valentin
2008-04-07
This thesis is devoted to recent developments in the fields of classical and quantum simulations of many-body systems. We describe new classical algorithms that overcome problems apparent in conventional renormalization group and Monte Carlo methods. These algorithms make possible the detailed study of finite temperature properties of 2-D classical and 1-D quantum systems, the investigation of ground states of 2-D frustrated or fermionic systems and the analysis of time evolutions of 2-D quantum systems. Furthermore, we propose new 'analog' quantum simulators that are able to realize interesting models such as a Tonks-Girardeau gas or a frustrated spin-1/2 XY model on a trigonal lattice. These quantum simulators make use of optical lattices and trapped ions and are technically feasible. In fact, the Tonks-Girardeau gas has been realized experimentally and we provide a detailed comparison between the experimental data and the theoretical predictions. (orig.)
Many-Body Boson Systems Half a Century Later
Verbeure, André F
2011-01-01
Many-body Boson Systems: Half a Century Later offers a modern way of dealing with the problems of equilibrium states of Bose systems. Starting with the variation principle of statistical mechanics and the energy-entropy balance principle as equilibrium criteria, results for general boson systems and models are explicitly derived using simple functional analytic calculus. Bridging the gap between idea’s of general theoretical physics and the phenomenological research in the field of Bose systems, this book provides an insight into the fascinating quantum world of bosons. Key topics include the occurrence of BEC and its intimate structural relation with the phenomena of spontaneous symmetry breaking and off-diagonal long range order; the condensate equation; the issue concerning the choice of boundary conditions; solvable versus non-solvable boson models; the set of quasi-free boson states; the role of dissipative perturbations; and the surprising but general relation between general quantum fluctuations and ...
Rigid rod anchored to infinite membrane.
Guo, Kunkun; Qiu, Feng; Zhang, Hongdong; Yang, Yuliang
2005-08-15
We investigate the shape deformation of an infinite membrane anchored by a rigid rod. The density profile of the rod is calculated by the self-consistent-field theory and the shape of the membrane is predicted by the Helfrich membrane elasticity theory [W. Helfrich, Z. Naturforsch. 28c, 693 (1973)]. It is found that the membrane bends away from the rigid rod when the interaction between the rod and the membrane is repulsive or weakly attractive (adsorption). However, the pulled height of the membrane at first increases and then decreases with the increase of the adsorption strength. Compared to a Gaussian chain with the same length, the rigid rod covers much larger area of the membrane, whereas exerts less local entropic pressure on the membrane. An evident gap is found between the membrane and the rigid rod because the membrane's curvature has to be continuous. These behaviors are compared with that of the flexible-polymer-anchored membranes studied by previous Monte Carlo simulations and theoretical analysis. It is straightforward to extend this method to more complicated and real biological systems, such as infinite membrane/multiple chains, protein inclusion, or systems with phase separation.
Systemic lupus erythematosus following total body irradiation for malignant lymphoma.
Spinozzi, F; Capodicasa, E; Gerli, R; Bertotto, A; Rambotti, P; Grignani, F
1986-01-01
A case of a 63-year old man, who developed systemic lupus erythematosus three years after an initial diagnosis of small-cleaved centrofollicular lymphoma is described. The diagnosis of SLE was made on the basis of the accepted "1982 revised criteria for the classification of SLE". The autoimmune disease arose after a cycle of total body irradiation, despite the treatment with combination chemotherapeutic doses such a CVP or COAP or Cyclophosphamide, Vincristine, VM-26 and Prednisone. Genetic, immunological and exogenous environmental factors may co-exist and might equally be implicated in the pathogenesis of SLE and malignant lymphoma. However, the onset of SLE after total body irradiation could have been caused by the inactivation of suppressor T lymphocytes, which are known to be sensitive to radiations in vitro.
Quasi-Many-Body Localization in Translation-Invariant Systems
Yao, N. Y.; Laumann, C. R.; Cirac, J. I.; Lukin, M. D.; Moore, J. E.
2016-12-01
We examine localization phenomena associated with generic, high entropy, states of a translation-invariant, one-dimensional spin ladder. At early times, we find slow growth of entanglement entropy consistent with the known phenomenology of many-body localization in disordered, interacting systems. At intermediate times, however, anomalous diffusion sets in, leading to full spin polarization decay on an exponentially activated time scale. We identify a single length scale which parametrically controls both the spin transport times and the apparent divergence of the susceptibility to spin glass ordering. Ultimately, at the latest times, the exponentially slow anomalous diffusion gives way to diffusive thermal behavior. We dub the intermediate dynamical behavior, which persists over many orders of magnitude in time, quasi-many-body localization.
Quantum theory of many-body systems techniques and applications
Zagoskin, Alexandre
2014-01-01
This text presents a self-contained treatment of the physics of many-body systems from the point of view of condensed matter. The approach, quite traditionally, uses the mathematical formalism of quasiparticles and Green’s functions. In particular, it covers all the important diagram techniques for normal and superconducting systems, including the zero-temperature perturbation theory and the Matsubara, Keldysh and Nambu-Gor'kov formalism, as well as an introduction to Feynman path integrals. This new edition contains an introduction to the methods of theory of one-dimensional systems (bosonization and conformal field theory) and their applications to many-body problems. Intended for graduate students in physics and related fields, the aim is not to be exhaustive, but to present enough detail to enable the student to follow the current research literature, or to apply the techniques to new problems. Many of the examples are drawn from mesoscopic physics, which deals with systems small enough that quantum...
A New Approach and Analysis of Modeling the Human Body in RFID-Enabled Body-Centric Wireless Systems
Karoliina Koski
2014-01-01
Full Text Available Body-centric wireless systems demand wearable sensor and tag antennas that have robust impedance matching and provide enough gain for a reliable wireless communication link. In this paper, we discuss a novel and practical technique for the modeling of the human body in UHF RFID body-centric wireless systems. What makes this technique different is that we base the human model on measured far-field response from a reference tag attached to the human body. Hereby, the human body model accounts for the encountered human body effects on the tag performance. The on-body measurements are fast, which allows establishing a catalog of human body models for different tag locations and human subjects. Such catalog would provide a ready simulation model for a wide range of wireless body-centric applications in order to initiate a functional design. Our results demonstrate that the suggested modeling technique can be used in the design and optimization of wearable antennas for different real-case body-centric scenarios.
General coordinate invariance in quantum many-body systems
Brauner, Tomas; Monin, Alexander; Penco, Riccardo
2014-01-01
We extend the notion of general coordinate invariance to many-body, not necessarily relativistic, systems. As an application, we investigate nonrelativistic general covariance in Galilei-invariant systems. The peculiar transformation rules for the background metric and gauge fields, first introduced by Son and Wingate in 2005 and refined in subsequent works, follow naturally from our framework. Our approach makes it clear that Galilei or Poincare symmetry is by no means a necessary prerequisite for making the theory invariant under coordinate diffeomorphisms. General covariance merely expresses the freedom to choose spacetime coordinates at will, whereas the true, physical symmetries of the system can be separately implemented as "internal" symmetries within the vielbein formalism. A systematic way to implement such symmetries is provided by the coset construction. We illustrate this point by applying our formalism to nonrelativistic s-wave superfluids.
Lifting Entry & Atmospheric Flight (LEAF) Applications at Solar System Bodies.
Lee, G.; Sen, B.; Polidan, R. S.
2015-12-01
Introduction: Northrop Grumman and L'Garde have continued the development of a hypersonic entry, maneuverable platform capable of performing long-duration (months to a year) in situ and remote measurements at any solar system body that possesses an atmosphere. The Lifting Entry & Atmospheric Flight (LEAF) family of vehicles achieve this capability by using a semi-buoyant, ultra-low ballistic coefficient vehicle whose lifting entry allows it to enter the atmosphere without an aeroshell. In this presentation, we discuss the application of the LEAF system at various solar system bodies: Venus, Titan, Mars, and Earth. We present the key differences in platform design as well as operational differences required by the various target environments. The Venus implementation includes propulsive capability to reach higher altitudes during the day and achieves full buoyancy in the "habitable layers" of Venus' atmosphere at night. Titan also offers an attractive operating environment, allowing LEAF designs that can target low, medium, or high altitude operations, also with propulsive capabilities to roam within each altitude regime. The Mars version is a glider that descends gradually, allowing targeted delivery of payloads to the surface. Finally, an Earth version could remain in orbit in a stowed state until activated, allowing rapid response type deployments to any region of the globe.
Robot and Human Surface Operations on Solar System Bodies
Weisbin, C. R.; Easter, R.; Rodriguez, G.
2001-01-01
This paper presents a comparison of robot and human surface operations on solar system bodies. The topics include: 1) Long Range Vision of Surface Scenarios; 2) Human and Robots Complement Each Other; 3) Respective Human and Robot Strengths; 4) Need More In-Depth Quantitative Analysis; 5) Projected Study Objectives; 6) Analysis Process Summary; 7) Mission Scenarios Decompose into Primitive Tasks; 7) Features of the Projected Analysis Approach; and 8) The "Getting There Effect" is a Major Consideration. This paper is in viewgraph form.
Scars of Invariant Manifolds in Interacting Few-Body Systems
Papenbrock, T; Weidenmüller, H A
1997-01-01
We present a novel extension of the concept of scars for the wave functions of classically chaotic few--body systems of identical particles with rotation and permutation symmetry. Generically there exist manifolds in classical phase space which are invariant under the action of a common subgroup of these two symmetries. Such manifolds are associated with highly symmetric configurations and, if sufficiently stable, support quantum resonances. Although not directly associated to individual periodic orbits, the resonances nevertheless cause scars which signify collective motion on the quantum level and which should be experimentally observable.
Akinetic rigid syndrome: An overview
Gupta Praveen
2007-01-01
Full Text Available Akinetic-rigid syndromes can be caused by diverse etiologies. It is vital to separate idiopathic Parkinson′s disease from other neurodegenerative diseases and causes of secondary parkinsonism as it has significant therapeutic implications. However even specialists may misdiagnose nonidiopathic parkinsonism as Parkinson′s disease in a quarter of cases. Often the history may be nonspecific and all investigations may be normal. The diagnosis may thus rest entirely on clinical features. The etiological diagnosis of Akinetic rigid syndrome has critical therapeutic and prognostic implications. Therefore we will review the various etiologies of akinetic rigid syndrome and highlight critical clinical features to aid in differential diagnosis.
Quantification of the UPDRS Rigidity Scale.
Patrick, S K; Denington, A A; Gauthier, M J; Gillard, D M; Prochazka, A
2001-03-01
In the clinical setting, parkinsonian rigidity is assessed using subjective rating scales such as that of the Unified Parkinson's Disease Rating System (UPDRS). However, such scales are susceptible to problems of sensitivity and reliability. Here, we evaluate the reliability and validity of a device designed to quantify parkinsonian rigidity at the elbow and the wrist. The method essentially quantifies the clinical examination and employs small sensors to monitor forces and angular displacements imposed by the clinician onto the limb segment distal to the joint being evaluated. Force and displacement data are used to calculate elastic and viscous stiffnesses and their vectorial sum, mechanical impedance. Interexaminer agreement of measures of mechanical impedance in subjects with Parkinson's disease was comparable to that of clinical UPDRS scores. Examiners tended to overrate rigidity on the UPDRS scale during reinforcement manoeuvres. Mechanical impedance was nonlinearly related to UPDRS ratings of rigidity at the elbow and wrist; characterization of such relationships allows interpretation of impedance measurements in terms of the clinical rating scales.
Cracking of open traffic rigid pavement
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.
杨明亮; 徐格宁
2011-01-01
针对某型叉车行驶时座椅处振动强烈的性能缺陷开展研究,结合多体动力学方法,充分考虑叉车车架为空间柔性体以及路面对叉车动态性能的影响,建立基于约束刚柔耦合的叉车动力学模型,进行叉车行驶时动态特性仿真与评价.根据相关试验结果验证理论模型与仿真模型的正确性.在此基础上,针对座椅垂直振动对叉车的整车系统提出改进设计的措施:转向桥采用转轴为椭圆形且支座内有橡胶垫块的弹性铰接以及护项架通过4处橡胶垫块与车架相连接,发动机盖铰接在护顶架上,座椅安装在发动机盖上,将发动机通过两处橡胶垫块(隔振垫)与车架连接.对改进后的整车系统在相同条件下进行仿真并通过试验加以验证,结果表明,叉车整车系统结构修改以后,其基频及座椅振动频率降低,振动能量减小,研究结论对叉车的整车开发或部件的振动性能优化具有一定的实用价值.%Researching into the performance deficiencies about vibrations of driver seat, while fork-lift truck is driving) and analyzing the influencing factor based on the multi-rigid-body dynamic method with considering the influence of flexibility of fork-lift frame and road on the dynamic characteristics of. A new rigid-flexible coupling dynamic model of fork-lift truck is established. Dynamic characteristics of the new established system are studied through simulating the system under different driving conditions. The theoretical model and the simulation results are validated through experiments. And then, for melioration of the performances of the fork-lift truck vertical vibration, improvement measures of complete engineering machines for decreasing the vertical vibration of seat is offered as following: The shaft from the steering bridge is used in the ellipse, and the elastic hinge is used by the rubber cushion block in the support; the overhead guard is connected with the frame by the
Classical simulation of quantum many-body systems
Huang, Yichen
Classical simulation of quantum many-body systems is in general a challenging problem for the simple reason that the dimension of the Hilbert space grows exponentially with the system size. In particular, merely encoding a generic quantum many-body state requires an exponential number of bits. However, condensed matter physicists are mostly interested in local Hamiltonians and especially their ground states, which are highly non-generic. Thus, we might hope that at least some physical systems allow efficient classical simulation. Starting with one-dimensional (1D) quantum systems (i.e., the simplest nontrivial case), the first basic question is: Which classes of states have efficient classical representations? It turns out that this question is quantitatively related to the amount of entanglement in the state, for states with "little entanglement'' are well approximated by matrix product states (a data structure that can be manipulated efficiently on a classical computer). At a technical level, the mathematical notion for "little entanglement'' is area law, which has been proved for unique ground states in 1D gapped systems. We establish an area law for constant-fold degenerate ground states in 1D gapped systems and thus explain the effectiveness of matrix-product-state methods in (e.g.) symmetry breaking phases. This result might not be intuitively trivial as degenerate ground states in gapped systems can be long-range correlated. Suppose an efficient classical representation exists. How can one find it efficiently? The density matrix renormalization group is the leading numerical method for computing ground states in 1D quantum systems. However, it is a heuristic algorithm and the possibility that it may fail in some cases cannot be completely ruled out. Recently, a provably efficient variant of the density matrix renormalization group has been developed for frustration-free 1D gapped systems. We generalize this algorithm to all (i.e., possibly frustrated) 1D
Rigidity-Preserving Team Partitions in Multiagent Networks.
Carboni, Daniela; Williams, Ryan K; Gasparri, Andrea; Ulivi, Giovanni; Sukhatme, Gaurav S
2015-12-01
Motivated by the strong influence network rigidity has on collaborative systems, in this paper, we consider the problem of partitioning a multiagent network into two sub-teams, a bipartition, such that the resulting sub-teams are topologically rigid. In this direction, we determine the existence conditions for rigidity-preserving bipartitions, and provide an iterative algorithm that identifies such partitions in polynomial time. In particular, the relationship between rigid graph partitions and the previously identified Z-link edge structure is given, yielding a feasible direction for graph search. Adapting a supergraph search mechanism, we then detail a methodology for discerning graphs cuts that represent valid rigid bipartitions. Next, we extend our methods to a decentralized context by exploiting leader election and an improved graph search to evaluate feasible cuts using only local agent-to-agent communication. Finally, full algorithm details and pseudocode are provided, together with simulation results that verify correctness and demonstrate complexity.
Skeletal Rigidity of Phylogenetic Trees
Cheng, Howard; Li, Brian; Risteski, Andrej
2012-01-01
Motivated by geometric origami and the straight skeleton construction, we outline a map between spaces of phylogenetic trees and spaces of planar polygons. The limitations of this map is studied through explicit examples, culminating in proving a structural rigidity result.
Performance Evaluation of Zigbee Transceiver for Wireless Body Sensor System
Ruchita Pandey
2014-06-01
Full Text Available A cost effective impedance measurement system and a low costtransceiver device has been presented for wireless body sensor systems.The proposed device has an analog front end to measure bioimpedance and ZigBee device which provides reliable wireless communication.Bioelectric Impedance measurement enables to characterize the state of tissues.Tetrapolar method is an advance method for measuring impedance since it is a very easy and simple method for practical implementation.The principle of modified tetrapolar method and its wireless transimission through zigbee has been investigated here.Different modulation technique has been applied and it has been found that MSK based transceiver is an efficient one since it has low bit error rate and it produce constant envelope carrier signals which have no amplitude and phase varations,hence it will be a more power saving technique.
Levy distribution in many-body quantum systems
Denisov, Sergey; Ponomarev, Alexey V.; Hanggi, Peter [Institute of Physics, University of Augsburg (Germany)
2010-07-01
Levy distribution is known to describe a whole range of complex phenomena: classical chaotic transport, processes of subrecoil laser cooling, fluctuations of stock market indices, time series of single molecule blinking events, bursting activity of small neuronal networks, to name a few. The appearance of Levy distribution in a system output is a strong indicator of a long-range correlation ''skeleton'' which conducts system intrinsic dynamics. Using two complimentary approaches, the canonical and the grand-canonical formalisms, we discovered that the momentum distribution of N strongly interacting (hard-core) bosons at finite temperatures confined on a one-dimensional optical lattice obeys the Levy distribution. The tunable Levy spline reproduces momentum distributions up to one recoil momentum. Our finding allows for calibration of complex quantum many-body states by using a unique scaling exponent.
Wage rigidity and job creation
Haefke, Christian; Sonntag, Marcus; Rens, Thijs van
2013-01-01
Recent research in macroeconomics emphasizes the role of wage rigidity in accounting for the volatility of unemployment fluctuations. We use worker-level data from the CPS to measure the sensitivity of wages of newly hired workers to changes in aggregate labor market conditions. The wage of new hires, unlike the aggregate wage, is volatile and responds almost one-to-one to changes in labor productivity. We conclude that there is little evidence for wage rigidity in the data.
Hochuli-Vieira, E; Cabrini Gabrielli, M A; Pereira-Filho, V A; Gabrielli, M F R; Padilha, J G
2005-03-01
The purpose of this study was to compare by qualitative histology the efficacy of rigid internal fixation with titanium system and the Lacto Sorb system in mandibular fractures in rabbits. Thirty male adult rabbits Oryctolagus cuniculus were used. Unilateral mandibular osteotomies were performed between the canine and first premolar. The animals were divided into two groups: for Group I-rigid internal fixation was performed with titanium system 1.5 mm (Synthes, Oberdorf, Switzerland), with two screws of 6 mm (bicortical) on each side of the osteotomy. For Group II-rigid internal fixation was performed with PLLA/PGA system 1.5 mm (Lacto Sorb, WLorenz, Jacksonville, FL, USA). The histological analysis evaluated the presence of inflammatory reaction, degree of bone healing and degree of resorption of the Lacto Sorb screws. The results of both fixation systems were similar, only with a small difference after 15 and 30 days. In Group I a faster bony healing was noted. But after 60 days, bony healing was similar in both groups. It is concluded that both PLLA/PGA and titanium plates and screws provide sufficient strength to permit mandibular bone healing. The resorption process of PLLA/PGA osteosynthesis material did not cause acute or chronic inflammatory reaction or foreign body reaction during the studied period.
Critical quasienergy states in driven many-body systems
Bastidas Valencia, Victor Manuel; Engelhardt, Georg; Perez-Fernandez, Pedro; Vogl, Malte; Brandes, Tobias
2015-03-01
A quantum phase transition (QPT) is characterized by non-analyticities of ground-state properties at the critical points. Recently it has been shown that quantum criticality emerges also in excited states of the system, which is referred to as an excited-state quantum phase transition (ESQPT). This kind of quantum criticality is intimately related to a level clustering at critical energies, which results in a logarithmic singularity in the density of states. Most of the previous studies on quantum criticality in excited states have been focused on time independent systems. Here we study spectral singularities that appear in periodically-driven many-body systems and show how the external control allows one to engineer geometrical features of the quasienergy landscape. In particular, we study singularities in the quasienergy spectrum of a fully-connected network consisting of two-level systems with time-dependent interactions. We discuss the characteristic signatures of these singularities in observables like the magnetization, which should be measurable with current technology. The authors gratefully acknowledge financial support by the DFG via grants BRA 1528/7, BRA 1528/8, SFB 910 (V.M.B., T.B.), the Spanish Ministerio de Ciencia e Innovacion (Grants No. FIS2011-28738-C02-01) and Junta de Andalucia (Grants No. FQM160).
ON THE KINEMATIC GEOMETRY OF MANY BODY SYSTEMS
Wu-YIHSIANG
1999-01-01
In mechanics, both classical and quantum, one studies the profound interaction between two types of energy, namely, the kinetic energy and the potential energy. The former can be organized as the kinematic metric on the configuration space while the latter can be represented by a suitable potential function, such as the Newtonian potential in celestial mechanics and the Coulomb potential in quantum mechanics of atomic and molecular physics. In this paper, the author studies the kinematic geometry of n-body systems. The main results axe (i) the introduction of a canonical coordinate system which reveals the total amount of kinematic symmetry by an SO(З) × O(n - 1) action in such a canonieal coordinate representation; (ii) an in depth analysis of the above kinematic system both in the setting of classical invariant theory and by the technique of equivarjant Riemannian geometry; (iii) a remarkably simple formula for the potential function in such a canonical coordinate system which reveals the well-fitting between the kinematic symmetry and the potential energy.
Aeroservoelastic Modeling of Body Freedom Flutter for Control System Design
Ouellette, Jeffrey
2017-01-01
One of the most severe forms of coupling between aeroelasticity and flight dynamics is an instability called freedom flutter. The existing tools often assume relatively weak coupling, and are therefore unable to accurately model body freedom flutter. Because the existing tools were developed from traditional flutter analysis models, inconsistencies in the final models are not compatible with control system design tools. To resolve these issues, a number of small, but significant changes have been made to the existing approaches. A frequency domain transformation is used with the unsteady aerodynamics to ensure a more physically consistent stability axis rational function approximation of the unsteady aerodynamic model. The aerodynamic model is augmented with additional terms to account for limitations of the baseline unsteady aerodynamic model and to account for the gravity forces. An assumed modes method is used for the structural model to ensure a consistent definition of the aircraft states across the flight envelope. The X-56A stiff wing flight-test data were used to validate the current modeling approach. The flight-test data does not show body-freedom flutter, but does show coupling between the flight dynamics and the aeroelastic dynamics and the effects of the fuel weight.
Gamma-ray Albedo of Small Solar System Bodies
Moskalenko, I.V.
2008-03-25
We calculate the {gamma}-ray albedo flux from cosmic-ray (CR) interactions with the solid rock and ice in Main Belt asteroids and Kuiper Belt objects (KBOs) using the Moon as a template. We show that the {gamma}-ray albedo for the Main Belt and KBOs strongly depends on the small-body mass spectrum of each system and may be detectable by the forthcoming Gamma Ray Large Area Space Telescope (GLAST). If detected, it can be used to derive the mass spectrum of small bodies in the Main Belt and Kuiper Belt and to probe the spectrum of CR nuclei at close-to-interstellar conditions. The orbits of the Main Belt asteroids and KBOs are distributed near the ecliptic, which passes through the Galactic center and high Galactic latitudes. Therefore, the {gamma}-ray emission by the Main Belt and Kuiper Belt has to be taken into account when analyzing weak {gamma}-ray sources close to the ecliptic. The asteroid albedo spectrum also exhibits a 511 keV line due to secondary positrons annihilating in the rock. This may be an important and previously unrecognized celestial foreground for the INTErnational Gamma-Ray Astrophysics Laboratory (INTEGRAL) observations of the Galactic 511 keV line emission including the direction of the Galactic center. For details of our calculations and references see [1].
Revised scaling variables in systems with many-body interactions
Goldstein, Raymond E.; Parola, Alberto
1987-06-01
Thermodynamic perturbation theory and the Kirkwood-Salsburg correlation function identities are used to study nearest-neighbor lattice gases with certain weak symmetry-breaking many-body interactions. It is shown that such systems may be mapped onto symmetric models by the introduction of suitable effective interactions and a shifted chemical potential, both of which depend explicitly on the temperature and fugacity of the original model. In the critical region, such a thermodynamic-state dependence implies the existence of a thermal scaling field which depends on the bare chemical potential, and this ``field mixing'' leads to a breakdown in the classical law of the rectilinear diameter. These results give a microscopic interpretation to a field-theoretic renormalization-group analysis which derives such a diameter singularity from the presence of terms cubic and higher in the order parameter and its gradients in an asymmetric Landau-Ginzburg-Wilson Hamiltonian. For a primarily repulsive three-body potential like the Axilrod-Teller interaction in classical insulating fluids, and in comparison with recent experiments, the analysis correctly describes the observed trends in the critical and near-critical behavior of the diameters with increasing particle polarizability.
Exotic few-body systems with a heavy meson
Yamaguchi, Yasuhiro
2014-09-01
Hadron as an impurity bound in nuclei causes interesting phenomena which do not emerge in normal nuclei. These effects would give us the information not only on the internal structure of the nuclei, but also on the changing properties of the impurity in the nuclear medium. The hadron-nucleus systems have been studied in the light flavor sector, especially. However, a strong attraction between a heavy meson (Dbar and B) and a nucleon, provided by the one pion exchange potential (OPEP), was suggested recently. The OPEP is enhanced by the heavy quark spin symmetry which induces the mass degeneracy between the heavy pseudoscalar and vector mesons. The attraction motivates us to investigate the Dbar (B) nuclei having the exotic flavor structure. Hence, these bound states are stable against the strong decay. We discuss the possible existence of exotic few-body states realized as DbarNN and BNN. The OPEP between the Dbar (B) meson and the nucleon N is considered. By solving coupled channel equations for PNN and P* NN channels (P (P*) is the heavy pseudoscalar (vector) meson), we obtain new three-body bound states and resonances. In these states, the tensor force of the OPEP plays an important role to yield the attraction.
General Relativistic Precession in Small Solar System Bodies
Sekhar, Aswin; Werner, Stephanie; Hoffmann, Volker; Asher, David; Vaubaillon, Jeremie; Hajdukova, Maria; Li, Gongjie
2016-10-01
Introduction: One of the greatest successes of the Einstein's General Theory of Relativity (GR) was the correct prediction of the precession of perihelion of Mercury. The closed form expression to compute this precession tells us that substantial GR precession would occur only if the bodies have a combination of both moderately small perihelion distance and semi-major axis. Minimum Orbit Intersection Distance (MOID) is a quantity which helps us to understand the closest proximity of two orbits in space. Hence evaluating MOID is crucial to understand close encounters and collision scenarios better. In this work, we look at the possible scenarios where a small GR precession in argument of pericentre (ω) can create substantial changes in MOID for small bodies ranging from meteoroids to comets and asteroids.Analytical Approach and Numerical Integrations: Previous works have looked into neat analytical techniques to understand different collision scenarios and we use those standard expressions to compute MOID analytically. We find the nature of this mathematical function is such that a relatively small GR precession can lead to drastic changes in MOID values depending on the initial value of ω. Numerical integrations were done with package MERCURY incorporating the GR code to test the same effects. Numerical approach showed the same interesting relationship (as shown by analytical theory) between values of ω and the peaks/dips in MOID values. Previous works have shown that GR precession suppresses Kozai oscillations and this aspect was verified using our integrations. There is an overall agreement between both analytical and numerical methods.Summary and Discussion: We find that GR precession could play an important role in the calculations pertaining to MOID and close encounter scenarios in the case of certain small solar system bodies (depending on their initial orbital elements). Previous works have looked into impact probabilities and collision scenarios on
78 FR 73696 - Extension of Expiration Date for Mental Disorders Body System Listings; Correction
2013-12-09
... ADMINISTRATION 20 CFR Part 404 RIN 0960-AH62 Extension of Expiration Date for Mental Disorders Body System... date of the Mental Disorders body system in the Listing of Impairments (listings) in our regulations... Mental Disorders body system in the Listing of Impairments (listings) in our regulations. In this...
Bräuer, A; English, M J M; Steinmetz, N; Lorenz, N; Perl, T; Braun, U; Weyland, W
2002-09-01
Forced-air warming with upper body blankets has gained high acceptance as a measure for the prevention of intraoperative hypothermia. However, data on heat transfer with upper body blankets are not yet available. This study was conducted to determine the heat transfer efficacy of eight complete upper body warming systems and to gain more insight into the principles of forced-air warming. Heat transfer of forced-air warmers can be described as follows: Qdot;=h. DeltaT. A, where Qdot;= heat flux [W], h=heat exchange coefficient [W m-2 degrees C-1], DeltaT=temperature gradient between the blanket and surface [ degrees C], and A=covered area [m2]. We tested eight different forced-air warming systems: (1) Bair Hugger and upper body blanket (Augustine Medical Inc. Eden Prairie, MN); (2) Thermacare and upper body blanket (Gaymar Industries, Orchard Park, NY); (3) Thermacare (Gaymar Industries) with reusable Optisan upper body blanket (Willy Rüsch AG, Kernen, Germany); (4) WarmAir and upper body blanket (Cincinnati Sub-Zero Products, Cincinnati, OH); (5) Warm-Gard and single use upper body blanket (Luis Gibeck AB, Upplands Väsby, Sweden); (6) Warm-Gard and reusable upper body blanket (Luis Gibeck AB); (7) WarmTouch and CareDrape upper body blanket (Mallinckrodt Medical Inc., St. Luis, MO); and (8) WarmTouch and reusable MultiCover trade mark upper body blanket (Mallinckrodt Medical Inc.) on a previously validated copper manikin of the human body. Heat flux and surface temperature were measured with 11 calibrated heat flux transducers. Blanket temperature was measured using 11 thermocouples. The temperature gradient between the blanket and surface (DeltaT) was varied between -8 and +8 degrees C, and h was determined by linear regression analysis as the slope of DeltaT vs. heat flux. Mean DeltaT was determined for surface temperatures between 36 and 38 degrees C, as similar mean skin surface temperatures have been found in volunteers. The covered area was estimated to be 0
Articulated Lifting System Modeling Based on Dynamics of Flexible Multi-Body Systems
无
2007-01-01
In lifting sub-system of deep-sea mining system, spherical joint is used to connect lifting pipes to replace fixed joint. Based on Dynamics of Flexible Multi-body systems, the mechanics model of articulated lifting system is established. Under the four-grade and six-grade oceanic condition, dynamic responses of lifting system are simulated and experiment verified. The simulation results are consistent with experimental ones. The maximum moment of flexion is 322 kN-m on the first pipe under six-grade sea condition. It is seen that the articulated connection can reduce the moment of flexion. The bending deformation of pipe center is researched, and the maximum is 0.000479 m on the first pipe. Deformation has a little effect on the motion of system. It is feasible to analyze articulated lifting system by applying the theory of flexible multi-body dynamics. The articulated lifting system is obviously better than the fixed one.
Statistical theory of the many-body nuclear system
De Pace, A
2002-01-01
A recently proposed statistical theory of the mean fields associated with the ground and excited collective states of a generic many-body system is extended by increasing the dimensions of the P-space. In applying the new framework to nuclear matter, in addition to the mean field energies we obtain their fluctuations as well, together with the ones of the wavefunctions, in first order of the expansion in the complexity of the Q-space states. The physics described by the latter is assumed to be random. To extract numerical predictions out of our scheme we develop a schematic version of the approach, which, while much simplified, yields results of significance on the size of the error affecting the mean fields, on the magnitude of the residual effective interaction, on the ground state spectroscopic factor and on the mixing occurring between the vectors spanning the P-space.
Myths, symbols and legends of solar system bodies
Alexander, Rachel
2015-01-01
This book is an amateur astronomer’s guide to the mythology and symbolism associated with the celestial bodies in the Solar System, and even includes some of the legendary tales of people who had or have a connection with these objects. It explores different cultures (for example, the Greco-Roman and the Norse) and different times and how stories were used to explain the worlds they saw above them. You’d be amazed how much of our world today reflects the myths and stories of these cultures! Most amateur astronomers are familiar with the various Solar System objects, but they will be only peripherally aware of what ancient cultures thought of these other worlds. In fact, the mythology of the planets challenges many twenty-first century concepts and beliefs There are other books available on astromythology, but this one focuses mostly on our own Solar System, as opposed to the constellations and deep sky objects. Alexander offers a new angle on timeless subjects and is exciting, informative and dramatic...
A NUMERICAL METHOD FOR SIMULATING NONLINEAR FLUID-RIGID STRUCTURE INTERACTION PROBLEMS
XingJ.T; PriceW.G; ChenY.G
2005-01-01
A numerical method for simulating nonlinear fluid-rigid structure interaction problems is developed. The structure is assumed to undergo large rigid body motions and the fluid flow is governed by nonlinear, viscous or non-viscous, field equations with nonlinear boundary conditions applied to the free surface and fluid-solid interaction interfaces. An Arbitrary-Lagrangian-Eulerian (ALE) mesh system is used to construct the numerical model. A multi-block numerical scheme of study is adopted allowing for the relative motion between moving overset grids, which are independent of one another. This provides a convenient method to overcome the difficulties in matching fluid meshes with large solid motions. Nonlinear numerical equations describing nonlinear fluid-solid interaction dynamics are derived through a numerical discretization scheme of study. A coupling iteration process is used to solve these numerical equations. Numerical examples are presented to demonstrate applications of the model developed.
The role of rigidity in controlling material failure
Driscoll, Michelle M.; Chen, Bryan Gin-ge; Beuman, Thomas H.; Ulrich, Stephan; Nagel, Sidney R.; Vitelli, Vincenzo
2016-01-01
We investigate how material rigidity acts as a key control parameter for the failure of solids under stress. In both experiments and simulations, we demonstrate that material failure can be continuously tuned by varying the underlying rigidity of the material while holding the amount of disorder constant. As the rigidity transition is approached, failure due to the application of uniaxial stress evolves from brittle cracking to system-spanning diffuse breaking. This evolution in failure behavior can be parameterized by the width of the crack. As a system becomes more and more floppy, this crack width increases until it saturates at the system size. Thus, the spatial extent of the failure zone can be used as a direct probe for material rigidity. PMID:27621463
Dynamical instability and statistical behaviour of N-body systems
Cipriani, Piero; Di Bari, Maria
1998-12-01
In this paper, we argue about a synthetic characterization of the qualitative properties of generic many-degrees-of-freedom (mdf) dynamical systems (DS's) by means of a geometric description of the dynamics [Geometro-Dynamical Approach (GDA)]. We exhaustively describe the mathematical framework needed to link geometry and dynamical (in)stability, discussing in particular which geometrical quantity is actually related to instability and why some others cannot give, in general, any indication of the occurrence of chaos. The relevance of the Schur theorem to select such Geometrodynamic Indicators (GDI) of instability is then emphasized, as its implications seem to have been underestimated in some of the previous works. We then compare the analytical and numerical results obtained by us and by Pettini and coworkers concerning the FPU chain, verifying a complete agreement between the outcomes of averaging the relevant GDI's over phase space (Casetti and Pettini, 1995) and our findings (Cipriani, 1993), obtained in a more conservative way, time-averaging along geodesics. Along with the check of the ergodic properties of GDI's, these results confirm that the mechanism responsible for chaos in realistic DS's largely depends on the fluctuations of curvatures rather than on their negative values, whose occurrence is very unlikely. On these grounds we emphasize the importance of the virialization process, which separates two different regimes of instability. This evolutionary path, predicted on the basis of analytical estimates, receives clear support from numerical simulations, which, at the same time, confirm also the features of the evolution of the GDI's along with their dependence on the number of degrees of freedom, N, and on the other relevant parameters of the system, pointing out the scarce relevance of negative curvature (for N ≫ 1) as a source of instability. The general arguments outlined above, are then concretely applied to two specific N-body problems
Ranavolo, Alberto; Don, Romildo; Draicchio, Francesco; Bartolo, Michelangelo; Serrao, Mariano; Padua, Luca; Cipolla, Gianfranco; Pierelli, Francesco; Iavicoli, Sergio; Sandrini, Giorgio
2013-03-01
The aims of this study were to develop a kinematic model of the spine, seen as a continuous deformable body and to identify the smallest set of surface markers allowing adequate measurements of spine motion. The spine is widely considered as a rigid body or as a kinematic chain made up of a smaller number of segments, thereby introducing an approximation. It would be useful to have at our disposal a technique ensuring accurate and repeatable measurement of the shape of the whole spine. Ten healthy subjects underwent a whole-spine radiographic assessment and, simultaneously, an optoelectronic recording. Polynomial interpolations of the vertebral centroids, of the whole set of markers were performed. The similarity of the resulting curves was assessed. Our findings indicate that spine shape can be reproduced by 5th order polynomial interpolation. The best approximating curves are obtained from either 10- or 9-marker sets. Sagittal angles are systematically underestimated.
Gain in computational efficiency by vectorization in the dynamic simulation of multi-body systems
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.
Rigidly foldable origami gadgets and tessellations.
Evans, Thomas A; Lang, Robert J; Magleby, Spencer P; Howell, Larry L
2015-09-01
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.
Rigidly foldable origami gadgets and tessellations
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
Quantum effects in many-body gravitating systems
Golovko, V A
2015-01-01
A hierarchy of equations for equilibrium reduced density matrices obtained earlier is used to consider systems of spinless bosons bound by forces of gravity alone. The systems are assumed to be at absolute zero of temperature under conditions of Bose condensation. In this case, a peculiar interplay of quantum effects and of very weak gravitational interaction between microparticles occurs. As a result, there can form spatially-bounded equilibrium structures macroscopic in size, both immobile and rotating. The size of a structure is inversely related to the number of particles in the structure. When the number of particles is relatively small the size can be enormous, whereas if this numbder equals Avogadro's number the radius of the structure is about 30 cm in the case that the structure consists of hydrogen atoms. The rotating objects have the form of rings and exhibit superfluidity. An atmosphere that can be captured by tiny celestial bodies from the ambient medium is considered too. The thickness of the at...
Analysis of the Body Control System Related to Mental Workload
Seiji Naito
2012-12-01
Full Text Available In this paper, we present a model-based analysis of the standing posture control mechanism with consideration to mental workload and the physiological features of sensory feedback. It has been known that standing posture control is not performed autonomously or unconsciously but is affected by “working memory” [1]. In order to investigate how mental workload in working memory influences standing posture control, we consider the feedback groups in the standing posture control mechanism which include the viscoelastic characteristics of the musculoskeletal system and sensory feedback. We use a centre of pressure (COP-based tracking task to investigate the influence of mental workload on voluntary (tracking movement. Maurer-Peterka's model is applied to analyse the standing posture control mechanism, with respect to a change in the internal processes. The simulation results show the relationship of the feedback gain and its delay from the central nervous system with the standing posture control performance. The proposed model-based scheme provides a comprehensive view for physiological data analysis of human body movement in relation to mental workload.
Nuclear electric dipole moment of three-body systems
Song, Young-Ho; Lazauskas, Rimantas; Gudkov, Vladimir
2013-01-01
Background: The existence of the electric dipole moment (EDM) of stable nuclei would be a direct evidence of the time reversal invariance violation (TRIV). Therefore, its measurement could be considered as a complement to the search for neutron and atomic EDMs.Purpose: To clarify theoretical issues related to calculations of EDMs in many-body systems we calculated the EDMs of the simplest nuclei.Method: For calculations of three-nucleon systems EDMs we used TRIV potentials based on the meson exchange theory, as well as the ones derived by using effective field theories (EFT) with and without explicit pions. Nuclear wave functions were obtained by solving Faddeev equations in configuration space for the complete Hamiltonians comprising both TRIV and realistic strong interactions.Results: The expressions for EDMs of 3He and 3H are given in terms of meson exchange couplings and low energy constants of EFT potentials.Conclusions: The obtained results are compared with the previous calculations of 3He EDM and with time reversal invariance violating effects in neutron-deuteron scattering. The model dependence on strong interactions is discussed.
Close encounters of the third-body kind. [intruding bodies in binary star systems
Davies, M. B.; Benz, W.; Hills, J. G.
1994-01-01
We simulated encounters involving binaries of two eccentricities: e = 0 (i.e., circular binaries) and e = 0.5. In both cases the binary contained a point mass of 1.4 solar masses (i.e., a neutron star) and a 0.8 solar masses main-sequence star modeled as a polytrope. The semimajor axes of both binaries were set to 60 solar radii (0.28 AU). We considered intruders of three masses: 1.4 solar masses (a neutron star), 0.8 solar masses (a main-sequence star or a higher mass white dwarf), and 0.64 solar masses (a more typical mass white dwarf). Our strategy was to perform a large number (40,000) of encounters using a three-body code, then to rerun a small number of cases with a three-dimensional smoothed particle hydrodynamics (SPH) code to determine the importance of hydrodynamical effects. Using the results of the three-body runs, we computed the exchange across sections, sigma(sub ex). From the results of the SPH runs, we computed the cross sections for clean exchange, denoted by sigma(sub cx); the formation of a triple system, denoted by sigma(sub trp); and the formation of a merged binary with an object formed from the merger of two of the stars left in orbit around the third star, denoted by sigma(sub mb). For encounters between either binary and a 1.4 solar masses neutron star, sigma(sub cx) approx. 0.7 sigma(sub ex) and sigma(sub mb) + sigma(sub trp) approx. 0.3 sigma(sub ex). For encounters between either binary and the 0.8 solar masses main-sequence star, sigma(sub cx) approx. 0.50 sigma(sub ex) and sigma(sub mb) + sigma(sub trp) approx. 1.0 sigma(sub ex). If the main sequence star is replaced by a main-sequence star of the same mass, we have sigma(sub cx) approx. 0.5 sigma(sub ex) and sigma(sub mb) + sigma(sub trp) approx. 1.6 sigma(sub ex). Although the exchange cross section is a sensitive function of intruder mass, we see that the cross section to produce merged binaries is roughly independent of intruder mass. The merged binaries produced have semi
王刚; 刘延杰; 吴明月; 韩海军
2015-01-01
Targeting a Delta parallel robot which is widely used for high speed pick and place operation,a novel approximation for simpli-fied rigid body dynamic model based on Lagrangian multiplier method is established.Both of the in-verse kinematic and rigid dynamic model are devel-oped,and the dynamic model is simplified consid-ering the actual situation of the robot.Comparing the calculation results of the dynamic model before and after the simplification with the simulation re-sults show that the simplified rigid model can not only reduce the amount of calculation but also im-prove the accuracy of it.%针对广泛应用于高速抓放操作的 Delta并联机器人，提出了一种基于拉格朗日乘子法的刚体动力学建模方法，并利用约束方程的全微分求解出了动力学模型的显示表达式。建立了机器人的逆运动学以及刚体动力学模型，考虑机器人从动臂臂杆为轻质碳纤维杆，两端为较重的金属附件的特点，建立了简化刚体动力学模型。并针对机器人常用的高速抓放轨迹进行仿真，将简化前后的2种动力学模型与 ADAMS 仿真结果进行对比。
Stochastic finite element applications in rigid pavement performance
Attoh-Okine, Nii O.
1999-05-01
Rigid pavement structures have uncertainties and variability in their structural layers and components. These variations and uncertainties are seldomly included in performance assessment and evaluation in pavement systems. This paper proposes to use Stochastic Finite Element Method (SFEM) in rigid pavement faulting and load transfer efficiency. The SFEM uses random parameters, as stochastic process namely random fields. These random fields are characterized, quantitatively by spatial functions of statistical moment like the mean, variance and covariance.
Three-body systems in physics of cold atoms and halo nuclei
Ji, Chen
2015-01-01
Few-body systems, such as cold atoms and halo nuclei, share universal features at low energies, which are insensitive to the underlying inter-particle interactions at short ranges. These low-energy properties can be investigated in the framework of effective field theory with two-body and three-body contact interactions. I review the effective-field-theory studies of universal physics in three-body systems, focusing on the application in cold atoms and halo nuclei.
Weird worlds bizarre bodies of the solar system and beyond
Seargent, David A J
2013-01-01
In Weird Worlds, the author discusses planets where temperatures are so high that it rains molten iron, and others so cold that liquid methane floods across plains of ice! Worlds are described where the lightest element acts like a metal and where winds blow at thousands of miles per hour – as well as possible planets whose orbits are essentially parabolic. Weird Worlds is the third book in David Seargent’s “Weird” series. This book assumes a basic level of astronomical understanding and concentrates on the “odd and interesting” aspects of planetary bodies, including asteroids and moons. From our viewpoint here on Earth, this work depicts the most unusual features of these worlds and the ways in which they appear “weird” to us. Within our own Solar System, odd facts such as the apparent reversal of the Sun in the skies of Mercury, CO2-driven fountains of dust on Mars, possible liquid water (and perhaps primitive life!) deep within the dwarf planet Ceres, and a variety of odd facts about ...
Introduction to Integrable Many-Body Systems II
Šamaj, Ladislav
2010-04-01
This is the second part of a three-volume introductory course about integrable systems of interacting bodies. The models of interest are quantum spin chains with nearest-neighbor interactions between spin operators, in particular Heisenberg spin-1/2 models. The Ising model in a transverse field, expressible as a quadratic fermion form by using the Jordan-Wigner transformation, is the subject of Sect. 12. The derivation of the coordinate Bethe ansatz for the XXZ Heisenberg chain and the determination of its absolute ground state in various regions of the anisotropy parameter are presented in Sect. 13. The magnetic properties of the ground state are explained in Sect. 14. Sect. 15 concerns excited states and the zero-temperature thermodynamics of the XXZ model. The thermodynamics of the XXZ Heisenberg chain is derived on the basis of the string hypothesis in Sect. 16; the thermodynamic Bethe ansatz equations are analyzed in high-temperature and low-temperature limits. An alternative derivation of the thermodynamics without using strings, leading to a non-linear integral equation determining the free energy, is the subject of Sect. 17. A nontrivial application of the Quantum Inverse Scattering method to the fully anisotropic XYZ Heisenberg chain is described in Sect. 18. Sect. 19 deals with integrable cases of isotropic spin chains with an arbitrary spin.
Rijkhoff, Jan
2008-01-01
, Non-Verb, Modifier), there are also flexible word classes within the rigid lexical category Noun (Set Noun, Sort Noun, General Noun). Members of flexible word classes are characterized by their vague semantics, which in the case of nouns means that values for the semantic features Shape...
Rigidity-tuning conductive elastomer
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.
Rigid coupling is also flexible
Appleberry, W. T.
1978-01-01
Spring-loaded coupling is rigid under light loads and swivels under higher loads. Break-out point can be set at any desired value by selecting appropriate preload springs. Coupling requires no cushions or elastomeric joints that limit temperature range.