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.
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.
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.
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.
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.
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....
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.
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.
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.
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
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.
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...
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...
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
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...
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.
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.
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
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.
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...
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.
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.
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....
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...
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.
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.
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.
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.
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.
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.
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.
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
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.
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.
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.
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.
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.
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...
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.
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.
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.
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...
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.
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.
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...
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.
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.
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...
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
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
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.
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.
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
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....
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.
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 ...
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.
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
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.
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.
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...
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....
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
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.
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.
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.
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.
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.
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.
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.
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.
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...
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
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.
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
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
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.
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 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.
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.
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.
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.
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....
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.
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.
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
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.
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.
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.
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.
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.
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.
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.
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.
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....
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
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.
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.
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
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.
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.
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.
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.
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.
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.
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.
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.
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...
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.
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.
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.
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...
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.
Mixed convection in fluid superposed porous layers
Dixon, John M
2017-01-01
This Brief describes and analyzes flow and heat transport over a liquid-saturated porous bed. The porous bed is saturated by a liquid layer and heating takes place from a section of the bottom. The effect on flow patterns of heating from the bottom is shown by calculation, and when the heating is sufficiently strong, the flow is affected through the porous and upper liquid layers. Measurements of the heat transfer rate from the heated section confirm calculations. General heat transfer laws are developed for varying porous bed depths for applications to process industry needs, environmental sciences, and materials processing. Addressing a topic of considerable interest to the research community, the brief features an up-to-date literature review of mixed convection energy transport in fluid superposed porous layers.
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 ...
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.
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.
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.
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.
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...
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.
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 ...
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.
Indeterminacy points for superposed Yukawa and Gauss potentials
Choubey, J.; Sharma, L.K. (Government Engineering Coll., Jabalpur (India). Dept. of Applied Physics)
1981-04-01
Eigenenergy expansion for the superposition of Yukawa and Gauss potentials for calculating the first indeterminacy points is derived. Behaviour of Regge trajectories for the superposed potential is also studied.
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.
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.
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
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.
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.
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.
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.
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....
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.
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
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.
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.
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.
Phase retrieval for superposed signals from multiple binary objects
Alpers, Andreas; Herman, Gabor T.; Poulsen, Henning Friis
2010-01-01
We introduce the binary superposed phase retrieval problem that aims at reconstructing multiple 0/1-valued functions with nonoverlapping bounded supports from moduli of superpositions of several displaced copies of their individual Fourier transforms. We discuss an application in coherent diffrac...... diffraction imaging of crystalline objects, propose two algorithms, and evaluate their performance by means of simulations. © 2010 Optical Society of America...
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.
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.
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.
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.
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.
Fiber-guided modes conversion using superposed helical gratings
Ma, Yancheng; Fang, Liang; Wu, Guoan
2017-03-01
Optical fibers can support various modal forms, including vector modes, linear polarization (LP) modes, and orbital angular momentum (OAM) modes, etc. The modal correlation among these modes is investigated via Jones matrix, associated with polarization and helical phase corresponding to spin angular momentum (SAM) and OAM of light, respectively. We can generate different modal forms by adopting superposed helical gratings (SHGs) with opposite helix orientations. Detailed analysis and discussion on mode conversion is given as for mode coupling in optical fibers with both low and high contrast index, respectively. Our study may deepen the understanding for various fiber-guided modes and mode conversion among them via fiber gratings.
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
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.
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...
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.
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.
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.
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.
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].
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。
Experimentally superposing two pure states with partial prior knowledge
Li, Keren; Long, Guofei; Katiyar, Hemant; Xin, Tao; Feng, Guanru; Lu, Dawei; Laflamme, Raymond
2017-02-01
Superposition, arguably the most fundamental property of quantum mechanics, lies at the heart of quantum information science. However, how to create the superposition of any two unknown pure states remains as a daunting challenge. Recently, it was proved that such a quantum protocol does not exist if the two input states are completely unknown, whereas a probabilistic protocol is still available with some prior knowledge about the input states [M. Oszmaniec et al., Phys. Rev. Lett. 116, 110403 (2016), 10.1103/PhysRevLett.116.110403]. The knowledge is that both of the two input states have nonzero overlaps with some given referential state. In this work, we experimentally realize the probabilistic protocol of superposing two pure states in a three-qubit nuclear magnetic resonance system. We demonstrate the feasibility of the protocol by preparing a families of input states, and the average fidelity between the prepared state and expected superposition state is over 99%. Moreover, we experimentally illustrate the limitation of the protocol that it is likely to fail or yields very low fidelity, if the nonzero overlaps are approaching zero. Our experimental implementation can be extended to more complex situations and other quantum systems.
Temporal stability of superposed magnetic fluids in porous media
Zakaria, Kadry; Sirwah, Magdy A; Alkharashi, Sameh [Mathematics Department, Faculty of Science, Tanta University, Tanta (Egypt)
2008-02-15
The present work deals with the stability properties of time periodically streaming superposed magnetic fluids through porous media under the influence of an oblique alternating magnetic field. The system is composed of a middle fluid sheet of finite thickness embedded between two other bounded layers. The fluids are assumed to be incompressible and there are no volume charges in the layers of the fluids. Such configurations are of relevance in a variety of astrophysical and space configurations. The solutions of the linearized equations of motion and boundary conditions lead to deriving two more general simultaneous Mathieu equations of damping terms with complex coefficients. The method of multiple time scales is used to obtain approximate solutions and analyze the stability criteria for both the non-resonant and resonant cases and hence transition curves are obtained for such cases. The stability criteria are examined theoretically and numerically from which stability diagrams are obtained. It is found that the fluid sheet thickness plays a destabilizing role in the presence of a constant field and velocity, while the damping role is observed for the resonant cases. Dual roles are observed for the fluid velocity and the porosity in the stability criteria.
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.
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.
Interfacial instabilities in a stratified flow of two superposed fluids
Schaflinger, Uwe
1994-06-01
Here we shall present a linear stability analysis of a laminar, stratified flow of two superposed fluids which are a clear liquid and a suspension of solid particles. The investigation is based upon the assumption that the concentration remains constant within the suspension layer. Even for moderate flow-rates the base-state results for a shear induced resuspension flow justify the latter assumption. The numerical solutions display the existence of two different branches that contribute to convective instability: long and short waves which coexist in a certain range of parameters. Also, a range exists where the flow is absolutely unstable. That means a convectively unstable resuspension flow can be only observed for Reynolds numbers larger than a lower, critical Reynolds number but still smaller than a second critical Reynolds number. For flow rates which give rise to a Reynolds number larger than the second critical Reynolds number, the flow is absolutely unstable. In some cases, however, there exists a third bound beyond that the flow is convectively unstable again. Experiments show the same phenomena: for small flow-rates short waves were usually observed but occasionally also the coexistence of short and long waves. These findings are qualitatively in good agreement with the linear stability analysis. Larger flow-rates in the range of the second critical Reynolds number yield strong interfacial waves with wave breaking and detached particles. In this range, the measured flow-parameters, like the resuspension height and the pressure drop are far beyond the theoretical results. Evidently, a further increase of the Reynolds number indicates the transition to a less wavy interface. Finally, the linear stability analysis also predicts interfacial waves in the case of relatively small suspension heights. These results are in accordance with measurements for ripple-type instabilities as they occur under laminar and viscous conditions for a mono-layer of particles.
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.
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.
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.
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.
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。
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.
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.
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
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.
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...
Zinoviev, P.A.; Tsvetkov, S.V.; Kulish, G.G.; Berg, van den R.W.; Schepdael, van L.J.M.M.
2001-01-01
Three types of high-strength unidirectional composite materials were studied under longitudinal tension with superposed high hydrostatic pressure. Reinforcing fibers were T1000G carbon, S2 glass and Zylon PBO fibers; the Ciba 5052 epoxy resin was used as matrix. The composites were tested under exte
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.
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.
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 .
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 .
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
Painful scoliosis due to superposed giant cell bone tumor and aneurysmal bone cyst in a child.
Togral, Guray; Arikan, Murat; Hasturk, Askin E; Gungor, Safak
2014-07-01
Giant cell bone tumors are the most common precursor lesions of aneurysmal bone cysts (ABCs) developing secondarily. In giant cell bone tumors containing an explicit ABC component, the observation of the solid component of the giant cell bone tumor plays a critical role in the separation of the primary ABC. In general, ABC cases together with giant cell tumors in the bone are diagnosed histopathologically. The combination of giant cell bone tumor with superposed ABC and that of painful scoliosis with backache is rarely seen in children. In this case study, we discussed the diagnosis and the treatment of a giant cell tumor and superposed an ABC present in the fifth lumbar spine in a pediatric patient admitted to our clinic with a complaint of acute scoliotic back pain.
Teng, Y.; Yang, J. D.; Guo, W. C.; Chen, J. P.
2016-11-01
It is a consensus to consider the superposed working conditions when calculating the surge wave in surge tank of hydropower station with long diversion tunnel. For the hydropower station with single surge tank, the method of determining the worst superposed moment is mature. However, for the hydropower station with upstream series double surge tanks, research in this field is still blank. Based on an engineering project, this paper investigated the worst moments and the control superposed working conditions about the maximum surge level and the minimum surge level of upstream series double surge tanks using numerical simulation. In addition, the incidence relations between the worst moment of superposed surge wave and the different areal array and distance between the two surge tanks are also carried out. The results showed that: With the decrease of the distance between auxiliary surge tank and upstream reservoir, the maximum values of the highest surge levels in the two surge tanks always reach close to but a little earlier than the bigger one time when the inflowing discharges of the two surge tanks reach the maximum. It is similar to the minimum values of lowest surge levels in the two surge tanks which also reach close to but a little later than the bigger one time when the outflowing discharges of the two surges reach the maximum. Moreover, the closer the area of auxiliary surge tank to the area of main surge tank is, the closer the worst moment to the bigger one time when inflow or outflow of the two surges reach the maximum will become.
Flow non-normality-induced transient growth in superposed Newtonian and non-Newtonian fluid layers
Ridolfi, Luca; Camporeale, Carlo Vincenzo
2009-01-01
In recent years non-normality and transient growths have attracted much interest in fluid mechanics. Here, we investigate these topics with reference to the problem of interfacial instability in superposed Newtonian and non-Newtonian fluid layers. Under the hypothesis of the lubrication theory, we demonstrate the existence of significant transient growths in the parameter space region where the dynamical system is asymptotically stable, and show how they depend on the main physical parameters...
Li, W; Thorne, RM; Bortnik, J.; Baker, DN; Reeves, GD; Kanekal, SG; Spence, HE; Green, JC
2015-01-01
©2015. American Geophysical Union. All Rights Reserved. Determining preferential solar wind conditions leading to efficient radiation belt electron acceleration is crucial for predicting radiation belt electron dynamics. Using Van Allen Probes electron observations ( > 1 MeV) from 2012 to 2015, we identify a number of efficient and inefficient acceleration events separately to perform a superposed epoch analysis of the corresponding solar wind parameters and geomagnetic indices. By directly c...
Pier Federico Gherardini
Full Text Available Local structural comparison methods can be used to find structural similarities involving functional protein patches such as enzyme active sites and ligand binding sites. The outcome of such analyses is critically dependent on the representation used to describe the structure. Indeed different categories of functional sites may require the comparison program to focus on different characteristics of the protein residues. We have therefore developed superpose3D, a novel structural comparison software that lets users specify, with a powerful and flexible syntax, the structure description most suited to the requirements of their analysis. Input proteins are processed according to the user's directives and the program identifies sets of residues (or groups of atoms that have a similar 3D position in the two structures. The advantages of using such a general purpose program are demonstrated with several examples. These test cases show that no single representation is appropriate for every analysis, hence the usefulness of having a flexible program that can be tailored to different needs. Moreover we also discuss how to interpret the results of a database screening where a known structural motif is searched against a large ensemble of structures. The software is written in C++ and is released under the open source GPL license. Superpose3D does not require any external library, runs on Linux, Mac OSX, Windows and is available at http://cbm.bio.uniroma2.it/superpose3D.
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.
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.
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.
Mechanism of petroleum migration and accumulation in western China's superposed basins
Kang Yongshang; Li Peijun; Qi Xuefeng; Wen Yonghong; Li Shuijing
2012-01-01
In western China.most petroliferous basins are superposed due to their multi-periodic tectonic evolution,and the mechanisms of petroleum migration and accumulation are so complex that much more sophisticated methodologies are necessary for depiction of these mechanisms and identification of petroleum occurrences.For this purpose,in this article,a new methodology was formulated which includes:(1) vertical identification of petroleum migration and accumulation fluid dynamic systems in the superposed basins;(2) analysis of the effect of large scale regional faults and fault combinations on the fluids exchange between the vertically identified different systems;(3) analysis of petroleum migration and accumulation in each vertically identified system,and establishment of appropriate geological model of petroleum migration and accumulation for each vertically identified system.Using this methodology,the satisfactory results obtained in the Lunnan Uplift of Tarim Basin and Ludong Uplift of Jungar Basin case studies are:(1) existence of different vertical fluid dynamic systems in western China's superposed basins which are very necessary for understanding the mechanism of petroleum migration and accumulation;(2) in deep system,long-distance lateral petroleum migration and accumulation mainly take place along the long time exposed unconformity with weathered,fractured or karst reservoir rocks;(3) regional faults are the main conducts for fluids migration from deep system up to middle and/or upper systems.As to middle and/or upper systems,regional faults play a role of "petroleum source".Small faults within middle and/or upper systems conduct petroleum to carrier beds with less impeding force;(4) petroleum migrated from deep system vertically up to middle and/or upper systems will migrate laterally in carrier beds of these systems and accumulate to form pools near or far from faults.
Mochales, T.; Pueyo, E. L.; Casas, A. M.; Barnolas, A.
2016-03-01
Complex kinematic scenarios in fold-and-thrust belts often produce superposed and non-coaxial folding. Interpretation of primary linear indicators must be based on a careful restoration to the undeformed stage following the reverse order of the deformation events. Therefore, sequential restoration to the ancient coordinate system is of key importance to obtain reliable kinematic interpretations using paleomagnetic data. In this paper, a new paleomagnetic study in the western flank of the Boltaña anticline (Southern Pyrenees) illustrates a case study of a complex tectonic setting having superposed, non-coaxial folds. The first stage of NW-SE folding linked to the oblique Boltaña anticline took place during Lutetian times. The second stage was linked to the vertical axis rotation and placed the Boltaña anticline in its present-day N-S configuration. Our data support a long-lasting Lutetian to Priabonian period with main rotational activity during the Bartonian-Priabonian; other authors support a VAR coeval with anticlinal growth. The third stage resulted in southwards tilting related to the emplacement of the N120E striking Guarga basement thrust (Oligocene-Early Miocene). Based on this deformational history, a sequential restoration was applied and compared with the classic bedding correction. At the site scale, single bedding correction gives errors ranging between 31° and - 31° in the estimation of vertical axis rotations. At the locality scale, in sites grouped in three folds (from W to E Arbella, Planillo and San Felizes), the bedding corrected data display rotation values in accordance with those found in the Ainsa Basin by other authors. Sequential restoration (based on the afore-mentioned evolution in three-steps) improves both some locality-means and the internal consistency of the data. Therefore, reasonably-constrained sequential restoration becomes essential to reconstruct the actual history of superposed folding areas.
The Statistics of Radio Astronomical Polarimetry: Disjoint, Superposed, and Composite Samples
van Straten, W.; Tiburzi, C.
2017-02-01
A statistical framework is presented for the study of the orthogonally polarized modes of radio pulsar emission via the covariances between the Stokes parameters. To accommodate the typically heavy-tailed distributions of single-pulse radio flux density, the fourth-order joint cumulants of the electric field are used to describe the superposition of modes with arbitrary probability distributions. The framework is used to consider the distinction between superposed and disjoint modes, with particular attention to the effects of integration over finite samples. If the interval over which the polarization state is estimated is longer than the timescale for switching between two or more disjoint modes of emission, then the modes are unresolved by the instrument. The resulting composite sample mean exhibits properties that have been attributed to mode superposition, such as depolarization. Because the distinction between disjoint modes and a composite sample of unresolved disjoint modes depends on the temporal resolution of the observing instrumentation, the arguments in favor of superposed modes of pulsar emission are revisited, and observational evidence for disjoint modes is described. In principle, the four-dimensional covariance matrix that describes the distribution of sample mean Stokes parameters can be used to distinguish between disjoint modes, superposed modes, and a composite sample of unresolved disjoint modes. More comprehensive and conclusive interpretation of the covariance matrix requires more detailed consideration of various relevant phenomena, including temporally correlated subpulse modulation (e.g., jitter), statistical dependence between modes (e.g., covariant intensities and partial coherence), and multipath propagation effects (e.g., scintillation and scattering).
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.
Flow non-normality-induced transient growth in superposed Newtonian and non-Newtonian fluid layers.
Camporeale, C; Gatti, F; Ridolfi, L
2009-09-01
In recent years non-normality and transient growths have attracted much interest in fluid mechanics. Here, we investigate these topics with reference to the problem of interfacial instability in superposed Newtonian and non-Newtonian fluid layers. Under the hypothesis of the lubrication theory, we demonstrate the existence of significant transient growths in the parameter space region where the dynamical system is asymptotically stable, and show how they depend on the main physical parameters. In particular, the key role of the density ratio is highlighted.
Khan Aiyub
2008-01-01
Full Text Available The Kelvin-Helmholtz discontinuity in two superposed viscous conducting fluids has been investigated in the taking account of effects of surface tension, when the whole system is immersed in a uniform horizontal magnetic field. The streaming motion is assumed to be two-dimensional. The stability analysis has been carried out for two highly viscous fluid of uniform densities. The dispersion relation has been derived and solved numerically. It is found that the effect of viscosity, porosity and surface tension have stabilizing influence on the growth rate of the unstable mode, while streaming velocity has a destabilizing influence on the system.
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.
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.
Ismail Ozkaya, Sait
2014-03-01
An Excel Visual Basic program, SUPERPOSE, is presented to predict the distribution, relative size and strike of tensile and shear fractures on anticlinal structures. The program is based on the concept of stress superposition; addition of curvature-related local tensile stress and regional far-field stress. The method accurately predicts fractures on many Middle East Oil Fields that were formed under a strike slip regime as duplexes, flower structures or inverted structures. The program operates on the Excel platform. The program reads the parameters and structural grid data from an Excel template and writes the results to the same template. The program has two routines to import structural grid data in the Eclipse and Zmap formats. The platform of SUPERPOSE is a single layer structural grid of a given cell size (e.g. 50×50 m). In the final output, a single tensile or two conjugate shear fractures are placed in each cell if fracturing criteria are satisfied; otherwise the cell is left blank. Strike of the representative fracture(s) is calculated and exact, but the length is an index of fracture porosity (fracture density×length×aperture) within that cell.
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.
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...
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...
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.
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
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 ...
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...
Fisson-track constrains on superposed folding in the Beishan orogenic belt, southernmost Altaids
Zhonghua Tian
2016-03-01
Full Text Available The Hongyanjing inter-arc basin, is located at the central part of Beishan Orogenic College (BOC, Gansu Province, northwest China. Thick sequences of Permian sediments were strongly folded, forming extremely spectacular superposed folds. To better understand the thermal history of Hongyanjing inter-arc basin and to potentially constrain the timing of deformation, apatite fission track thermochronology method was applied on two superposed folds in the Hongyanjing Basin. Samples from the basin, yield central AFT ages ranging from ∼206 to 118 Ma. AFT peak ages were largely consistent between samples and can divided into three groups: 245, 204–170 and 112–131 Ma. Subsequent thermal history modeling of the samples from the Hongyanjing Basin can be summarized as follows: (1 thermal reheating by sedimentary burial at ∼ 260 to ∼220 Ma; (2 major cooling from ∼220 to ∼180 Ma; (3 an episode of very slow subsequent cooling from ∼180 to 65 Ma (∼80 °C to present-day outcrop temperatures. Sediments in the Hongyanjing Basin were folded forming F1 fold during the early to late Triassic (∼240–∼220 Ma, by regional stress, and at the time that the adjacent Xingxingxia shear zone started to become active. It is further suggested that the F2 folding occurred at ∼225–219 Ma. The deformation age of F2 should be extended to 180 Ma based on our thermal history modeling for the Hongyanjing Basin, which show a rapid exhumation and cooling at the late Triassic to early Jurassic (∼220–∼180 Ma. In our interpretations, the F1 folding is therefore thought to be related to the final closure of the Paleo-Asian Ocean, while the F2 folding occurred at ∼225–180 Ma associated with a major pulse of orogenesis in the BOC.
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.
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".
Superposed epoch analysis of storm time response of the ionosphere-thermosphere (IT) system
Oliveira, D. M.; Zesta, E.; Connor, H.; Su, Y. J.; Sutton, E. K.; Huang, C. Y.; Ober, D. M.; Delay, S. H.; Schuck, P. W.
2015-12-01
The thermosphere-ionosphere system response to energy input by Joule heating via Poynting flux and auroral precipitation is strongly intensified during times with high geomagnetic activity or during geomagnetic storms. The most dramatic thermospheric response is the intensification and upwelling of the thermospheric mass density. The neutral mass density is not only a key parameter to understanding the solar wind - IT coupling, but also plays an important role in understanding satellite orbital drag, which in turn impacts satellite position predictions. Results of numerical simulations and satellite observations (CHAMP and GRACE) have shown that the neutral mass density is rapidly intensified (within minutes) after the initial storm shock impact and also after the onset of storm main phase. This almost immediate response is typical of CME-driven storms in which the neutral density is enhanced first in the dayside polar cap and the intensification subsequently spreads out to all magnetic local time regions and lower latitude regions. We perform a superposed epoch analysis using CHAMP and GRACE satellite data as well as DMSP data to study the spatial and temporal distribution of the measured Poynting flux and neutral density response during the main phase of storms of different intensity. We also examine the correlation characteristics between Poynting flux and neutral density response, in space and time during the storm.
A. Grocott
2009-02-01
Full Text Available Using data from the Super Dual Auroral Radar Network (SuperDARN we investigate the ionospheric convection response to magnetospheric substorms. Substorms were identified using the Far Ultraviolet (FUV instrument on board the Imager for Magnetopause-to-Aurora Global Exploration (IMAGE spacecraft, and were then binned according to the magnetic latitude of their onset. A superposed epoch analysis of the ionospheric convection patterns for each onset-latitude bin was then performed using radar data for the interval 60 min before onset to 90 min after. It is found that lower onset-latitude substorms are associated with generally more enhanced convection than the higher latitude substorms, although they suffer from a significant localised reduction of the flow in the midnight sector during the expansion phase. Higher-latitude substorms are associated with a significant and rapid increase in the nightside convection following substorm onset, with all onset-latitude bins showing an enhancement over onset values by ~60 min into the expansion phase. A rudimentary inspection of the concurrent auroral evolution suggests that the duration of the flow reduction following substorm onset is dependent on the strength and duration of the expansion phase aurora and its associated conductivity enhancement.
On the Flow Behavior in Rotor-Stator System with Superposed Flow
Roger Debuchy
2008-01-01
Full Text Available The flow between a rotor and a stator at high Reynolds number and small Ekman number is divided into three domains, two boundary layers adjacent to the discs separated by a central core. In the present work, a simple theoretical approach provides analytical solutions for the radial distribution of the core swirl ratio valid for a rotor-stator system with a superposed radial inflow rate. At first, the flow in the rotor boundary layer is assumed to behave as expressed by Owen and Rogers (1989 in the case of a turbulent flow on a rotating single disc. On the stator side, a necessary compensation flow rate must take place according to the conservation of mass. It is found that this compensation flow rate cannot be estimated with a good accuracy using the hypotheses of a stationary disc in a rotating fluid by Owen and Rogers (1989. Thus, two innovative weighting functions are tested, leading to new analytical laws relating the core swirl ratio K to the coefficient of flow rate Cqr introduced by Poncet et al. (2005. The adequacy between the theoretical solutions and numerous results of the literature is clearly improved and the discussion allows a better understanding of the flow behavior.
Dynamics of large-scale solar-wind streams obtained by the double superposed epoch analysis
Yermolaev, Yu I; Nikolaeva, N S; Yermolaev, M Yu
2015-01-01
Using the OMNI data for period 1976-2000 we investigate the temporal profiles of 20 plasma and field parameters in the disturbed large-scale types of solar wind (SW): CIR, ICME (both MC and Ejecta) and Sheath as well as the interplanetary shock (IS). To take into account the different durations of SW types, we use the double superposed epoch analysis (DSEA) method: re-scaling the duration of the interval for all types in such a manner that, respectively, beginning and end for all intervals of selected type coincide. As the analyzed SW types can interact with each other and change parameters as a result of such interaction, we investigate separately 8 sequences of SW types: (1) CIR, (2) IS/CIR, (3) Ejecta, (4) Sheath/Ejecta, (5) IS/Sheath/Ejecta, (6) MC, (7) Sheath/MC, and (8) IS/Sheath/MC. The main conclusion is that the behavior of parameters in Sheath and in CIR are very similar both qualitatively and quantitatively. Both the high-speed stream (HSS) and the fast ICME play a role of pistons which push the pl...
Superposed deformation straddling the continental-oceanic transition in deep-water Angola
Cramez, C. [TotalFina Elf Exploration and Production, Paris La Defense (France); Jackson, M.P.A. [Texas Univ., Austin, TX (United States). Bureau of Economic Geology
2000-12-01
The Angolan margin is the type area for raft tectonics. New seismic data reveal the contractional buffer for this thin-skinned extension. A 200-km-long composite section from the Lower Congo Basin and Kwanza Basin illustrates a complex history of superposed deformation caused by: (1) progradation of the margin; and (2) episodic Tertiary epeirogenic uplift. Late Cretaceous tectonics was driven by a gentle slope created by thermal subsidence; extensional rafting took place updip, contractional thrusting and buckling downdip; some distal folds were possibly unroofed to form massive salt walls. Oligocene deformation was triggered by gentle kinking of the Atlantic Hinge Zone as the shelf and coastal plain rose by 2 or 3 km; relative uplift stripped Paleogene cover off the shelf, provided space for Miocene progradation, and steepened the continental slope, triggering more extension and buckling. In the Neogene, a subsalt half graben was inverted or reactivated, creating keystone faults that may have controlled the Congo Canyon; a thrust duplex of seaward-displaced salt jacked up the former abyssal plain, creating a plateau of salt 3-4 km thick on the present lower slope. The Angola Escarpment may be the toe of the Angola thrust nappe, in which a largely Cretaceous roof of gently buckled strata, was transported seawards above the thickened salt by up to {approx}20 km. (author)
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
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.
Wei Shi
2013-11-01
Full Text Available The Dabashan orocline is situated in the northwestern margin of the central Yangtze block, central China. Previous studies have defined the orthogonal superposed folds growing in its central-western segment thereby confirming its two-stage tectonic evolution history. Geological mapping has revealed that more types of superposed folds have developed in the eastern segment of the orocline, which probably provides more clues for probing the structure and tectonic history of the Dabashan orocline. In this paper, based on geological mapping, structural measurements and analyses of deformation, we have identified three groups of folds with different trends (e.g. NW-, NE- and nearly E-trending folds and three types of structural patterns of superposed folds in the eastern Dabashan foreland (e.g. syn-axial, oblique, and conjunctional superposed folds. In combination with geochronological data, we propose that the syn-axial superposed folds are due to two stages of ∼N–S shortening in the west and north of the Shennongjia massif, and that oblique superposed folds have been resulted from the superposition of the NW- and NE-trending folds onto the early ∼E–W folds in the east of the Shennongjia massif in the late Jurassic to early Cretaceous. The conjunctional folds are composed of the NW- and NE-trending folds, corresponding to the regional-scale dual-orocline in the eastern Sichuan as a result of the southwestward expansion of the Dabashan foreland during late Jurassic to early Cretaceous, coeval with the northwestward propagation of the Xuefengshan foreland. Integration of the structure and geochronology of the belt shows that the Dabashan orocline is a combined deformation belt primarily experiencing a two-stage tectonic evolution history in Mesozoic, initiation of the Dabashan orocline as a foreland basin along the front of the Qinling orogen in late Triassic to early Jurassic due to collisional orogeny, and the final formation of the Dabashan
Ohya, Yoshinobu; Ishikawa, Kenji; Komuro, Tatsuya; Yamaguchi, Tsuyoshi; Takeda, Keigo; Kondo, Hiroki; Sekine, Makoto; Hori, Masaru
2017-04-01
We present experimentally determined spatial profiles of the interelectrode electron density (n e) in dual-frequency capacitively coupled plasmas in which the negative direct current (dc) bias voltage (V dc) is superposed; in the experiment, 13 MHz (P low) was applied to the lower electrode and 60 MHz (P high) to the upper electrode. The bulk n e increased substantially with increases in the external power, P high, P low, and with increases in V dc. When P low was insufficient, the bulk n e decreased as the V dc bias increased. The bulk n e increased due to its dependence on V dc, especially for |V dc| > 500 V. This may correspond to the sheath voltages (V s) of the lower electrode. The n e values in front of the upper electrode were coupled with the V dc: the V dc dependence first decreased and then increased. The dc currents (I dc) of the upper electrode were collected when a large P low was applied. The value of I dc at the threshold value of V dc ≈ V s (e.g. ‑500 V) increased with an increase in n e. When |V dc| exceeded the threshold, the spatial n e profile and the I dc dependence were changed relative to the electrical characteristics of the dc superposition; this led to a change in the location of the maximum n e, the width of the area of n e depletion in front of the electrodes, and a transition in the electron heating modes.
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....
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...
Kodama, Tetsuya; Tomita, Yukio; Koshiyama, Ken-Ichiro; Blomley, Martin J K
2006-06-01
collapse of UCAs were a key factor for transfection, and their intensities were enhanced by the interaction of the superpose ultrasound with the decreasing the height of the medium. Hypothesizing that free cavitation bubbles were generated from cavitation nuclei created by fragmented UCA shells, we carried out numerical analysis of a free spherical bubble motion in the field of ultrasound. Analyzing the interaction of the shock wave generated by a cavitation bubble and a cell membrane, we estimated the shock wave propagation distance that would induce cell membrane damage from the center of the cavitation bubble.
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.
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.
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.
Superposed epoch study of ICME sub-structures near Earth and their effects on galactic cosmic rays
Masías-Meza, J J; Démoulin, P; Rodriguez, L; Janvier, M
2016-01-01
Interplanetary coronal mass ejections (ICMEs) are the interplanetary manifestations of solar eruptions. The overtaken solar wind forms a sheath of compressed plasma at the front of ICMEs. Magnetic clouds (MCs) are a subset of ICMEs with specific properties (e.g. the presence of a flux rope). When ICMEs pass near Earth, ground observations indicate that the flux of galactic cosmic rays (GCRs) decreases. The main aims of this paper are to find: common plasma and magnetic properties of different ICME sub-structures, and which ICME properties affect the flux of GCRs near Earth. We use a superposed epoch method applied to a large set of ICMEs observed \\insitu\\ by the spacecraft ACE, between 1998 and 2006. We also apply a superposed epoch analysis on GCRs time series observed with the McMurdo neutron monitors. We find that slow MCs at 1 AU have on average more massive sheaths. We conclude that it is because they are more effectively slowed down by drag during their travel from the Sun. Slow MCs also have a more sym...
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.
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.
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.
Yang, Liang; Qian, Dongdong; Xin, Chen; Hu, Zhijiang; Ji, Shengyun; Wu, Dong; Hu, Yanlei; Li, Jiawen; Huang, Wenhao; Chu, Jiaru
2017-02-15
In this Letter, superposed Bessel beams (SBBs) are realized by alternatively imprinting holograms of opposite-order Bessel beams along the radial direction on a spatial light modulator. The propagation invariance and non-rotation properties of SBBs are theoretically predicted and experimentally demonstrated. The focusing property of SBBs with a high numerical aperture (NA) objective is investigated with the Debye vectorial diffraction theory. Near the focal plane, a circularly distributed multiple foci pattern is achieved. The multiple foci generated from SBBs are adopted in a two-photon fabrication system, and micropattern fabrication by a single exposure is demonstrated. Facile fabrication of three-dimensional microstructures with SBBs is realized by dynamically controlling the number of focal spots, and the diameter and rotation of the focal pattern.
Qiao, Liang; Liang, Shangyu; Lu, Xingyu; Zhou, Yingjun; Jiang, Yi; Chi, Nan
2017-08-01
As a promising candidate technology for the next generation communication systems, visible light communication (VLC), combined with high modulation and coding schemes, can be used to achieve throughput much higher than the traditional RF wireless ones. We propose adopting multiple light-emitting diodes (LEDs) on the transmit side to form a multiple-input signal-output (MISO) VLC system. Through the maximum ratio transmit beamforming, the signals from the multiple LEDs can be added coherently at the receiver side, and, therefore, the signal-to-noise ratio of the system can be improved slightly. Meanwhile, a method of channel estimation with superposed signal is employed for better channel estimation. Extensive lab experiments demonstrate that a two-LED MISO-VLC system can achieve a data rate of 1.0 Gbit/s over a free-space link of 1.2 m.
Singh M.
2015-12-01
Full Text Available The instability of plane interface between two superposed Rivlin-Ericksen elastico-viscous fluids saturated through a porous medium has been studied to include the suspended (dust particles effect. Following the linearized stability theory and normal mode analysis the dispersion relation is obtained. For stationary convection, the Rivlin-Ericksen elastico-viscous fluid behaves like Newtonian fluids. It found that for a potentially stable arrangement the Rivlin-Ericksen elastico-viscous fluid of different permeabilities in the presence of suspended particles in a porous medium is stable, whereas in a potentially unstable case instability of the system occurs. In the presence of a magnetic field for a potentially stable arrangement the system is always stable and for the potentially unstable arrangement, the magnetic field succeeds in stabilizing certain wave-number band which was unstable in the absence of the magnetic field.
Superposed epoch study of ICME sub-structures near Earth and their effects on Galactic cosmic rays
Masías-Meza, J. J.; Dasso, S.; Démoulin, P.; Rodriguez, L.; Janvier, M.
2016-08-01
Context. Interplanetary coronal mass ejections (ICMEs) are the interplanetary manifestations of solar eruptions. The overtaken solar wind forms a sheath of compressed plasma at the front of ICMEs. Magnetic clouds (MCs) are a subset of ICMEs with specific properties (e.g. the presence of a flux rope). When ICMEs pass near Earth, ground observations indicate that the flux of Galactic cosmic rays (GCRs) decreases. Aims: The main aims of this paper are to find common plasma and magnetic properties of different ICME sub-structures and which ICME properties affect the flux of GCRs near Earth. Methods: We used a superposed epoch method applied to a large set of ICMEs observed in situ by the spacecraft ACE, between 1998 and 2006. We also applied a superposed epoch analysis on GCRs time series observed with the McMurdo neutron monitors. Results: We find that slow MCs at 1 AU have on average more massive sheaths. We conclude that this is because they are more effectively slowed down by drag during their travel from the Sun. Slow MCs also have a more symmetric magnetic field and sheaths expanding similarly as their following MC, while in contrast, fast MCs have an asymmetric magnetic profile and a sheath in compression. In all types of MCs, we find that the proton density and the temperature and the magnetic fluctuations can diffuse within the front of the MC due to 3D reconnection. Finally, we derive a quantitative model that describes the decrease in cosmic rays as a function of the amount of magnetic fluctuations and field strength. Conclusions: The obtained typical profiles of sheath, MC and GCR properties corresponding to slow, middle, and fast ICMEs, can be used for forecasting or modelling these events, and to better understand the transport of energetic particles in ICMEs. They are also useful for improving future operative space weather activities.
Fassett, C. I.; Head, J. W.; Kadish, S. J.; Mazarico, E.; Neumann, G. A.; Smith, D. E.; Zuber, M. T.
2012-01-01
Impact basin formation is a fundamental process in the evolution of the Moon and records the history of impactors in the early solar system. In order to assess the stratigraphy, sequence, and ages of impact basins and the impactor population as a function of time, we have used topography from the Lunar Orbiter Laser Altimeter (LOLA) on the Lunar Reconnaissance Orbiter (LRO) to measure the superposed impact crater size-frequency distributions for 30 lunar basins (D = 300 km). These data generally support the widely used Wilhelms sequence of lunar basins, although we find significantly higher densities of superposed craters on many lunar basins than derived by Wilhelms (50% higher densities). Our data also provide new insight into the timing of the transition between distinct crater populations characteristic of ancient and young lunar terrains. The transition from a lunar impact flux dominated by Population 1 to Population 2 occurred before the mid-Nectarian. This is before the end of the period of rapid cratering, and potentially before the end of the hypothesized Late Heavy Bombardment. LOLA-derived crater densities also suggest that many Pre-Nectarian basins, such as South Pole-Aitken, have been cratered to saturation equilibrium. Finally, both crater counts and stratigraphic observations based on LOLA data are applicable to specific basin stratigraphic problems of interest; for example, using these data, we suggest that Serenitatis is older than Nectaris, and Humboldtianum is younger than Crisium. Sample return missions to specific basins can anchor these measurements to a Pre-Imbrian absolute chronology.
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
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。
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...
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...
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.
Borovsky, Joseph E [Los Alamos National Laboratory; Denton, Michael H [LANCASTER UNIV.
2009-01-01
A superposed-epoch analysis of ACE and OMNI2 measurements is performed on 27 corotating interaction regions (CIRs) in 2003-2008, with the zero epoch taken to be the stream interface as determined by the maximum of the plasma vorticity. The structure of CIRs is investigated. When the flow measurements are rotated into the local-Parker-spiral coordinate system the shear is seen to be abrupt and intense, with vorticities on the order of 10{sup -5}-10{sup -4} sec{sup -1}. Converging flows perpendicular to the stream interface are seen in the local-Parker-spiral coordinate system and about half of the CIRs show a layer of divergent rebound flow away from the stream interface. Arguments indicate that any spreading of turbulence away from the region where it is produced is limited to about 10{sup 6} km, which is very small compared with the thickness of a CrR. Analysis of the turbulence across the CrRs is performed. When possible, the effects of discontinuities are removed from the data. Fluctuation amplitudes, the Alfvenicity, and the level of Alfvenic correlations all vary smoothly across the CrR. The Alfven ratio exhibits a decrease at the shear zone of the stream interface. Fourier analysis of 4.5-hr subintervals of ACE data is performed and the results are superposed averaged as an ensemble of realizations. The spectral slopes of the velocity, magnetic-field, and total-energy fluctuations vary smoothly across the CIR. The total-energy spectral slope is {approx} 3/2 in the slow and fast wind and in the CrRs. Analysis of the Elsasser inward-outward fluctuations shows a smooth transition across the CrR from an inward-outward balance in the slow wind to an outward dominance in the fast wind. A number of signatures of turbulence driving at the shear zone are sought (entropy change, turbulence amplitude, Alfvenicity, Alfven ratio, spectral slopes, in-out nature): none show evidence of driving of turbulence by shear.
Borovsky, Joseph E [Los Alamos National Laboratory; Denton, Michael H [LANCASTER UNIV.
2009-01-01
A superposed-epoch analysis of ACE and OMNI2 measurements is performed on 27 corotating interaction regions (CIRs) in 2003-2008, with the zero epoch taken to be the stream interface as determined by the maximum of the plasma vorticity. The structure of CIRs is investigated. When the flow measurements are rotated into the local-Parker-spiral coordinate system the shear is seen to be abrupt and intense, with vorticities on the order of 10{sup -5}-10{sup -4} sec{sup -1}. Converging flows perpendicular to the stream interface are seen in the local-Parker-spiral coordinate system and about half of the CIRs show a layer of divergent rebound flow away from the stream interface. Arguments indicate that any spreading of turbulence away from the region where it is produced is limited to about 10{sup 6} km, which is very small compared with the thickness of a CrR. Analysis of the turbulence across the CrRs is performed. When possible, the effects of discontinuities are removed from the data. Fluctuation amplitudes, the Alfvenicity, and the level of Alfvenic correlations all vary smoothly across the CrR. The Alfven ratio exhibits a decrease at the shear zone of the stream interface. Fourier analysis of 4.5-hr subintervals of ACE data is performed and the results are superposed averaged as an ensemble of realizations. The spectral slopes of the velocity, magnetic-field, and total-energy fluctuations vary smoothly across the CIR. The total-energy spectral slope is {approx} 3/2 in the slow and fast wind and in the CrRs. Analysis of the Elsasser inward-outward fluctuations shows a smooth transition across the CrR from an inward-outward balance in the slow wind to an outward dominance in the fast wind. A number of signatures of turbulence driving at the shear zone are sought (entropy change, turbulence amplitude, Alfvenicity, Alfven ratio, spectral slopes, in-out nature): none show evidence of driving of turbulence by shear.
Interactive Perception of Rigid and Non-Rigid Objects
Bryan Willimon
2012-12-01
Full Text Available This paper explores the concept of interactive perception, in which sensing guides manipulation, in the context of extracting and classifying unknown objects within a cluttered environment. In the proposed approach, a pile of objects lies on a flat background, and the goal of the robot is to isolate, interact with, and classify each object so that its properties can be obtained. The algorithm considers each object to be classified using color, shape, and flexibility. The approach works with a variety of objects relevant to service robot applications, including both rigid objects such as bottles, cans, and pliers as well as non‐rigid objects such as soft toy animals, socks, and shoes. Experiments on a number of different piles of objects demonstrate the ability of efficiently isolating and classifying each item through interaction.
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.
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.
Yu. I. Yermolaev
2010-12-01
Full Text Available A comparison of specific interplanetary conditions for 798 magnetic storms with Dst <−50 nT during 1976–2000 was made on the basis of the OMNI archive data. We categorized various large-scale types of solar wind as interplanetary drivers of storms: corotating interaction region (CIR, Sheath, interplanetary CME (ICME including both magnetic cloud (MC and Ejecta, separately MC and Ejecta, and "Indeterminate" type. The data processing was carried out by the method of double superposed epoch analysis which uses two reference times (onset of storm and minimum of Dst index and makes a re-scaling of the main phase of the storm in a such way that all storms have equal durations of the main phase in the new time reference frame. This method reproduced some well-known results and allowed us to obtain some new results. Specifically, obtained results demonstrate that (1 in accordance with "output/input" criteria the highest efficiency in generation of magnetic storms is observed for Sheath and the lowest one for MC, and (2 there are significant differences in the properties of MC and Ejecta and in their efficiencies.
Rigid subsets of symplectic manifolds
Entov, Michael
2007-01-01
We show that there is an hierarchy of intersection rigidity properties of sets in a closed symplectic manifold: some sets cannot be displaced by symplectomorphisms from more sets than the others. We also find new examples of rigidity of intersections involving, in particular, specific fibers of moment maps of Hamiltonian torus actions, monotone Lagrangian submanifolds (following the previous work of P.Albers) as well as certain, possibly singular, sets defined in terms of Poisson-commutative subalgebras of smooth functions. In addition, we get some geometric obstructions to semi-simplicity of the quantum homology of symplectic manifolds. The proofs are based on the Floer-theoretical machinery of partial symplectic quasi-states.
Rigidity spectrum of Forbush decrease
Sakakibara, S.; Munakata, K.; Nagashima, K.
1985-01-01
Using data from neutron monitors and muon telescopes at surface and underground stations, the average rigidity spectrum of Forbush decreases (Fds) during the period of 1978-1982 were obtained. Thirty eight Ed-events are classified into two groups Hard Fd and Soft Fd according to size of Fd at Sakashita station. It is found that a spectral form of fractional-power type (P to the-gamma sub 1 (P+P sub c) to the -gamma sub2) is more suitable for the present purpose than that of power-exponential type or of power type with an upper limiting rigidity. The best fitted spectrum of fractional-power type is expressed by gamma sub1 = 0.37, gamma sub2 = 0.89 and P subc = 10 GV for Hard Fd and gamma sub1 = 0.77, gamma sub2 = 1.02 and P sub c - 14GV for Soft Fd.
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.
Calculating ensemble averaged descriptions of protein rigidity without sampling.
Luis C González
Full Text Available Previous works have demonstrated that protein rigidity is related to thermodynamic stability, especially under conditions that favor formation of native structure. Mechanical network rigidity properties of a single conformation are efficiently calculated using the integer body-bar Pebble Game (PG algorithm. However, thermodynamic properties require averaging over many samples from the ensemble of accessible conformations to accurately account for fluctuations in network topology. We have developed a mean field Virtual Pebble Game (VPG that represents the ensemble of networks by a single effective network. That is, all possible number of distance constraints (or bars that can form between a pair of rigid bodies is replaced by the average number. The resulting effective network is viewed as having weighted edges, where the weight of an edge quantifies its capacity to absorb degrees of freedom. The VPG is interpreted as a flow problem on this effective network, which eliminates the need to sample. Across a nonredundant dataset of 272 protein structures, we apply the VPG to proteins for the first time. Our results show numerically and visually that the rigidity characterizations of the VPG accurately reflect the ensemble averaged [Formula: see text] properties. This result positions the VPG as an efficient alternative to understand the mechanical role that chemical interactions play in maintaining protein stability.
Simple Riemannian surfaces are scattering rigid
Wen, Haomin
2015-01-01
Scattering rigidity of a Riemannian manifold allows one to tell the metric of a manifold with boundary by looking at the directions of geodesics at the boundary. Lens rigidity allows one to tell the metric of a manifold with boundary from the same information plus the length of geodesics. There are a variety of results about lens rigidity but very little is known for scattering rigidity. We will discuss the subtle difference between these two types of rigidities and prove that they are equiva...
Geometry, rigidity, and group actions
Farb, Benson; Zimmer, Robert J
2011-01-01
The study of group actions is more than a hundred years old but remains to this day a vibrant and widely studied topic in a variety of mathematic fields. A central development in the last fifty years is the phenomenon of rigidity, whereby one can classify actions of certain groups, such as lattices in semi-simple Lie groups. This provides a way to classify all possible symmetries of important spaces and all spaces admitting given symmetries. Paradigmatic results can be found in the seminal work of George Mostow, Gergory Margulis, and Robert J. Zimmer, among others.The p
Wage rigidity and job creation
Christian Haefke; Marcus Sonntag; Thijs van Rens
2007-01-01
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 stickiness in the data. We also show, h...
Wage Rigidity and Job Creation
Haefke, Christian; Sonntag, Marcus; Rens, Thijs van
2012-01-01
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 stickiness in the data. We also show, h...
Wage Rigidity and Job Creation
Christian Haefke; Marcus Sonntag; Thijs van Rens
2012-01-01
Recent research in macroeconomics emphasizes the role of wage rigidity in ac- counting 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 stickiness in the data. We also show,...
Ogunjobi, O.; Sivakumar, V.; Sivla, W. T.
2014-11-01
The response of mesosphere and lower thermosphere (MLT) temperature to energetic particle precipitation over the Earth’s polar regions is not uniform due to complex phenomena within the MLT environment. Nevertheless, the modification of MLT temperatures may require an event-based study to be better observed. This work examines the influence of precipitation, triggered by solar wind stream interfaces (SI) event from 2002 to 2007, on polar MLT temperature. We first test the relationship between the ionospheric absorption measured by the SANAE IV (South African National Antarctic Expedition IV) riometer and the layer of energetic particle precipitation from POES (Polar Orbiting Environmental Satellites). The combined particle measurements from POES 15, 16, 17 and 18 were obtained close in time to the pass of the SABER (Sounding of the Atmosphere using Broadband Emission Radiometry) temperature retrieval. Here, a superposed epoch technique is described and implemented to obtain average temperature profiles during SI-triggered particle precipitation. The superposed epoch average shows no significant temperature decrease below 100 km prior to the onset of SI-triggered precipitation, whereas a clear superposed average temperature decrease is observed at 95 km after the SI impact. A case study of SI event also yields similar observations. Results indicate that cooling effects due to the production of mesospheric odd hydrogen might be major contributors to temperature decrease under compressed solar wind stream.
A flexible multi-body approach for frictional contact in spur gears
Lundvall, O.; Strömberg, N.; Klarbring, A.
2004-12-01
In the present paper, a large rotational approach for dynamic contact problems with friction is proposed. The approach is used for modelling a spur gear pair with shafts and bearings. The model is obtained by superposing small displacement elasticity on rigid-body motions, and postulating tribological laws on the gear flanks. The finite element method is used to model the elastic properties of the gear pair. Shafts and bearings are represented by linear springs. The tribological laws of the contact interface are Signorini's contact law and Coulomb's law of friction. An important feature of the approach is that the difficulties of impacting mass nodes are avoided. The governing equations of the model are numerically treated by use of the augmented Lagrangian approach. In such manner the geometry of the gear flanks are well represented in the numerical simulations. It is possible to study accurately the consequences of different types of profile modifications as well as flank errors. In this work, the dynamic transmission error is studied. For instance, it turns out that the effect from profile modification is less significant for the transmission error when frictional effects are included.
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.
顾国庆; 王开福; 许星
2012-01-01
基于刚体面内微小转动测量在实验力学测量中的必要性和重要性,开展了利用数字图像相关方法(DICM)定量测量转动角度和准确定位转动中心的研究.从理论上分析了刚体面内转动角度与面内位移分量之间的关系,运用计算机仿真散斑图进行数值模拟研究,得到的转动角度和转动中心位置测量误差都在2％以内,模拟结果验证了数字图像相关法进行刚体面内微小转动定量测量的可行性.运用数字图像相关法对刚体面内未知微小转动进行了实测,并与几何光学实验方法所得到的结果进行了比较,两者结果误差为3.1％,符合较好.实验结果表明数字图像相关方法可以作为定量测量刚体面内微小转动的有效方法.%Due to the necessity and importance of the measurement of in-plane micro-rotations of a rigid body in the field of experimental mechanics < an investigation of quantitative measurement of rotation angle and rotation-center location is developed with digital image correlation method (DICM). The relation between the rotation angle and the in-plane displacement components is analyzed through theoretical analysis. The study of numerical simulation is carried out by specklegram produced by computer simulation. The measurement errors of both rotation angle and rotation-center location are within 2%. It shows that digital image correlation method is quite competent for the quantitative measurement of in-plane micro-rotations. The unknown in-plane rotation of a rigid body is practically measured by using digital image correlation method. The obtained rotation angle is compared with the result obtained from the geometrical optics experiment. The relative error is 3. 1%. It shows that they are in good agreement. Experimental results indicate that digital image correlation method can be regarded as an efficient method to measure in-plane micro-rotations of a rigid body quantitatively.
FACTORS INFLUENCING BENDING RIGIDITY OF SUBMERGED VEGETATION
WU Long-hua; YANG Xiao-li
2011-01-01
The bending rigidity of submerged vegetation is closely related with vegetative drag force.This work aims at determining the effects of flow conditions and characteristics of vegetation on the bending rigidity of submerged vegetation.Based on the dimensional analysis method,the factors influencing the bending rigidity of individual submerged vegetation were analyzed.The relationship between the relative bending rigidity and its influencing factors was investigated by experimental observation,and a relative bending rigidity expression for submerged vegetation was obtained by means of multiple linear regression method.The results show that the submerged vegetation has three states under different inflow conditions,and the each critical relative bending rigidity of individual submerged vegetation was determined for the different states of submerged vegetation.
Rigid Ideals and Radicals of Ore Extensions
Chan Yong Hong; Tai Keun Kwak; S. Tariq Rizvi
2005-01-01
For an endomorphism σ of a ring R, Krempa called σ a rigid endomorphism if aσ(a) = 0 implies a= 0 for a ∈ R. A ring R is called rigid if there exists a rigid endomorphism of R. In this paper, we extend the σ-rigid property of a ring R to an ideal of R. For a σ-ideal Ⅰ of a ring R, we call Ⅰ a σ-rigid ideal if aσ(a) ∈Ⅰ implies a ∈Ⅰ for a ∈ R. We characterize σ-rigid ideals and study related properties. The connections of the prime radical and the upper nil radical of R with the prime radical and the upper nil radical of the Ore extension R[x; σ, δ], respectively, are also investigated.
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.
Rigidizing Inflatable Deployable Dwelling (RIDD) Project
National Aeronautics and Space Administration — By combining thin thermoplastic films, woven Vectran reinforcements, and heat a reliable, deployable, rigidizing space habitat can be created. Although much research...
Marcelo Alves Barros
2004-11-01
Full Text Available This work presents an investigation where some alternative conceptions are the origin and the processing of varied interpretations. As for that, it was proposed to high school students the resolution of certain problems that involved rigid bodies in constant rotation. These problems should be analysed within the perspective of the speed concept, which was previously known by the students, but abandoned by the explanations generated by the alternative conceptions.Este trabalho apresenta uma investigação em que algumas concepções alternativas são a origem e o desencadeamento de variadas interpretações. Para isso, foram propostos a alunos do ensino médio a resolução de determinados problemas que envolviam corpos rígidos em rotação constante. Estes problemas deveriam ser analisados dentro da perspectiva do conceito de velocidade, previamente conhecido dos alunos, mas abandonado pelas explicações geradas pelas concepções alternativas.
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.
ANALYTIC EVALUATION OF RECTILINEARITY OF LOW RIGIDITY SHAFT DURING HARDENING PROCESS
Antoni Świć
2013-03-01
Full Text Available The essential influence of the unevenness of temperature distribution while heating in the technological process on dimensions stability of low rigidity elements was shown. The new approach was applied to formulate mathematical models, which describe the elastic and inelastic behaviour of piece using transfer functions and block diagrams, allowing to use frequency method for evaluation of the behaviour of dynamic semi-finished element as the rigid body.
A Convertible Spinal Orthosis for Controlled Torso Rigidity
Nicole I. Kern
2013-01-01
Full Text Available A traditional spinal orthosis in conjunction with a hip-knee-ankle-foot orthosis (HKAFO improves posture in persons with paraplegia during standing and walking. It also limits the wearer's range of motion when worn during other activities, such as vehicle transfer or sitting and reaching for objects. In order to regain full torso flexibility the user would need to remove the spinal orthosis which can be arduous and time consuming. A Convertible Spinal Orthosis (CSO that allows the user to switch between Locked rigid torso support and Unlocked free motion has been designed, fabricated and tested. It shows promise for increasing functionality, wear time and subject comfort. Analysis of movement has been performed with an able-bodied and a paraplegic subject wearing a rigid spinal orthosis, the CSO in both states, and without any bracing. Configuration state had the most impact on lateral bending. Mean values for the paraplegic subject of 27°, 38°, 48°, and 48° and for the able-bodied subject of 22°, 26°, 48°, and 45° were found for lateral bending of the upper torso relative to the thighs in the Rigid, Locked, Unlocked, and No-Brace states, respectively.
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.
Some more Non-arithmetic Rigid groups
Lubotzky, Alexander
2011-01-01
In "Non arithmetic super rigid groups: counter examples to Platonov's conjecture" Bass and Lubotzky gave a counter example to Platonov's conjecture by presenting an example of a linear group with super-rigidity which is not an arithmetic lattice. In this note, a much richer class of such groups is presented with a somewhat simpler proof.
Are better conductors more rigid?
Eom, Young-Ho; Jeong, Hawoong; Orland, Henri; Yi, Juyeon
2006-10-01
The variation of the bending stiffness of various materials is studied from the point of view of the electronic band characteristics. As far as the electronically generated bending stiffness κe (which we refer to as electro-stiffness) is concerned, the relevant factors are the orbital overlap t, the gap width u between the valence band and the conduction band, and the electron filling fraction γ. A perturbative calculation leads to the approximate expression κe ~ t2/√u2 + t2. This shows that materials with a large overlap and narrow band gap should be stiffer. The electro-stiffness also depends on the electron filling-fraction. We find that κe(γ) <= κe(1/2). These kinds of behavior are confirmed by numerical calculations. In addition, we study the variation in the projected length of flexible molecules under a voltage bias. The nonlinear variation of the bending rigidity is shown to give rise to a length contraction or dilation, depending on the voltage bias.
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.
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...
Reduced Order Aeroservoelastic Models with Rigid Body Modes Project
National Aeronautics and Space Administration — Complex aeroelastic and aeroservoelastic phenomena can be modeled on complete aircraft configurations generating models with millions of degrees of freedom. Starting...
Fractional-order theory of heat transport in rigid bodies
Zingales, Massimiliano
2014-11-01
The non-local model of heat transfer, used to describe the deviations of the temperature field from the well-known prediction of Fourier/Cattaneo models experienced in complex media, is framed in the context of fractional-order calculus. It has been assumed (Borino et al., 2011 [53], Mongioví and Zingales, 2013 [54]) that thermal energy transport is due to two phenomena: (i) A short-range heat flux ruled by a local transport equation; (ii) A long-range thermal energy transfer proportional to a distance-decaying function, to the relative temperature and to the product of the interacting masses. The distance-decaying function is assumed in the functional class of the power-law decay of the distance yielding a novel temperature equation in terms of α-order Marchaud fractional-order derivative (0⩽α⩽1). Thermodynamical consistency of the model is provided in the context of Clausius-Plank inequality. The effects induced by the boundary conditions on the temperature field are investigated for diffusive as well as ballistic local heat flux. Deviations of the temperature field from the linear distributions in the neighborhood of the thermostated zones of small-scale conductors are qualitatively predicted by the used fractional-order heat transport model, as shown by means of molecular dynamics simulations.
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.
Efficiency of Wave-Driven Rigid Body Rotation Toroidal Confinement
Rax, J -M; Fisch, N J
2016-01-01
The compensation of vertical drifts in toroidal magnetic fields through a wave-driven poloidal rotation is compared to compensation through the wave driven toroidal current generation to support the classical magnetic rotational transform. The advantages and drawbacks associated with the sustainment of a radial electric field are compared with those associated with the sustainment of a poloidal magnetic field both in terms of energy content and power dissipation. The energy content of a radial electric field is found to be smaller than the energy content of a poloidal magnetic field for a similar set of orbits. The wave driven radial electric field generation efficiency is similarly shown, at least in the limit of large aspect ratio, to be larger than the efficiency of wave-driven toroidal current generation.
GPU-based discrete element rigid body transport
Govender, Nicolin
2013-08-01
Full Text Available The protection of harbours and coastal infrastructure is of vital importance to South Africa. A major development in the design of packing strategies for breakwaters is numerical modelling, and the use of physics engines and DEM models...
Quaternion Feedback Control for Rigid-body Spacecraft
Jensen, Hans-Christian Becker; Wisniewski, Rafal
2001-01-01
This paper addresses three-axis attitude control for a Danish spacecraft, Roemer. The algorithm proposed is based on an approximation of the exact feedback linearisation for quaternionic attitude representation. The proposed attitude controller is tested in a simulation study. The environmental d...
Quaternion Feedback Control for Rigid-body Spacecraft
Jensen, Hans-Christian Becker; Wisniewski, Rafal
2001-01-01
This paper addresses three-axis attitude control for a Danish spacecraft, Roemer. The algorithm proposed is based on an approximation of the exact feedback linearisation for quaternionic attitude representation. The proposed attitude controller is tested in a simulation study. The environmental d...... disturbances correspond to those expected for the Roemer mission. The pros and cons of the algorithm are discussed. The results of the study show that the controller is a > successful candidate for on-board implementation...
MUTUAL INFORMATION BASED 3D NON-RIGID REGISTRATION OF CT/MR ABDOMEN IMAGES
无
2001-01-01
A mutual information based 3D non-rigid registration approach was proposed for the registration of deformable CT/MR body abdomen images. The Parzen Windows Density Estimation (PWDE) method is adopted to calculate the mutual information between the two modals of CT and MRI abdomen images. By maximizing MI between the CT and MR volume images, the overlapping part of them reaches the biggest, which means that the two body images of CT and MR matches best to each other. Visible Human Project (VHP) Male abdomen CT and MRI Data are used as experimental data sets. The experimental results indicate that this approach of non-rigid 3D registration of CT/MR body abdominal images can be achieved effectively and automatically, without any prior processing procedures such as segmentation and feature extraction, but has a main drawback of very long computation time. Key words: medical image registration; multi-modality; mutual information; non-rigid; Parzen window density estimation
Algorithms for Graph Rigidity and Scene Analysis
Berg, Alex Rune; Jordán, Tibor
2003-01-01
We investigate algorithmic questions and structural problems concerning graph families defined by `edge-counts'. Motivated by recent developments in the unique realization problem of graphs, we give an efficient algorithm to compute the rigid, redundantly rigid, M-connected, and globally rigid...... by showing that 2d-connected bipartite graphs are d-tight. We give a new algorithm for finding a maximal d-sharp subgraph. We also answer a question of Imai and show that finding a maximum size d-sharp subgraph is NP-hard....
姜兴长; 杨方; 葛文杰; 杨静
2011-01-01
根据袋鼠的生物结构及跳跃的特点，建立了具有尾巴和脚趾的仿袋鼠跳跃机器人六刚体模型。应用拉格朗日方法，建立了机构在着地阶段的运动学和动力学方程。运用Matlab7．0对机器人进行仿真计算分析，给出了机器人在着地阶段的各关节转角、关节驱动力矩、质心轨迹、着地压力和ZMP随时间的变化规律。仿真结果表明：考虑尾巴的六刚体仿袋鼠跳跃机器人能显著提高机构的落地稳定性。%Bsaed on the bionic structure and the motion feature of a kangaroo, we estamlsn a mouel ior unlpeu hopping mechanism of a six-rigid-body bionic kangaroo with tail and toe. We adopt Lagrange method to establish the dynamics and kinematics equations for its stance phase. Taking the hopping robot with parameters as an example and using Matlab 7.0 for simulation ,we obtain the changing rule of each joint angle ,joint driving torque, the centroid trajectory, the ground pressure and ZMP with time of the stance phase. The result shows that the tail can greatly improve the stance stability of the bionic kangaroo robot.
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.
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.
Tidal Evolution of Asteroidal Binaries. Ruled by Viscosity. Ignorant of Rigidity
Efroimsky, Michael
2015-01-01
The rate of tidal evolution of asteroidal binaries is defined by the dynamical Love numbers divided by quality factors. Common is the (often illegitimate) approximation of the dynamical Love numbers with their static counterparts. As the static Love numbers are, approximately, proportional to the inverse rigidity, this renders a popular fallacy that the tidal evolution rate is determined by the product of the rigidity by the quality factor: $\\,k_l/Q\\propto 1/(\\mu Q)\\,$. In reality, the dynamical Love numbers depend on the tidal frequency and all rheological parameters of the tidally perturbed body (not just rigidity). We demonstrate that in asteroidal binaries the rigidity of their components plays virtually no role in tidal friction and tidal lagging, and thereby has almost no influence on the intensity of tidal interactions (tidal torques, tidal dissipation, tidally induced changes of the orbit). A key quantity that determines the tidal evolution is a product of the effective viscosity $\\,\\eta\\,$ by the tid...
Ferry Kwakkel
2011-12-01
Full Text Available Given a closed Riemannian manifold (M, g, i.e. compact and boundaryless, there is a partition of its tangent bundle TM = ∪iΣi called the focal decomposition of TM. The sets Σi are closely associated to focusing of geodesics of (M, g, i.e. to the situation where there are exactly i geodesic arcs of the same length joining points p and q in M. In this note, we study the topological structure of the focal decomposition of a closed Riemannian manifold and its relation with the metric structure of the manifold. Our main result is that flat n-tori, n > 2, are focally rigid in the sense that if two flat tori are focally equivalent then the tori are isometric up to rescaling. The case n = 2 was considered before by F. Kwakkel.Dada uma variedade Riemanniana (M, g fechada, isto é, compacta e sem bordo, existe uma partição de seu fibrado tangente TM = ∪iΣi chamada decomposição focal de TM. Os conjuntos Σi estão intimamente associados ao modo como focalizam as geodésicas de (M,g, isto é, à situação em que existem exatamente i arcos de geodésica de mesmo comprimento unindo pontos p e q em M. Nesta nota, estudamos a estrutura topológica da decomposição focal de uma variedade Riemanniana fechada e sua relação com a estrutura métrica de M. Nosso principal resultado é que n-toros planos, n > 2, são focalmente rigidos, isto é, se dois toros planos são focalmente equivalentes, então os dois toros são isométricos módulo mudança de escala. O caso n = 2 foi considerado anteriormente por F. Kwakkel.
Effect of the free surface and the rigid plane on structural vibration and acoustic radiation
ZOU Yuanjie; ZHAO Deyou; LI Sheng
2004-01-01
The coupled fluid-structure interaction equation is established for bodies in the haft-space fluid domain, especially sitting on the infinite plane, based on the BEM (Boundary Element Method) theory. Then, the natural frequencies, vibration responses and the acoustic radiation for a box are calculated, and the effect of the free surface and the rigid plane is discussed. Finally, several relative factors including the plate thickness, the structure damping and the distance between the body and the infinite plane are studied. The results show that the effect of the free surface and the rigid plane on the structural natural frequencies, vibration responses and the acoustic radiation cannot be ignored.
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.
Roof-crush strength improvement using rigid polyurethane foam
Lilley, K.; Mani, A.
1998-08-01
Recent bending tests show the effectiveness of rigid, polyurethane foam in improving the strength of automotive body structures. By using foam, it is possible to reduce pillar sections, and to reduce thicknesses or eliminate reinforcements inside the pillars, and thereby offset the mass increase due to the foam filling. Further tests showed that utilizing the foam filling in a B-pillar to reduce section size can save ~20 mm that could be utilized to add energy absorbing structures in order to meet the new interior head impact requirements specified by the federal motor vehicle safety standards (FMVSS) 201 Head Impact Protection upgrade.
Public policies targeting labour market rigidities
Andreea Claudia ŞERBAN
2013-01-01
Labour market rigidity becomes an issue of increasing importance under conditions of shocks associated with the economic crisis due to the need to increase the adaptability and responsiveness to them. Thus, labour market policies must be directed towards mitigating rigidities caused by institutional or demographic factors or certain mismatch between demand and supply of education qualifications. This paper highlights the major role of the active labour market policies tar...
Using Elimination Theory to construct Rigid Matrices
Kumar, Abhinav; Patankar, Vijay M; N, Jayalal Sarma M
2009-01-01
The rigidity of a matrix A for target rank r is the minimum number of entries of A that must be changed to ensure that the rank of the altered matrix is at most r. Since its introduction by Valiant (1977), rigidity and similar rank-robustness functions of matrices have found numerous applications in circuit complexity, communication complexity, and learning complexity. Almost all nxn matrices over an infinite field have a rigidity of (n-r)^2. It is a long-standing open question to construct infinite families of explicit matrices even with superlinear rigidity when r=Omega(n). In this paper, we construct an infinite family of complex matrices with the largest possible, i.e., (n-r)^2, rigidity. The entries of an nxn matrix in this family are distinct primitive roots of unity of orders roughly exp(n^4 log n). To the best of our knowledge, this is the first family of concrete (but not entirely explicit) matrices having maximal rigidity and a succinct algebraic description. Our construction is based on elimination...
Karan Madan
2014-01-01
Full Text Available Background and Aim: Rigid bronchoscopy is often an indispensable procedure in the therapeutic management of a wide variety of tracheobronchial disorders. However, it is performed at only a few centers in adult patients in India. Herein, we report our initial 1-year experience with this procedure. Materials and Methods: A prospective observational study on the indications, outcomes, and safety of various rigid bronchoscopy procedures performed between November 2009 and October 2010. Improvement in dyspnea, cough, and the overall quality of life was recorded on a visual analog scale from 0 to 100 mm. A systematic review of PubMed was performed to identify studies reporting the use of rigid bronchoscopy from India. Results: Thirty-eight rigid bronchoscopies (50 procedures were performed in 19 patients during the study period. The commonest indication was benign tracheal stenosis followed by central airway tumor, and the procedures performed were rigid bronchoplasty, tumor debulking, and stent placement. The median procedure duration was 45 (range, 30-65 min. There was significant improvement in quality of life associated with therapeutic rigid bronchoscopy. Minor procedural complications were encountered in 18 bronchoscopies, and there was no procedural mortality. The systematic review identified 15 studies, all on the role of rigid bronchoscopy in foreign body removal. Conclusions: Rigid bronchoscopy is a safe and effective modality for treatment of a variety of tracheobronchial disorders. There is a dire need of rigid bronchoscopy training at teaching hospitals in India.
Periodic body-and-bar frameworks
Borcea, Ciprian S; Tanigawa, Shin-ichi
2011-01-01
Abstractions of crystalline materials known as periodic body-and-bar frameworks are made of rigid bodies connected by fixed-length bars and subject to the action of a group of translations. In this paper, we give a Maxwell-Laman characterization for generic minimally rigid periodic body-and-bar frameworks. As a consequence we obtain efficient polynomial time algorithms for their recognition based on matroid partition and pebble games.
1991-12-31
and stability for fluid flows, (with S.-J. Chern), Geop. and Astro. Fluid Dyn. 51, 1-4. %The energy-momentum method, (with Simo), La " Mecanique ... Analytique " de Lagrange et son H ritage, Atti della Accademia delle Scienze di Torino 124, 245-268. %Stability of coupled rigid bodies and geometrically
21 CFR 876.3630 - Penile rigidity implant.
2010-04-01
... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Penile rigidity implant. 876.3630 Section 876.3630...) MEDICAL DEVICES GASTROENTEROLOGY-UROLOGY DEVICES Prosthetic Devices § 876.3630 Penile rigidity implant. (a) Identification. A penile rigidity implant is a device that consists of a pair of semi-rigid rods implanted in...
49 CFR 178.706 - Standards for rigid plastic IBCs.
2010-10-01
... 49 Transportation 2 2010-10-01 2010-10-01 false Standards for rigid plastic IBCs. 178.706 Section... PACKAGINGS IBC Performance-Oriented Standards § 178.706 Standards for rigid plastic IBCs. (a) The provisions in this section apply to rigid plastic IBCs intended to contain solids or liquids. Rigid plastic...
The rigidity transition in random graphs
Kasiviswanathan, Shiva Prasad; Theran, Louis
2010-01-01
As we add rigid bars between points in the plane, at what point is there a giant (linear-sized) rigid component, which can be rotated and translated, but which has no internal flexibility? If the points are generic, this depends only on the combinatorics of the graph formed by the bars. We show that if this graph is an Erdos-Renyi random graph G(n,c/n), then there exists a sharp threshold for a giant rigid component to emerge. For c c_2, w.h.p. there is a giant rigid component. The constant c_2 \\approx 3.588 is the threshold for 2-orientability, discovered independently by Fernholz and Ramachandran and Cain, Sanders, and Wormald in SODA'07. We also give quantitative bounds on the size of the giant rigid component when it emerges, proving that it spans a (1-o(1))-fraction of the vertices in the (3+2)-core. Informally, the (3+2)-core is maximal induced subgraph obtained by starting from the 3-core and then inductively adding vertices with 2 neighbors in the graph obtained so far.
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.
Rigidity loss in disordered network materials
Ellenbroek, Wouter G.; Hagh, Varda F.; Kumar, Avishek; Thorpe, M. F.; van Hecke, Martin
Weakly jammed sphere packings show a very peculiar elasticity, with a ratio of compression modulus to shear modulus that diverges as the number of contacts approaches the minimum required for rigidity. Creating artificial isotropic network materials with this property is a challenge: so far, the least elaborate way to generate them is to actually simulate weakly compressed repulsive spheres. The next steps in designing such networks hinge upon a solid understanding of what properties of the sphere-packing derived network are essential for its elasticity. We elucidate the topological aspects of this question by comparing the rigidity transition in these networks to that in other random spring network models, including the common bond-diluted triangular net and a self-stress-free variant of that. We use the pebble game algorithm for identifying rigid clusters in mechanical networks to demonstrate that the marginally rigid state in sphere packings is perfectly isostatic everywhere, and the addition or removal of a single bond creates a globally stressed or globally floppy network, respectively. By contrast, the other classes of random network random networks show a more localized response to addition and removal of bonds, and, correspondingly, a more gradual rigidity transition.
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.
Torsional rigidity of submanifolds with controlled geometry
Hurtado, Ana; Markvorsen, Steen; Palmer, Vicente
2009-01-01
We prove explicit upper and lower bounds for the torsional rigidity of extrinsic domains of submanifolds ^m$ with controlled radial mean curvature in ambient Riemannian manifolds ^n$ with a pole $ and with sectional curvatures bounded from above and from below, respectively. These bounds are given...... in terms of the torsional rigidities of corresponding Schwarz symmetrizations of the domains in warped product model spaces. Our main results are obtained using methods from previously established isoperimetric inequalities, as found in e.g. [MP4] and [MP5]. As in [MP4] we also characterize the geometry...... of those situations in which the bounds for the torsional rigidity are actually attained and study the behavior at infinity of the so-called geometric average of the mean exit time for Brownian motion....
On Saturnian cosmic ray cutoff rigidities
Sauer, H. H.
1980-03-01
It has been determined that Saturn possesses a relatively pure dipolar magnetic field through magnetometer measurements made by Ness et al. (1979, private comm.) and Smith et al. (1979). The paper briefly outlines the dipole geomagnetic cutoff theory and demonstrates the scaling required for its applicability to energetic particle measurements in the vicinity of Saturn. Since the cutoff rigidity is a function of viewing direction, the effective cutoff rigidity must be determined as an integration over the finite viewing angle of a physical detector.
Rigidity Constraints for Large Mesh Deformation
Yong Zhao; Xin-Guo Liu; Qun-Sheng Peng; Hu-Jun Bao
2009-01-01
It is a challenging problem of surface-based deformation to avoid apparent volumetric distortions around largely deformed areas. In this paper, we propose a new rigidity constraint for gradient domain mesh deformation to address this problem. Intuitively the proposed constraint can be regarded as several small cubes defined by the mesh vertices through mean value coordinates. The user interactively specifies the cubes in the regions which are prone to volumetric distortions, and the rigidity constraints could make the mesh behave like a solid object during deformation. The experimental results demonstrate that our constraint is intuitive, easy to use and very effective.
Rigid origami vertices: conditions and forcing sets
Zachary Abel
2016-04-01
Full Text Available We develop an intrinsic necessary and sufficient condition for single-vertex origami crease patterns to be able to fold rigidly. We classify such patterns in the case where the creases are pre-assigned to be mountains and valleys as well as in the unassigned case. We also illustrate the utility of this result by applying it to the new concept of minimal forcing sets for rigid origami models, which are the smallest collection of creases that, when folded, will force all the other creases to fold in a prescribed way.
Delayed Equation for Charged Rigid Nonrelativistic Ball
Vlasov, A A
2002-01-01
Simple expression for self-force acting on radiating rigid charged ball is derived (Sommerfeld ball). It is shown that appropriate delayed equation of motion has solutions in general differ from that for Sommerfeld sphere - there are no "radiationless" solutions, but there are oscillating without damping solutions though self-force has nonzero value.
Viscoelasticity of suspensions of long, rigid rods
Dhont, Jan K.G.; Briels, W.J.
2003-01-01
A microscopic theory for the viscoelastic behaviour of suspensions of rigid rods with excluded volume interactions is presented, which is valid in the asymptotic limit of very long and thin rods. Stresses arising from translational and rotational Brownian motion and direct interactions are calculate
The rigid orthogonal Procrustes rotation problem
Ten Berge, JMF
2006-01-01
The problem of rotating a matrix orthogonally to a best least squares fit with another matrix of the same order has a closed-form solution based on a singular value decomposition. The optimal rotation matrix is not necessarily rigid, but may also involve a reflection. In some applications, only rigi
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.
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.
Rigid polyurethane and kenaf core composite foams
Rigid polyurethane foams are valuable in many construction applications. Kenaf is a bast fiber plant where the surface stem skin provides bast fibers whose strength-to-weight ratio competes with glass fiber. The higher volume product of the kenaf core is an under-investigated area in composite appli...
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.
Rigid Spine Syndrome among Children in Oman
Roshan Koul
2015-08-01
Full Text Available Objectives: Rigidity of the spine is common in adults but is rarely observed in children. The aim of this study was to report on rigid spine syndrome (RSS among children in Oman. Methods: Data on children diagnosed with RSS were collected consecutively at presentation between 1996 and 2014 at the Sultan Qaboos University Hospital (SQUH in Muscat, Oman. A diagnosis of RSS was based on the patient’s history, clinical examination, biochemical investigations, electrophysiological findings, neuro-imaging and muscle biopsy. Atrophy of the paraspinal muscles, particularly the erector spinae, was the diagnostic feature; this was noted using magnetic resonance imaging of the spine. Children with disease onset in the paraspinal muscles were labelled as having primary RSS or rigid spinal muscular dystrophy. Secondary RSS was classified as RSS due to the late involvement of other muscle diseases. Results: Over the 18-year period, 12 children were included in the study, with a maleto- female ratio of 9:3. A total of 10 children were found to have primary RSS or rigid spinal muscular dystrophy syndrome while two had secondary RSS. Onset of the disease ranged from birth to 18 months of age. A family history was noted, with two siblings from one family and three siblings from another (n = 5. On examination, children with primary RSS had typical features of severe spine rigidity at onset, with the rest of the neurological examination being normal. Conclusion: RSS is a rare disease with only 12 reported cases found at SQUH during the study period. Cases of primary RSS should be differentiated from the secondary type.
Antiplane SH-deformations near a surface rigid foundation above a subsurface rigid circular tunnel
Lee, V. W.; Manoogian, M. E.; Chen, S.
2002-06-01
The problem on the dynamic response of a rigid embedded foundation in the presence of an underground rigid tunnel and subjected to excitation of incident anti-plane SH waves is analyzed. By using the exact analytical solution for the two-dimensional SH-wave propagation in and around both the surface rigid foundation and subsurface rigid tunnel, those aspects of the resulting ground motions that are of special interest and importance for seismic resistant design in earthquake analyses have been examined. The computed amplitudes of the resulting periodic ground motions display a very complicated wave-interference between the surface foundation and underground tunnel that lead to observed standing wave patterns, together with abrupt changes in the wave amplitudes and large amplification of the incident motions.
Yamashita, Hiromasa; Zuo, Siyang; Masamune, Ken; Liao, Hongen; Dohi, Takeyoshi
2009-01-01
We developed a nonmagnetic rigid and flexible outer sheath with pneumatic interlocking mechanism using flexible toothed links and a wire-driven bending distal end. The outer sheath can be switched between rigid and flexible modes easily depending on surgical scenes, and the angle of its distal end can be controlled by three nylon wires. All components of flexible parts are made of MRI-compatible nonmagnetic plastics. We manufactured the device with 300-mm long, 16-mm outer diameter, 7-mm inner diameter and 90-mm bending distal end. Holding power of the device in rigid mode was maximum 3.6 N, which was sufficient for surgical tasks in body cavity. In vivo experiment using a swine, our device performed smooth insertion of a flexible endoscope and a biopsy forceps into reverse side of the liver, intestines and spleen with a curved path. In conclusion, our device shows availability of secure approach of surgical instruments into deep cavity.
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.
Lu, Xuesong; Zhang, Su; Yang, Wei; Chen, Yazhu
2010-11-01
Non-rigid registration of ultrasound images takes an important role in image-guided radiotherapy and surgery. Intensity-based method is popular in non-rigid registration, but it is sensitive to intensity variations and has problems with matching small structure features for the existence of speckles in ultrasound images. In this paper, we develop a new algorithm integrating the intensity and feature of ultrasound images. Both global shape information and local keypoint information extracted by scale invariant feature transform (SIFT) are incorporated into intensity similarity measure as the body force of viscous fluid model in a Bayesian framework. Experiments were performed on synthetic and clinical ultrasound images of breast and kidney. It is shown that shape and keypoint information significantly improves fluid model for non-rigid registration, especially for alignment of small structure features in accuracy.
The molecular asymmetric rigid rotor Hamiltonian as an exactly solvable model
Jarvis, P D
2008-01-01
Representations of the rotation group may be formulated in second-quantised language via Schwinger's transcription of angular momentum states onto states of an effective two-dimensional oscillator. In the case of the molecular asymmetric rigid rotor, by projecting onto the state space of rigid body rotations, the standard Ray Hamiltonian $H(1,\\kappa,-1)$ (with asymmetry parameter $1 \\ge \\kappa \\ge -1$), becomes a quadratic polynomial in the generators of the associated dynamical $su(1,1)$ algebra. We point out that $H(1,\\kappa,-1)$ is in fact quadratic in the Gaudin operators arising from the quasiclassical limit of an associated $su_q(1,1)$ Yang-Baxter algebra. The general asymmetric rigid rotor Hamiltonian is thus an exactly solvable model. This fact has important implications for the structure of the spectrum, as well as for the eigenstates and correlation functions of the model.
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.
Ignasiak, Dominika; Ferguson, Stephen J; Arjmand, Navid
2016-09-06
A number of musculoskeletal models of the human spine have been used for predictions of lumbar and muscle forces. However, the predictive power of these models might be limited by a commonly made assumption; thoracic region is represented as a single lumped rigid body. This study hence aims to investigate the impact of such assumption on the predictions of spinal and muscle forces. A validated thoracolumbar spine model was used with a flexible thorax (T1-T12), a completely rigid one or rigid with thoracic posture updated at each analysis step. The simulations of isometric forward flexion up to 80°, with and without a 20kg hand load, were performed, based on the previously measured kinematics. Depending on the simulated task, the rigid model predicted slightly or moderately lower compressive loading than the flexible one. The differences were relatively greater at the upper lumbar levels (average underestimation of 14% at the T12L1 for flexion tasks and of 18% for flexion tasks with hand load) as compared to the lower levels (3% and 8% at the L5S1 for unloaded and loaded tasks, respectively). The rigid model with updated thoracic posture predicted compressive forces similar to those of the rigid model. Predicted muscle forces were, however, very different between the three models. This study indicates that the lumbar spine models with a rigid thorax definition can be used for loading investigations at the lowermost spinal levels. For predictions of upper lumbar spine loading, using models with an articulated thorax is advised. Copyright © 2016 Elsevier Ltd. All rights reserved.
Deformable image registration with local rigidity constraints for cone-beam CT-guided spine surgery.
Reaungamornrat, S; Wang, A S; Uneri, A; Otake, Y; Khanna, A J; Siewerdsen, J H
2014-07-21
Image-guided spine surgery (IGSS) is associated with reduced co-morbidity and improved surgical outcome. However, precise localization of target anatomy and adjacent nerves and vessels relative to planning information (e.g., device trajectories) can be challenged by anatomical deformation. Rigid registration alone fails to account for deformation associated with changes in spine curvature, and conventional deformable registration fails to account for rigidity of the vertebrae, causing unrealistic distortions in the registered image that can confound high-precision surgery. We developed and evaluated a deformable registration method capable of preserving rigidity of bones while resolving the deformation of surrounding soft tissue. The method aligns preoperative CT to intraoperative cone-beam CT (CBCT) using free-form deformation (FFD) with constraints on rigid body motion imposed according to a simple intensity threshold of bone intensities. The constraints enforced three 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 (uFFD) and Demons registration. 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
Deformable image registration with local rigidity constraints for cone-beam CT-guided spine surgery
Reaungamornrat, S.; Wang, A. S.; Uneri, A.; Otake, Y.; Khanna, A. J.; Siewerdsen, J. H.
2014-07-01
Image-guided spine surgery (IGSS) is associated with reduced co-morbidity and improved surgical outcome. However, precise localization of target anatomy and adjacent nerves and vessels relative to planning information (e.g., device trajectories) can be challenged by anatomical deformation. Rigid registration alone fails to account for deformation associated with changes in spine curvature, and conventional deformable registration fails to account for rigidity of the vertebrae, causing unrealistic distortions in the registered image that can confound high-precision surgery. We developed and evaluated a deformable registration method capable of preserving rigidity of bones while resolving the deformation of surrounding soft tissue. The method aligns preoperative CT to intraoperative cone-beam CT (CBCT) using free-form deformation (FFD) with constraints on rigid body motion imposed according to a simple intensity threshold of bone intensities. The constraints enforced three 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 (uFFD) and Demons registration. 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
Yermolaev, Yu I; Nikolaeva, N S; Yermolaev, M Yu
2016-01-01
This work is a continuation of our previous paper [Yermolaevetal2015] which describes the average temporal profiles of interplanetary plasma and field parameters in large-scale solar-wind (SW) streams: CIR, ICME (both MC and Ejecta) and Sheath as well as the interplanetary shock (IS). Like in the previous work we use data of OMNI database, our catalog of large-scale solar-wind phenomena during 1976--2000 [Yermolaevetal2009] and the double superposed epoch analysis (DSEA) method [Yermolaevetal2010]: re-scaling the duration of interval for all types in such a manner that, respectively, beginning and end for all intervals of selected type coincide. We present new detailed results of comparison of two pair phenomena: (1) both types of compression regions (CIR.vs.Sheath) and (2) both types of ICMEs (MC.vs.Ejecta). Obtained data allows us to suggest that the formation of all types of compression regions has the same physical mechanism irrespective of piston (High-Speed Stream (HSS) or ICME) type and differences are...
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.
Development of laser ruler in rigid laryngoscope.
Lee, Young-Ok; Kim, Byoung-Chul; Lee, Jung-Hoon; Lee, Jin-Choon; Lee, Byung-Joo; Wang, Soo-Geun; Ro, Jung-Hoon; Jeon, Gye-Rok; Shin, Bum-Joo
2011-12-01
The objective of this study was to develop a new device that provides a simple, noninvasive method of measuring accurate lesion size while using an endoscope. We developed a rigid laryngoscope with a built-in laser-ruler using a one-light emitting diode and an acrylic plate. The invention incorporates a built-in laser diode that projects an auto-parallel beam into the optical path of the rigid laryngoscope to form two spots in the field of view. While the interspot distance remains consistent despite changes in focal plane, magnification, or viewing angle of the laryngoscope, projection to an uneven surface introduces certain variations in the shape, and size of the spots, and the distance between the two spots. The device enables a laryngologist to easily measure the distance between landmarks, as well as the change in real size, and the progressive change of vocal fold lesions in an outpatient setting.
Financial Constraints and Nominal Price Rigidities
Menno, Dominik Francesco; Balleer, Almut; Hristov, Nikolay
This paper investigates how financial market imperfections and the frequency of price adjustment interact. Based on new firm-level evidence for Germany, we document that financially constrained firms adjust prices more often than their unconstrained counterparts, both upwards and downwards. We show...... that these empirical patterns are consistent with a partial equilibrium menu-cost model with a working capital constraint. We then use the model to show how the presence of financial frictions changes profits and the price distribution of firms compared to a model without financial frictions. Our results suggest...... that tighter financial constraints are associated with higher nominal rigidities, higher prices and lower output. Moreover, in response to aggregate shocks, aggregate price rigidity moves substantially, the response of inflation is dampened, while output reacts more in the presence of financial frictions...
Rigid cohomology over Laurent series fields
Lazda, Christopher
2016-01-01
In this monograph, the authors develop a new theory of p-adic cohomology for varieties over Laurent series fields in positive characteristic, based on Berthelot's theory of rigid cohomology. Many major fundamental properties of these cohomology groups are proven, such as finite dimensionality and cohomological descent, as well as interpretations in terms of Monsky-Washnitzer cohomology and Le Stum's overconvergent site. Applications of this new theory to arithmetic questions, such as l-independence and the weight monodromy conjecture, are also discussed. The construction of these cohomology groups, analogous to the Galois representations associated to varieties over local fields in mixed characteristic, fills a major gap in the study of arithmetic cohomology theories over function fields. By extending the scope of existing methods, the results presented here also serve as a first step towards a more general theory of p-adic cohomology over non-perfect ground fields. Rigid Cohomology over Laurent Series Fields...
Lectures on formal and rigid geometry
Bosch, Siegfried
2014-01-01
A first version of this work appeared in 2005 as a Preprint of the Collaborative Research Center "Geometrical Structures in Mathematics" at the University of Münster. Its aim was to offer a concise and self-contained 'lecture-style' introduction to the theory of classical rigid geometry established by John Tate, together with the formal algebraic geometry approach launched by Michel Raynaud. These Lectures are now viewed commonly as an ideal means of learning advanced rigid geometry, regardless of the reader's level of background. Despite its parsimonious style, the presentation illustrates a number of key facts even more extensively than any other previous work. This Lecture Notes Volume is a revised and slightly expanded version of the original preprint and has been published at the suggestion of several experts in the field.
Design of Overlays for Rigid Airport Pavements
1988-04-01
Renture, A., and Mindess , S. 1986. "The Effect of Concrete Strength on Crack Patterns," Cement and Concrete Research,_ Vol 16, Pergamon Press Ltd...34 Miscellaneous Paper S-74-30, US Army Engineer Waterways Experiment Station, Vicksburg, Miss. 22. Harr, M. E. 1977 . Mechanics of Particulate Media...of Civil -. Engineers, New York. 33. Hutchinson, R., and Vedros, P. 1977 . "Performance of Heavy-Load Port- land Cement Concrete (Rigid) Airfield
Criteria for Hull-Machinery Rigidity Compatibility,
1981-05-01
articulated double-reduction gear design permits a * greater variety of arrangements with essentially the same rotating parts by rolling the pinion and...Additional intercostal girders are to be fitted within the double bottom to ensure the satisfactory distribution of the weight and the rigidity of the...and 124 arranged to distribute the loads effectively into the adjacent structure. Extra intercostal girders, effect- ively attached, are to be fitted
Rigidity of contractions on Hilbert spaces
Eisner, Tanja
2009-01-01
We study the asymptotic behaviour of contractive operators and strongly continuous semigroups on separable Hilbert spaces using the notion of rigidity. In particular, we show that a "typical" contraction $T$ contains the unit circle times the identity operator in the strong limit set of its powers, while $T^{n_j}$ converges weakly to zero along a sequence $\\{n_j\\}$ with density one. The continuous analogue is presented for isometric ang unitary $C_0$-(semi)groups.
Effectiveness of transverse grooves in rigid pavement
Gurney, G. F.; Bryden, J. E.
1982-10-01
Transverse grooves were installed at 11 intersection approaches on worn rigid pavement to reduce a high rate of wet road accidents. In most cases, accident reductions were experienced only at intersections with multiple negative operational characteristics, including higher approach speeds, limited sight distances, and frequent vehicle stopping for turns or stop signs. Intersections with no more than one negative characteristic generally did not benefit from grooving.
Rigid geometry of curves and their Jacobians
Lütkebohmert, Werner
2016-01-01
This book presents some of the most important aspects of rigid geometry, namely its applications to the study of smooth algebraic curves, of their Jacobians, and of abelian varieties - all of them defined over a complete non-archimedean valued field. The text starts with a survey of the foundation of rigid geometry, and then focuses on a detailed treatment of the applications. In the case of curves with split rational reduction there is a complete analogue to the fascinating theory of Riemann surfaces. In the case of proper smooth group varieties the uniformization and the construction of abelian varieties are treated in detail. Rigid geometry was established by John Tate and was enriched by a formal algebraic approach launched by Michel Raynaud. It has proved as a means to illustrate the geometric ideas behind the abstract methods of formal algebraic geometry as used by Mumford and Faltings. This book should be of great use to students wishing to enter this field, as well as those already working in it.
Origin of Rigidity in Dry Granular Solids
Sarkar, Sumantra; Bi, Dapeng; Zhang, Jie; Behringer, R. P.; Chakraborty, Bulbul
2013-08-01
Solids are distinguished from fluids by their ability to resist shear. In traditional solids, the resistance to shear is associated with the emergence of broken translational symmetry as exhibited by a nonuniform density pattern. In this work, we focus on the emergence of shear rigidity in a class of solids where this paradigm is challenged. Dry granular materials have no energetically or entropically preferred density modulations. We show that, in contrast to traditional solids, the emergence of shear rigidity in these granular solids is a collective process, which is controlled solely by boundary forces, the constraints of force and torque balance, and the positivity of the contact forces. We develop a theoretical framework based on these constraints, which connects rigidity to broken translational symmetry in the space of forces, not positions of grains. We apply our theory to experimentally generated shear-jammed states and show that these states are indeed characterized by a persistent, non-uniform density modulation in force space, which emerges at the shear-jamming transition.
DGP cosmology from rigid geodetic brane gravity
Cordero, Rubén; Molgado, Alberto; Rojas, Efrain
2011-01-01
We explore the cosmological implications provided by an effective geometrical action describing a codimension-one rigid brane embedded in a 5D fixed Minkowski spacetime, i.e., allowing for a term added to the geodetic brane action which depends on the extrinsic curvature of the worldvolume. In the geodetic brane gravity action we accommodate the rigidity of the brane through a linear term in the extrinsic curvature swept out by the brane. We study the resulting geodetic type equation of motion. Within a Friedmann-Robertson-Walker framework, we obtain a generalized Friedmann equation describing the associated cosmological evolution which in turn allowed us to illustrate explicitly the linkage between the geodetic brane theory and the rigidity content of this sort of branelike universes. We observe that, when the radiation-like energy contribution from the extra dimension is vanishing, this effective model leads to a self-(non-self)-accelerated expansion of the universe in dependence on the nature of the rigidi...
21 CFR 886.5916 - Rigid gas permeable contact lens.
2010-04-01
... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Rigid gas permeable contact lens. 886.5916 Section... (CONTINUED) MEDICAL DEVICES OPHTHALMIC DEVICES Therapeutic Devices § 886.5916 Rigid gas permeable contact lens. (a) Identification. A rigid gas permeable contact lens is a device intended to be worn...
A Cognitive Developmental Model of Rigidity in Senescence.
Lapsley, Daniel K.; Enright, Robert D.
1983-01-01
The rigidity construct is reinterpreted in terms of the cognitive developmental approach. A review reveals both cognitive and developmental themes, with an emphasis on the structural and operational properties of rigidity. Notes weaknesses of previous approaches to rigidity and discusses implications and predictions from the proposed model.…
Understanding geological processes: Visualization of rigid and non-rigid transformations
Shipley, T. F.; Atit, K.; Manduca, C. A.; Ormand, C. J.; Resnick, I.; Tikoff, B.
2012-12-01
Visualizations are used in the geological sciences to support reasoning about structures and events. Research in cognitive sciences offers insights into the range of skills of different users, and ultimately how visualizations might support different users. To understand the range of skills needed to reason about earth processes we have developed a program of research that is grounded in the geosciences' careful description of the spatial and spatiotemporal patterns associated with earth processes. In particular, we are pursuing a research program that identifies specific spatial skills and investigates whether and how they are related to each other. For this study, we focus on a specific question: Is there an important distinction in the geosciences between rigid and non-rigid deformation? To study a general spatial thinking skill we employed displays with non-geological objects that had been altered by rigid change (rotation), and two types of non-rigid change ("brittle" (or discontinuous) and "ductile" (or continuous) deformation). Disciplinary scientists (geosciences and chemistry faculty), and novices (non-science faculty and undergraduate psychology students) answered questions that required them to visualize the appearance of the object before the change. In one study, geologists and chemists were found to be superior to non-science faculty in reasoning about rigid rotations (e.g., what an object would look like from a different perspective). Geologists were superior to chemists in reasoning about brittle deformations (e.g., what an object looked like before it was broken - here the object was a word cut into many fragments displaced in different directions). This finding is consistent with two hypotheses: 1) Experts are good at visualizing the types of changes required for their domain; and 2) Visualization of rigid and non-rigid changes are not the same skill. An additional important finding is that there was a broad range of skill in both rigid and non-rigid
Antiplane SH-deformations near a surface rigid foundation above a subsurface rigid circular tunnel
无
2002-01-01
The problem on the dynamic response of a rigid embedded foundation in the presence of an underground rigidtunnel and subjected to excitation of incident anti-plane SH waves is analyzed. By using the exact analytical solution for thetwo-dimensional SH-wave propagation in and around both the surface rigid foundation and subsurface rigid tunnel, thoseaspects of the resulting ground motions that are of special interest and importance for seismic resistant design in earthquakeanalyses have been examined. The computed amplitudes of the resulting periodic ground motions display a very complicatedwave-interference between the surface foundation and underground tunnel that lead to observed standing wave patterns,together with abrupt changes in the wave amplitudes and large amplification of the incident motions.
Rigid-only versus combined rigid and flexible percutaneous nephrolithotomy (PNL)
Cracco, Cecilia M; knoll, thomas; Liatsikos, Evangelos N
2017-01-01
. Appraisal of reliable outcomes of such PNL techniques would better guide intraoperative choices and optimize surgical results. Therefore our objective was to systematically review relevant literature comparing the outcomes of rigid-only PNL and combined flexible PNLs (adding flexible nephroscopy and......INTRODUCTION: Percutaneous nephrolithotomy (PNL) is usually performed worldwide with a rigid-only antegrade approach. Daily practice suggests that adding flexible nephroscopy and/or ureteroscopy to conventional rigid PNL might improve its efficacy and safety, but available evidence is weak....../or flexible ureteroscopy) for the treatment of large and/or complex upper urinary tract calculi, with regard to efficacy and safety. EVIDENCE ACQUISITION: Ovid MedLine (R), PubMed, Scopus and Web of Science databases were searched in August 2016 to identify relevant studies. Article selection was performed...
Chrono: A Parallel Physics Library for Rigid-Body, Flexible-Body, and Fluid Dynamics
2013-08-01
cuda -downloads. [39] Pazouki, A., and Negrut, D., 2012. “Direct simulation of lateral migration of bouyant particles in channel flow using gpu ...Until recently the privilege of a select group of large research centers, Teraflop computing is becoming a commod- ity owing to inexpensive GPU cards...centers, Teraflop computing is becoming a commodity owing to inexpensive GPU cards and multi to many-core x86 processors. This paradigm shift towards
Hui Wei
Full Text Available BACKGROUND: Bacteriophage phi12 is a member of the Cystoviridae, a unique group of lipid containing membrane enveloped bacteriophages that infect the bacterial plant pathogen Pseudomonas syringae pv. phaseolicola. The genomes of the virus species contain three double-stranded (dsRNA segments, and the virus capsid itself is organized in multiple protein shells. The segmented dsRNA genome, the multi-layered arrangement of the capsid and the overall viral replication scheme make the Cystoviridae similar to the Reoviridae. METHODOLOGY/PRINCIPAL FINDINGS: We present structural studies of cystovirus phi12 obtained using cryo-electron microscopy and image processing techniques. We have collected images of isolated phi12 virions and generated reconstructions of both the entire particles and the polymerase complex (PC. We find that in the nucleocapsid (NC, the phi12 P8 protein is organized on an incomplete T = 13 icosahedral lattice where the symmetry axes of the T = 13 layer and the enclosed T = 1 layer of the PC superpose. This is the same general protein-component organization found in phi6 NC's but the detailed structure of the entire phi12 P8 layer is distinct from that found in the best classified cystovirus species phi6. In the reconstruction of the NC, the P8 layer includes protein density surrounding the hexamers of P4 that sit at the 5-fold vertices of the icosahedral lattice. We believe these novel features correspond to dimers of protein P7. CONCLUSIONS/SIGNIFICANCE: In conclusion, we have determined that the phi12 NC surface is composed of an incomplete T = 13 P8 layer forming a net-like configuration. The significance of this finding in regard to cystovirus assembly is that vacancies in the lattice could have the potential to accommodate additional viral proteins that are required for RNA packaging and synthesis.
Transient spirals as superposed instabilities
Sellwood, J A
2014-01-01
We present evidence that recurrent spiral activity, long manifested in simulations of disk galaxies, results from the super-position of a few transient spiral modes. Each mode lasts between five and ten rotations at its corotation radius where its amplitude is greatest. The scattering of stars as each wave decays takes place over narrow ranges of angular momentum, causing abrupt changes to the impedance of the disk to subsequent traveling waves. Partial reflections of waves at these newly created features, allows new standing-wave instabilities to appear that saturate and decay in their turn, scattering particles at new locations, creating a recurring cycle. The spiral activity causes the general level of random motion to rise, gradually decreasing the ability of the disk to support further activity unless the disk contains a dissipative gas component from which stars form on near-circular orbits. We also show that this interpretation is consistent with the behavior reported in other recent simulations with l...
Transient spirals as superposed instabilities
Sellwood, J. A. [Department of Physics and Astronomy, Rutgers University, 136 Frelinghuysen Road, Piscataway, NJ 08854 (United States); Carlberg, R. G., E-mail: sellwood@physics.rutgers.edu, E-mail: carlberg@astro.utoronto.ca [Department of Astronomy and Astrophysics, University of Toronto, Toronto, ON M5S 3H4 (Canada)
2014-04-20
We present evidence that recurrent spiral activity, long manifested in simulations of disk galaxies, results from the superposition of a few transient spiral modes. Each mode lasts between 5 and 10 rotations at its corotation radius where its amplitude is greatest. The scattering of stars as each wave decays takes place over narrow ranges of angular momentum, causing abrupt changes to the impedance of the disk to subsequent traveling waves. Partial reflections of waves at these newly created features allows new standing-wave instabilities to appear that saturate and decay in their turn, scattering particles at new locations, creating a recurring cycle. The spiral activity causes the general level of random motion to rise, gradually decreasing the ability of the disk to support further activity unless the disk contains a dissipative gas component from which stars form on near-circular orbits. We also show that this interpretation is consistent with the behavior reported in other recent simulations with low-mass disks.
Characterization of low density rigid urethane foam
Larsen, F.N.
1978-10-01
The chemical and mechanical properties of a low density, rigid polyurethane foam material taken from a Joint Test Assembly (JTA) after 13 years of storage were measured. Chemical analyses confirmed the composition to be Bendix Rigifoam 6003-1.5, a pentaerythritol/epsilon-caprolactone/tolyene diisocyanate polyurethane foam. Comparison of data from testing thermal and mechanical characteristics with data from a currently manufactured foam of identical composition indicates no degradation of properties had occurred. This information gives added confidence to the stockpile lifetime integrity of the Rigifoam 6003-2 foam system designated for use in other programs.
Mechanical Characterization of Rigid Polyurethane Foams.
Lu, Wei-Yang
2014-12-01
Foam materials are used to protect sensitive components from impact loading. In order to predict and simulate the foam performance under various loading conditions, a validated foam model is needed and the mechanical properties of foams need to be characterized. Uniaxial compression and tension tests were conducted for different densities of foams under various temperatures and loading rates. Crush stress, tensile strength, and elastic modulus were obtained. A newly developed confined compression experiment provided data for investigating the foam flow direction. A biaxial tension experiment was also developed to explore the damage surface of a rigid polyurethane foam.
Diffraction of sound by nearly rigid barriers
Hadden, W. J., Jr.; Pierce, A. D.
1976-01-01
The diffraction of sound by barriers with surfaces of large, but finite, acoustic impedance was analyzed. Idealized source-barrier-receiver configurations in which the barriers may be considered as semi-infinite wedges are discussed. Particular attention is given to situations in which the source and receiver are at large distances from the tip of the wedge. The expression for the acoustic pressure in this limiting case is compared with the results of Pierce's analysis of diffraction by a rigid wedge. An expression for the insertion loss of a finite impedance barrier is compared with insertion loss formulas which are used extensively in selecting or designing barriers for noise control.
Mechanical Characterization of Rigid Polyurethane Foams
Lu, Wei-Yang [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States). Mechanics of Materials
2014-12-01
Foam materials are used to protect sensitive components from impact loading. In order to predict and simulate the foam performance under various loading conditions, a validated foam model is needed and the mechanical properties of foams need to be characterized. Uniaxial compression and tension tests were conducted for different densities of foams under various temperatures and loading rates. Crush stress, tensile strength, and elastic modulus were obtained. A newly developed confined compression experiment provided data for investigating the foam flow direction. A biaxial tension experiment was also developed to explore the damage surface of a rigid polyurethane foam.
The Stability of Double Jaw Surgery: A Comparison of Rigid Fixation versus Skeletal Wire Fixation
1988-08-01
Further studies regarding the effect of rigid versus wire fixation on the temporomandibular joint would be valuable to correlate morphological changes and...13 7 22 mandibular procedures such as a body osteotomy could have been performed. 4. No temperomandibular joint surgery could have been performed...Cephalometric Points Recorded ----- .... 27 164 24 - -~~2 - -% 3w.~ 1 28 TABLE 3.-- Cephalometric Measurements DESCRIPTION PTS. USED 1. SNA Angle 1-2-3 deg 2
An evaluation of a simple dynamical model for impacts between rigid objects
Molino Minero, Erik; López García, Mariano; Manuel Lázaro, Antonio; Carlosena García, Alfonso; Roset Juan, Francesc Xavier
2009-01-01
The main purpose of this work is to propose a dynamical model for simulating the response of different metallic objects when impacted by another rigid body. In addition, a methodology for estimating the model parameters is presented and discussed. Results from real experiments shows that by assuming certain characteristics on impacting objects, the dynamic model can reproduce the transient dynamics during contact time. Peer Reviewed
Public policies targeting labour market rigidities
Andreea Claudia ŞERBAN
2013-02-01
Full Text Available Labour market rigidity becomes an issue of increasing importance under conditions of shocks associated with the economic crisis due to the need to increase the adaptability and responsiveness to them. Thus, labour market policies must be directed towards mitigating rigidities caused by institutional or demographic factors or certain mismatch between demand and supply of education qualifications. This paper highlights the major role of the active labour market policies targeting the increase of labour flexibility, stressing the importance and impact on the ability to adapt quickly and effectively to macroeconomic shocks. Located on a declining trend in the years preceding the crisis, spending on labour market policies increased in 2009 in all the Member States of the European Union. Spending differences are significant between countries, Romania being at the lowest end of the European Union. This requires special attention because the increased adaptability of workers through training, as active measure, is of major importance considering the increased speed of changes in the labour market.
Magnetic Control of Rigid Achiral Microswimmers
Cheang, U.; Meshkati, Farshad; Fu, Henry; Kim, Minjun
2013-11-01
We report control of rigid achiral microswimmers in low Reynolds number environments. A rotating magnetic field was used to actuate the microswimmers wirelessly by rotating the microswimmers, which produces propulsion. Previous magnetically actuated microswimmers in bulk fluids have been designed with either flexibility or chiral geometry; we show that simpler geometries with neither flexibility nor chirality can produce propulsion. The microswimmer consists of three magnetic beads conjugated using avidin-biotin linkages into an arc formation. We designed a magnetic field generator consisting of electromagnetic coils arranged in an approximate Helmholtz configuration. A highspeed camera provided realtime imaging of the microswimmers' motion in a PDMS chamber. The rigidity of the microswimmer was characterized by tracking the position of the individual beads and calculating their relative distances. As a function of field strength and rotation frequency, we observed changes in the rotational axis of the microswimmers and the corresponding effects on their velocities. The achiral microswimmers exhibited active propulsion and were controllable in both speed and direction, which demonstrates the possibility for future biomedical applications such as drug delivery.
Glycerol in micellar confinement with tunable rigidity
Lannert, Michael; Müller, Allyn; Gouirand, Emmanuel; Talluto, Vincenzo; Rosenstihl, Markus; Walther, Thomas; Stühn, Bernd; Blochowicz, Thomas; Vogel, Michael
2016-12-01
We investigate the glassy dynamics of glycerol in the confinement of a microemulsion system, which is stable on cooling down to the glass transition of its components. By changing the composition, we vary the viscosity of the matrix, while keeping the confining geometry intact, as is demonstrated by small angle X-ray scattering. By means of 2H NMR, differential scanning calorimetry, and triplet solvation dynamics we, thus, probe the dynamics of glycerol in confinements of varying rigidity. 2H NMR results show that, at higher temperatures, the dynamics of confined glycerol is unchanged compared to bulk behavior, while the reorientation of glycerol molecules becomes significantly faster than in the bulk in the deeply supercooled regime. However, comparison of different 2H NMR findings with data from calorimetry and solvation dynamics reveals that this acceleration is not due to the changed structural relaxation of glycerol, but rather due to the rotational motion of essentially rigid glycerol droplets or of aggregates of such droplets in a more fluid matrix. Thus, independent of the matrix mobility, the glycerol dynamics remains unchanged except for the smallest droplets, where an increase of Tg and, thus, a slowdown of the structural relaxation is observed even in a fluid matrix.
Shear-induced rigidity in athermal materials
Chakraborty, Bulbul; Sarkar, Sumantra
2014-03-01
In this talk, we present a minimal model of rigidity and plastic failure in solids whose rigidity emerges directly as a result of applied stresses. Examples include shear-jamming (SJ) in dry grains and discontinuous shear thickening (DST) of dense non-Brownian suspensions. Both SJ and DST states are examples of non-equilibrium, self-assembled structures that have evolved to support the load that created them. These are strongly-interacting systems where the interactions arise primarily from the strict constraints of force and torque balance at the local and global scales. Our model is based on a reciprocal-space picture that strictly enforces the local and global constraints, and is, therefore, best suited to capturing the strong correlations in these non-equilibrium systems. The reciprocal space is a tiling whose edges represent contact forces, and whose faces represent grains. A separation of scale between force fluctuations and displacements of grains is used to represent the positional disorder as quenched randomness on variables in the reciprocal space. Comparing theoretical results to experiments, we will argue that the packing fraction controls the strength of the quenched disorder. Sumantra Sarkar et al, Phys. Rev. Lett. 111, 068301 (2013)
Optimized imaging using non-rigid registration
Berkels, Benjamin, E-mail: berkels@aices.rwth-aachen.de [Interdisciplinary Mathematics Institute, 1523 Greene Street, University of South Carolina, Columbia, SC 29208 (United States); Binev, Peter, E-mail: binev@math.sc.edu [Interdisciplinary Mathematics Institute, 1523 Greene Street, University of South Carolina, Columbia, SC 29208 (United States); Department of Mathematics, 1523 Greene Street, University of South Carolina, Columbia, SC 29208 (United States); Blom, Douglas A., E-mail: doug.blom@sc.edu [NanoCenter, 1212 Greene Street, University of South Carolina, Columbia, SC 29208 (United States); Dahmen, Wolfgang, E-mail: dahmen@igpm.rwth-aachen.de [Interdisciplinary Mathematics Institute, 1523 Greene Street, University of South Carolina, Columbia, SC 29208 (United States); Institut für Geometrie und Praktische Mathematik, RWTH Aachen, Templergraben 55, 52056 Aachen (Germany); Sharpley, Robert C., E-mail: rcsharpley@gmail.com [Interdisciplinary Mathematics Institute, 1523 Greene Street, University of South Carolina, Columbia, SC 29208 (United States); Department of Mathematics, 1523 Greene Street, University of South Carolina, Columbia, SC 29208 (United States); Vogt, Thomas, E-mail: tvogt@mailbox.sc.edu [Interdisciplinary Mathematics Institute, 1523 Greene Street, University of South Carolina, Columbia, SC 29208 (United States); NanoCenter, 1212 Greene Street, University of South Carolina, Columbia, SC 29208 (United States); Department of Chemistry and Biochemistry, 631 Sumter Street, University of South Carolina, Columbia, SC 29208 (United States)
2014-03-01
The extraordinary improvements of modern imaging devices offer access to data with unprecedented information content. However, widely used image processing methodologies fall far short of exploiting the full breadth of information offered by numerous types of scanning probe, optical, and electron microscopies. In many applications, it is necessary to keep measurement intensities below a desired threshold. We propose a methodology for extracting an increased level of information by processing a series of data sets suffering, in particular, from high degree of spatial uncertainty caused by complex multiscale motion during the acquisition process. An important role is played by a non-rigid pixel-wise registration method that can cope with low signal-to-noise ratios. This is accompanied by formulating objective quality measures which replace human intervention and visual inspection in the processing chain. Scanning transmission electron microscopy of siliceous zeolite material exhibits the above-mentioned obstructions and therefore serves as orientation and a test of our procedures. - Highlights: • Developed a new process for extracting more information from a series of STEM images. • An objective non-rigid registration process copes with distortions. • Images of zeolite Y show retrieval of all information available from the data set. • Quantitative measures of registration quality were implemented. • Applicable to any serially acquired data, e.g. STM, AFM, STXM, etc.
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.
刘汉龙; 陈育民; 赵楠
2008-01-01
Pile foundation is widely used in the offshore engineering. The pile can be seriously destroyed by the soil liquefaction during strong earthquakes. The potentials of liquefaction and damages of pile foundation due to the liquefaction can be reduced by the implementation of the drainage in the liquefiable foundation. A patented pile technology, named rigidity-drain pile, was introduced. The partial section of the pile body was filled by materials with higher penetrability which forms some effective drainage channels in the pile. The principles and construction methods were presented. 3D models for both rigidity-drain pile and ordinary pile were built in FLAC3D code. The dynamic loadings were applied on the bottom of the model. According to the numerical results, in the case of the rigidity-drain pile, the water in the relevant distance range around the pile flows toward the pile drainage, the contour of the pore pressure shows a funnel form. Contrast to the ordinary pile, the rigidity-drain pile can dissipate the accumulated excess pore water, maintain effective stress and obviously reduce the possibility of surrounding soil liquefaction.
Weak rigidity in almost-thermodynamic material schemes
del Olmo, V.; Olivert, J.
1985-06-01
To avoid the restrictions that the Born rigidity supposes for the motions in relativity, the definition of a weakly rigid almost-thermodynamic material scheme is proposed. From it the relativistic incompressibility condition given by Ferrando and Olivert is obtained. Moreover, it is proved that, for the weakly rigid irrotational and geodesic almost-thermodynamic material schemes, the scalar curvature of the Landau manifolds is constant along the streamlines.
Regulation of Breast Cancer Stem Cells by Tissue Rigidity
2015-06-01
alignment by second harmonic generation imaging (SHG) and used it as a surrogate marker for tissue rigidity. In agreement with previous publications6–8,44,45...AD ____________ __ Award Number: W81XWH-13-1-0133 TITLE: Regulation of Breast Cancer Stem Cells by Tissue Rigidity PRINCIPAL INVESTIGATOR: Adam J...CONTRACT NUMBER Regulation of Breast Cancer Stem Cell by Tissue Rigidity W81XWH-13-1-0133 Sb. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR
Rigid curves on $\\bar M_{0,n}$ and arithmetic breaks
Castravet, Ana-Maria
2011-01-01
A result of Keel and McKernan states that a hypothetical counterexample to the F-conjecture must come from rigid curves on $\\bar {M}_{0,n}$ that intersect the interior. We exhibit several ways of constructing rigid curves. In all our examples, a reduction mod p argument shows that the classes of the rigid curves that we construct can be decomposed as sums of F-curves.
Modeling Decomposition of Unconfined Rigid Polyurethane Foam
HOBBS,MICHAEL L.; ERICKSON,KENNETH L.; CHU,TZE YAO
1999-11-08
The decomposition of unconfined rigid polyurethane foam has been modeled by a kinetic bond-breaking scheme describing degradation of a primary polymer and formation of a thermally stable secondary polymer. The bond-breaking scheme is resolved using percolation theory to describe evolving polymer fragments. The polymer fragments vaporize according to individual vapor pressures. Kinetic parameters for the model were obtained from Thermal Gravimetric Analysis (TGA). The chemical structure of the foam was determined from the preparation techniques and ingredients used to synthesize the foam. Scale-up effects were investigated by simulating the response of an incident heat flux of 25 W/cm{sup 2} on a partially confined 8.8-cm diameter by 15-cm long right circular cylinder of foam that contained an encapsulated component. Predictions of center, midradial, and component temperatures, as well as regression of the foam surface, were in agreement with measurements using thermocouples and X-ray imaging.
Modeling Decomposition of Unconfined Rigid Polyurethane Foam
CHU,TZE YAO; ERICKSON,KENNETH L.; HOBBS,MICHAEL L.
1999-11-01
The decomposition of unconfined rigid polyurethane foam has been modeled by a kinetic bond-breaking scheme describing degradation of a primary polymer and formation of a thermally stable secondary polymer. The bond-breaking scheme is resolved using percolation theory to describe evolving polymer fragments. The polymer fragments vaporize according to individual vapor pressures. Kinetic parameters for the model were obtained from Thermal Gravimetric Analysis (TGA). The chemical structure of the foam was determined from the preparation techniques and ingredients used to synthesize the foam. Scale-up effects were investigated by simulating the response of an incident heat flux of 25 W/cm{sup 2} on a partially confined 8.8-cm diameter by 15-cm long right circular cylinder of foam which contained an encapsulated component. Predictions of center, midradial, and component temperatures, as well as regression of the foam surface, were in agreement with measurements using thermocouples and X-ray imaging.
Rigidity of marginally outer trapped 2-spheres
Galloway, Gregory J
2015-01-01
In a matter-filled spacetime, perhaps with positive cosmological constant, a stable marginally outer trapped 2-sphere must satisfy a certain area inequality. Namely, as discussed in the paper, its area must be bounded above by $4\\pi/c$, where $c > 0$ is a lower bound on a natural energy-momentum term. We then consider the rigidity that results for stable, or weakly outermost, marginally outer trapped 2-spheres that achieve this upper bound on the area. In particular, we prove a splitting result for 3-dimensional initial data sets analogous to a result of Bray, Brendle and Neves [10] concerning area minimizing 2-spheres in Riemannian 3-manifolds with positive scalar curvature. We further show that these initial data sets locally embed as spacelike hypersurfaces into the Nariai spacetime. Connections to the Vaidya spacetime and dynamical horizons are also discussed.
Foam inflated rigidized structures for space applications
Lester, D. M.; Warner, M. J.; Blair, M.
1993-11-01
Large lightweight stowable structures that can be deployed in space without astronaut extra vehicular activity are vital to expanding space exploration and utilization. To meet this challenge Foam Inflated Rigidized (FIR) structures have been developed by Thiokol Corporation on the Air Forces's Gossamer Baggie Torus program. In this paper the development, proof of concept demonstration of an eight foot diameter octagonal torus, and design application of this technology for structural elements to stabilize the solar collector of a solar thermal rocket are discussed. A FIR structure uses foam to inflate and pre-stress a resin impregnated fabric skin. The predeployed foam used was a solvent swelled polymer that foams immediately when exposed to vacuum due to rapid solvent loss. This property allows a very simple deployment mechanism to be used in erecting these structures. Once inflated, the skin resin is cured using the available ultraviolet radiation. By using high strength and stiffness fiber materials a stiff, strong lightweight structure was produced.
Non-rigid precession of magnetic stars
Lander, S K
2016-01-01
Stars are, generically, rotating and magnetised objects with a misalignment between their magnetic and rotation axes. Since a magnetic field induces a permanent distortion to its host, it provides effective rigidity even to a fluid star, leading to bulk stellar motion which resembles free precession. This bulk motion is however accompanied by induced interior velocity and magnetic field perturbations, which are oscillatory on the precession timescale. Extending previous work, we show that these quantities are described by a set of second-order perturbation equations featuring cross-terms scaling with the product of the magnetic and centrifugal distortions to the star. For the case of a background toroidal field, we reduce these to a set of differential equations in radial functions, and find a method for their solution. The resulting magnetic-field and velocity perturbations show complex multipolar structure and are strongest towards the centre of the star.
On real structures on rigid surfaces
Kulikov, Vik S [Steklov Mathematical Institute, Russian Academy of Sciences (Russian Federation); Kharlamov, V M [Institut de Recherche Matematique Avanee Universite Louis Pasteur et CNRS 7 rue Rene Descartes (France)
2002-02-28
We construct examples of rigid surfaces (that is, surfaces whose deformation class consists of a unique surface) with a particular behaviour with respect to real structures. In one example the surface has no real structure. In another it has a unique real structure, which is not maximal with respect to the Smith-Thom inequality. These examples give negative answers to the following problems: the existence of real surfaces in each deformation class of complex surfaces, and the existence of maximal real surfaces in every complex deformation class that contains real surfaces. Moreover, we prove that there are no real surfaces among surfaces of general type with p{sub g}=q=0 and K{sup 2}=9. These surfaces also provide new counterexamples to the 'Dif = Def' problem.
Water dynamics in rigid ionomer networks
Osti, N. C.; Etampawala, T. N.; Shrestha, U. M.; Aryal, D.; Tyagi, M.; Diallo, S. O.; Mamontov, E.; Cornelius, C. J.; Perahia, D.
2016-12-01
The dynamics of water within ionic polymer networks formed by sulfonated poly(phenylene) (SPP), as revealed by quasi-elastic neutron scattering (QENS), is presented. These polymers are distinguished from other ionic macromolecules by their rigidity and therefore in their network structure. QENS measurements as a function of temperature as the fraction of ionic groups and humidity were varied have shown that the polymer molecules are immobile while absorbed water molecules remain dynamic. The water molecules occupy multiple sites, either bound or loosely constrained, and bounce between the two. With increasing temperature and hydration levels, the system becomes more dynamic. Water molecules remain mobile even at subzero temperatures, illustrating the applicability of the SPP membrane for selective transport over a broad temperature range.
Observational properties of rigidly rotating dust configurations
Ilyas, Batyr; Yang, Jinye
2016-01-01
We study the observational properties of a class of exact solutions of Einstein's field equations describing stationary, axially symmetric, rigidly rotating dust. We ask the question whether such solutions can describe astrophysical rotating dark matter clouds and we probe the possibility that they may constitute an alternative to supermassive black holes at the center of galaxies. We show that light emission from accretion disks in this space-time has several differences with respect to the emission of light from accretion disks around black holes. The shape of the iron K{\\alpha} line in the reflection spectrum of accretion disks can potentially distinguish this class of solution from the Kerr metric, but this may not be possible with current X-ray missions.
Static friction between rigid fractal surfaces.
Alonso-Marroquin, Fernando; Huang, Pengyu; Hanaor, Dorian A H; Flores-Johnson, E A; Proust, Gwénaëlle; Gan, Yixiang; Shen, Luming
2015-09-01
Using spheropolygon-based simulations and contact slope analysis, we investigate the effects of surface topography and atomic scale friction on the macroscopically observed friction between rigid blocks with fractal surface structures. From our mathematical derivation, the angle of macroscopic friction is the result of the sum of the angle of atomic friction and the slope angle between the contact surfaces. The latter is obtained from the determination of all possible contact slopes between the two surface profiles through an alternative signature function. Our theory is validated through numerical simulations of spheropolygons with fractal Koch surfaces and is applied to the description of frictional properties of Weierstrass-Mandelbrot surfaces. The agreement between simulations and theory suggests that for interpreting macroscopic frictional behavior, the descriptors of surface morphology should be defined from the signature function rather than from the slopes of the contacting surfaces.
Acoustic propagation in a rigid torus
El-Raheb, M.; Wagner, P.
1982-01-01
The acoustic propagation in a rigid torus is analyzed using a Green's function method. Three types of surface elements are developed; a flat quadrilateral element used in modeling polygonal cavities, a curved conical element appropriate for surfaces with one curvature, and a toroidal element developed for such doubly curved surfaces as the torus. Curved elements are necessary since the acoustic pressure is sensitive to slope discontinuities between consecutive surface elements especially near cavity resonances. The acoustic characteristics of the torus are compared to those of a bend of square cross section for a frequency range that includes the transverse acoustic resonance. Two equivalences between the different sections are tested; the first conserves curvature and cross-sectional dimension while the second matches transverse resonance and duct volume. The second equivalence accurately matches the acoustic characteristics of the torus up to the cutoff frequency corresponding to a mode with two circumferential waves.
Field cracking performance of airfield rigid pavements
Yusuf Mehta
2017-08-01
Full Text Available This paper discusses cracking in airport pavements as studied in Construction Cycle 6 of testing carried out at the National Airport Pavement Testing Facility by the Federal Aviation Administration. Pavements of three different flexural strengths as well as two different subgrades, a soft bituminous layer and a more rigid layer known as econocrete, were tested. In addition to this, cracking near two types of isolated transition joints, a reinforced edge joint and a thickened edge joint, was considered. The pavement sections were tested using a moving load simulating that of an aircraft. It has been determined that the degree of cracking was reduced as the flexural strength of the pavement was increased and that fewer cracks formed over the econocrete base than over the bituminous base. In addition, the thickened edge transition joint was more effective in preventing cracking at the edges compared to the reinforced edge joint.
Wolff, Erin; Pal, Lubna; Altun, Tugba; Madankumar, Rajeevi; Freeman, Ruth; Amin, Hussein; Harman, Mitch; Santoro, Nanette; Taylor, Hugh S
2011-02-01
To characterize skin wrinkles and rigidity in recently menopausal women. Baseline assessment of participants before randomization to study drug. Multicenter trial, university medical centers. Recently menopausal participants enrolled in the Kronos Early Estrogen Prevention Study (KEEPS). Skin wrinkles were assessed at 11 locations on the face and neck using the Lemperle wrinkle scale. Skin rigidity was assessed at the forehead and cheek using a durometer. Skin wrinkles and rigidity were compared among race/ethnic groups. Skin wrinkles and rigidity were correlated with age, time since menopause, weight, and body mass index (BMI). In early menopausal women, wrinkles, but not skin rigidity, vary significantly among races, where black women have the lowest wrinkle scores. In white women, chronological age was significantly correlated with worsening skin wrinkles, but not with rigidity. Skin rigidity correlated with increasing length of time since menopause, however, only in the white subgroup. In the combined study group, increasing weight was associated with less skin wrinkling. Skin characteristics of recently menopausal women are not well studied. Ethnic differences in skin characteristics are widely accepted, but poorly described. In recently menopausal women not using hormone therapy (HT), significant racial differences in skin wrinkling and rigidity exist. Continued study of the KEEPS population will provide evidence of the effects of HT on the skin aging process in early menopausal women. Copyright © 2011 American Society for Reproductive Medicine. All rights reserved.
Celestial mechanics of elastic bodies II
Beig, Robert; Schmidt, Bernd G
2016-01-01
We construct time independent configurations describing a small elastic body moving in a circular orbit in the Schwarzschild spacetime. These configurations are relativistic versions of Newtonian solutions constructed by two of us (R.B.,B.G.S.). In the process we simplify and sharpen previous results of ours concerning elastic bodies in rigid rotation.
无
2003-01-01
A new rigid-plastic/rigid-viscoplastic (RP/RVP) FEM based on linear programming (LP) for plane-strain metal forming simulation is proposed. Compared with the traditional RP/RVP FEM based on iteration solution, it has some remarkable advantages, such as it's free of convergence problem and its convenience in contact, incompressibility constraint and rigid zone treatment. Two solution examples are provided to validate its accuracy and efficiency.
Studies of Rigid Rotor-Rigid Surface Scattering in Dynamical Lie Algebraic Method
WANG Xiao-Yan; DING Shi-Liang
2004-01-01
The dynamical Lie algebraic method is used for the description of statistical mechanics of rotationally inelastic molecule-surface scattering. It can give the time-evolution operators about the low power of a+ and a by solving a set of coupled nonlinear differential equations. For considering the contribution of the high power of a+ and a, we use the Magnus formula. Thus, with the time-evolution operators we can get the statistical average values of the measurable quantities in terms of the density operator formalism in statistical mechanics. The method is applied to the scattering of N2 (rigid rotor) by a flat, rigid surface to illustrate its general procedure. The results demonstrate that the method is useful for describing the statistical dynamics of gas-surface scattering.
Kim, Yeonkyu
2003-10-01
A system of differential equations governing the translational and rotational motion of a system model consisting of a rigid satellite and multiple MB suspended rigid flywheels in general configuration is developed. Flywheel modules are contained in a housing rigidly mounted on the satellite and floated by an active MB suspension system, therefore each flywheel module has six degrees of freedom (DOF) as well as the satellite module. Equations of motion for the satellite and flywheels are naturally coupled and the satellite rotational motion and translational motion are coupled. A nonlinear state feedback tracking control law, which is globally asymptotically stable, is developed following a Lyapunov stability theory for integrated power and attitude control using the MB suspended flywheels. The stability, robustness, and tracking and disturbance rejection performance of the present control law with respect to initial attitude error, system modeling error, an imbalance disturbance, is demonstrated by case studies. The satellite departure motion equation derived from the definition of the angular velocity error and the system dynamics equations is presented. Application study of existing power tracking algorithm with this control law shows perfect power tracking for both power charging from and power delivery to the satellite operations and the power tracking can be performed simultaneously with and independent of the attitude control function.
Modeling rigid magnetically rotated microswimmers: rotation axes, bistability, and controllability.
Meshkati, Farshad; Fu, Henry Chien
2014-12-01
Magnetically actuated microswimmers have recently attracted attention due to many possible biomedical applications. In this study we investigate the dynamics of rigid magnetically rotated microswimmers with permanent magnetic dipoles. Our approach uses a boundary element method to calculate a mobility matrix, accurate for arbitrary geometries, which is then used to identify the steady periodically rotating orbits in a co-rotating body-fixed frame. We evaluate the stability of each of these orbits. We map the magnetoviscous behavior as a function of dimensionless Mason number and as a function of the angle that the magnetic field makes with its rotation axis. We describe the wobbling motion of these swimmers by investigating how the rotation axis changes as a function of experimental parameters. We show that for a given magnetic field strength and rotation frequency, swimmers can have more than one stable periodic orbit with different rotation axes. Finally, we demonstrate that one can improve the controllability of these types of microswimmers by adjusting the relative angle between the magnetic field and its axis of rotation.
Evaluation of skin and muscular deformations in a non-rigid motion analysis
Goffredo, Michela; Carli, Marco; Conforto, Silvia; Bibbo, Daniele; Neri, Alessandro; D'Alessio, Tommaso
2005-04-01
During contraction and stretching, muscles change shape and size, and produce a deformation of skin tissues and a modification of the body segment shape. In human motion analysis, it is indispensable to take into account this phenomenon and thus approximating body limbs to rigid structures appears as restrictive. The present work aims at evaluating skin and muscular deformation, and at modeling body segment elastic behavior by analysing video sequences that capture a sport gesture. The soft tissue modeling is accomplished by using triangular meshes that automatically adapt to the body segment during the execution of a static muscle contraction. The adaptive triangular mesh is built on reference points whose motion is estimated by using the technique based on Gauss Laguerre Expansion. Promising results have been obtained by applying the proposed method to a video sequence, where an upper arm isometric contraction was present.
Degeneration, Rigidity and Irreducible Components of Hopf Algebras
Abdenacer Makhlouf
2005-01-01
The aim of this work is to discuss the concepts of degeneration, deformation and rigidity of Hopf algebras and to apply them to the geometric study of the varieties of Hopf algebras. The main result is the description of the n-dimensional rigid Hopf algebras and the irreducible components for n ＜ 14 and n = p2 with p a prime number.
Non-rigid registration by geometry-constrained diffusion
Andresen, Per Rønsholt; Nielsen, Mads
2001-01-01
Assume that only partial knowledge about a non-rigid registration is given: certain points, curves, or surfaces in one 3D image are known to map to certain points, curves, or surfaces in another 3D image. In trying to identify the non-rigid registration field, we face a generalized aperture problem...
Non-rigid image registration using bone growth model
Bro-Nielsen, Morten; Gramkow, Claus; Kreiborg, Sven
1997-01-01
Non-rigid registration has traditionally used physical models like elasticity and fluids. These models are very seldom valid models of the difference between the registered images. This paper presents a non-rigid registration algorithm, which uses a model of bone growth as a model of the change b...
Reinforced molecular recognition as an alternative to rigid receptors
Otto, Sijbren
2006-01-01
In theory, a perfectly rigid receptor will probably be an unbeatable binder. However, rigidity may not be easy to achieve in practice and it is certainly not Nature’s method to realise high affinity. In many proteins binding affinity is increased through non-covalent interactions within the protein.
Quadratic Twists of Rigid Calabi–Yau Threefolds Over
Gouvêa, Fernando Q.; Kiming, Ian; Yui, Noriko
2013-01-01
We consider rigid Calabi–Yau threefolds defined over Q and the question of whether they admit quadratic twists. We give a precise geometric definition of the notion of a quadratic twists in this setting. Every rigid Calabi–Yau threefold over Q is modular so there is attached to it a certain newfo...
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.
Bhakuni, S. S.; Luirei, Khayingshing; Kothyari, Girish Ch.; Imsong, Watinaro
2017-04-01
mountain front along the Sesseri, Siluk, Siku, Siang, Mingo, Sileng, Dikari, and Simen rivers. At some such junctions, landforms associated with the active right-lateral strike-slip faults are superposed over the earlier landforms formed by transverse normal faults. In addition to linear transverse features, we see evidence that the fold-thrust belt of the frontal part of the Arunachal Himalaya has also been affected by the neotectonically active NW-SE trending major fold known as the Siang antiform that again is aligned transverse to the mountain front. The folding of the HFT and MBT along this antiform has reshaped the landscape developed between its two western and eastern limbs running N-S and NW-SE, respectively. The transverse faults are parallel to the already reported deep-seated transverse seismogenic strike-slip fault. Therefore, a single take home message is that any true manifestation of the neotectonics and seismic hazard assessment in the Himalayan region must take into account the role of transverse tectonics.
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.
Rigidity sensing and adaptation through regulation of integrin types
Elosegui-Artola, Alberto; Bazellières, Elsa; Allen, Michael D.; Andreu, Ion; Oria, Roger; Sunyer, Raimon; Gomm, Jennifer J.; Marshall, John F.; Jones, J. Louise; Trepat, Xavier; Roca-Cusachs, Pere
2014-06-01
Tissue rigidity regulates processes in development, cancer and wound healing. However, how cells detect rigidity, and thereby modulate their behaviour, remains unknown. Here, we show that sensing and adaptation to matrix rigidity in breast myoepithelial cells is determined by the bond dynamics of different integrin types. Cell binding to fibronectin through either α5β1 integrins (constitutively expressed) or αvβ6 integrins (selectively expressed in cancer and development) adapts force generation, actin flow and integrin recruitment to rigidities associated with healthy or malignant tissue, respectively. In vitro experiments and theoretical modelling further demonstrate that this behaviour is explained by the different binding and unbinding rates of both integrin types to fibronectin. Moreover, rigidity sensing through differences in integrin bond dynamics applies both when integrins bind separately and when they compete for binding to fibronectin.
Modeling decomposition of rigid polyurethane foam
Hobbs, M.L.
1998-01-01
Rigid polyurethane foams are used as encapsulants to isolate and support thermally sensitive components within weapon systems. When exposed to abnormal thermal environments, such as fire, the polyurethane foam decomposes to form products having a wide distribution of molecular weights and can dominate the overall thermal response of the system. Decomposing foams have either been ignored by assuming the foam is not present, or have been empirically modeled by changing physical properties, such as thermal conductivity or emissivity, based on a prescribed decomposition temperature. The hypothesis addressed in the current work is that improved predictions of polyurethane foam degradation can be realized by using a more fundamental decomposition model based on chemical structure and vapor-liquid equilibrium, rather than merely fitting the data by changing physical properties at a prescribed decomposition temperature. The polyurethane decomposition model is founded on bond breaking of the primary polymer and formation of a secondary polymer which subsequently decomposes at high temperature. The bond breaking scheme is resolved using percolation theory to describe evolving polymer fragments. The polymer fragments vaporize according to individual vapor pressures. Kinetic parameters for the model were obtained from Thermal Gravimetric Analysis (TGA) from a single nonisothermal experiment with a heating rate of 20 C/min. Model predictions compare reasonably well with a separate nonisothermal TGA weight loss experiment with a heating rate of 200 C/min.
Flow past 2-D Hemispherical Rigid Canopies
Carnasciali, Maria-Isabel
2013-11-01
The flow past a 2-dimensional rigid hemispherical shape is investigated using PIV. Flow field measurements and images were generated with the use of a Thermoflow® apparatus. Results of this study are compared to prior work (APS DFD 2012 Session E9.00003) which employed CFD to investigate the flow in the near wake of hemispherical parachutes. The various sized gaps/open areas were positioned at distinct locations. The work presented here is part of a larger research project to investigate flow fields in deceleration devices and parachutes. Understanding the pitch-stability of parachutes is essential for accurate design and implementation of these deceleration devices but they present a difficult system to analyze. The flexibility of the parachute fabric results in large variations in the parachute geometry leading to complex fluid-structure interactions. Such flow, combined with flow through gaps and open areas, has been postulated to shed alternating vortices causing pitching/oscillations of the canopy. The results presented provide some insight into which geometric features affect vortex shedding and may enable the redesign of the baseline parachute to minimize instabilities.
The rigidity of three flavor quark matter
Sharma, Rishi [Los Alamos National Laboratory; Mannarelli, Massimo [IEEC/CSIC
2008-01-01
Cold three flavor quark matter at large (but not asymptotically large) densities may exist in a crystalline color superconducting phase. These phases are characterized by a gap parameter {Delta} that varies periodieally in space, forming a crystal structure. A Ginzburg-Landau expansion in {Delta} shows that two crystal structures based on cubic symetry are particularly favorable, and may be the ground state of matter at densities present in neutron star cores. We derive the effective action for the phonon fields that describe space-and time-dependent fluctuations of the crystal structure formed by {Delta}, and obtain the shear modulus from the coefficients of the spatial derivative terms. Within a Ginzburg-Landau approximation, we find shear moduli which are 20 to 1000 times larger than those of neutron star crusts. This phase ofmatter is thus more rigid than any known material in the universe, but at the same time the crystalline color superconducting phase is also superftuid. These properties raise the possibility that the presence of this phase within neutron stars may have distinct implications for their phenomenology. For example, (some) pulsar glitches may originate in crystalline superconducting neutron star cores.
Heat transfer in suspensions of rigid particles
Brandt, Luca; Niazi Ardekani, Mehdi; Abouali, Omid
2016-11-01
We study the heat transfer in laminar Couette flow of suspensions of rigid neutrally buoyant particles by means of numerical simulations. An Immersed Boundary Method is coupled with a VOF approach to simulate the heat transfer in the fluid and solid phase, enabling us to fully resolve the heat diffusion. First, we consider spherical particles and show that the proposed algorithm is able to reproduce the correlations between heat flux across the channel, the particle volume fraction and the heat diffusivity obtained in laboratory experiments and recently proposed in the literature, results valid in the limit of vanishing inertia. We then investigate the role of inertia on the heat transfer and show an increase of the suspension diffusivity at finite particle Reynolds numbers. Finally, we vary the relativity diffusivity of the fluid and solid phase and investigate its effect on the effective heat flux across the channel. The data are analyzed by considering the ensemble averaged energy equation and decomposing the heat flux in 4 different contributions, related to diffusion in the solid and fluid phase, and the correlations between wall-normal velocity and temperature fluctuations. Results for non-spherical particles will be examined before the meeting. Supported by the European Research Council Grant No. ERC-2013- CoG-616186, TRITOS. The authors acknowledge computer time provided by SNIC (Swedish National Infrastructure for Computing).
Tidal Evolution of Asteroidal Binaries. Ruled by Viscosity. Ignorant of Rigidity.
Efroimsky, Michael
2015-10-01
This is a pilot paper serving as a launching pad for study of orbital and spin evolution of binary asteroids. The rate of tidal evolution of asteroidal binaries is defined by the dynamical Love numbers kl divided by quality factors Q. Common in the literature is the (oftentimes illegitimate) approximation of the dynamical Love numbers with their static counterparts. Since the static Love numbers are, approximately, proportional to the inverse rigidity, this renders a popular fallacy that the tidal evolution rate is determined by the product of the rigidity by the quality factor: {k}l/Q\\propto 1/(μ Q). In reality, the dynamical Love numbers depend on the tidal frequency and all rheological parameters of the tidally perturbed body (not just rigidity). We demonstrate that in asteroidal binaries the rigidity of their components plays virtually no role in tidal friction and tidal lagging, and thereby has almost no influence on the intensity of tidal interactions (tidal torques, tidal dissipation, tidally induced changes of the orbit). A key quantity that overwhelmingly determines the tidal evolution is a product of the effective viscosity η by the tidal frequency χ . The functional form of the torque’s dependence on this product depends on who wins in the competition between viscosity and self-gravitation. Hence a quantitative criterion, to distinguish between two regimes. For higher values of η χ , we get {k}l/Q\\propto 1/(η χ ), {while} for lower values we obtain {k}l/Q\\propto η χ . Our study rests on an assumption that asteroids can be treated as Maxwell bodies. Applicable to rigid rocks at low frequencies, this approximation is used here also for rubble piles, due to the lack of a better model. In the future, as we learn more about mechanics of granular mixtures in a weak gravity field, we may have to amend the tidal theory with other rheological parameters, ones that do not show up in the description of viscoelastic bodies. This line of study provides
Uncommon, undeclared oesophageal foreign bodies.
Akenroye, M I; Osukoya, A T
2012-01-01
We report two cases of unusual and undeclared oesophageal foreign bodies. A small double-rounded calabash or bottle gourd Lagenaria siceraria, stuffed with traditional medicine designed to acquire spiritual power. A whole tricotyledonous kola nut Cola nitida also designed to make medicine to gain love from a woman after passing it out in stool. Each case presented with a sudden onset of total dysphagia and history of ingestion of foreign bodies was not volunteered by any despite direct questioning. Plain radiograph of the neck and chest in either case did not reveal presence of foreign body. Both were successfully removed through rigid oesophagoscopy.
Dynamic spindle reflexes and the rigidity of Parkinsonism.
McLellan, D L
1973-06-01
The effects of stimulating the reflex arc from dynamic spindle endings were examined in patients with the rigidity of Parkinsonism and in control subjects. The arc was activated phasically by a tendon tap and by electrical stimulation in 15 patients. The effect of reinforcement by Jendrassik's manoeuvre was observed. The response to phasic activation indicated central facilitation of the reflex loop in the patients with Parkinsonism, with a concurrent decrease in fusimotor drive to dynamic spindles. These abnormalities could not be correlated with the severity of the patients' rigidity, and they did not alter when the rigidity was reduced by levodopa. The effect of activating dynamic spindle endings tonically by vibration at 50 Hz was also examined. The reflex contraction of the biceps and triceps muscles in response to vibration was found to be increased in 24 patients with rigidity compared with 24 control subjects. Patients with severe rigidity developed a more powerful contraction in response to vibration than patients with mild rigidity. The response to vibration was reduced by treatment with levodopa but the amount of this reduction could not be correlated with changes in the patients' rigidity.
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.
Nematic order by elastic interactions and cellular rigidity sensing
Friedrich, B. M.; Safran, S. A.
2011-01-01
We predict spontaneous nematic order in an ensemble of active force generators with elastic interactions as a minimal model for early nematic alignment of short stress fibers in non-motile, adhered cells. Mean-field theory is formally equivalent to Maier-Saupe theory for a nematic liquid. However, the elastic interactions are long-ranged (and thus depend on cell shape and matrix elasticity) and originate in cell activity. Depending on the density of force generators, we find two regimes of cellular rigidity sensing for which orientational, nematic order of stress fibers depends on matrix rigidity either in a step-like manner or with a maximum at an optimal rigidity.
Observations on the partial breaking of N=2 rigid supersymmetry
Laura Andrianopoli
2015-05-01
Full Text Available We study the partial breaking of N=2 rigid supersymmetry for a generic rigid special geometry of n abelian vector multiplets in the presence of Fayet–Iliopoulos terms induced by the hyper-Kähler momentum map. By exhibiting the symplectic structure of the problem we give invariant conditions for the breaking to occur, which rely on a quartic invariant of the Fayet–Iliopoulos charges as well as on a modification of the N=2 rigid symmetry algebra by a vector central charge.
Isoperimetric inequality fortorsional rigidity in the complex plane
Salahudinov RG
2001-01-01
Full Text Available Suppose SZ is a simply connected domain in the complex plane. In (F.G. Avhadiev, Matem. Sborn., 189(12 (1998, 3–12 (Russian, Avhadiev introduced new geometrical functionals, which give two-sided estimates for the torsional rigidity of . In this paper we find sharp lower bounds for the ratio of the torsional rigidity to the new functionals. In particular, we prove that where is the torsional rigidity of , and is the conformal radius of at a point .
STATISTICAL MODELS FOR SEMI-RIGID NEMATIC POLYMERS
WANG Xinjiu
1995-01-01
Semi-rigid liquid crystal polymer is a class of liquid crystal polymers different from long rigid rod liquid crystal polymer to which the well-known Onsager and Flory theories are applied. In this paper, three statistical models for the semi-rigid nematic polymer were addressed. They are the elastically jointed rod model, worm-like chain model, and non-homogeneous chain model.The nematic-isotropic transition temperature was examined. The pseudo-second transition temperature is expressed analytically. Comparisons with the experiments were made and the agreements were found.
Optimisation of grolishing freeform surfaces with rigid and semi-rigid tools
Yu, Guoyu; Wu, Hsing-Yu; Walker, David; Zheng, Xiao; Li, Hongyu; Dunn, Christina; Gray, Caroline
2016-07-01
After the formal acceptance of our fabrication of E-ELT segments, we aim to further accelerate the mass production by introducing an intermediate grolishing procedure using industrial robots, reducing the total process time by this much faster and parallel link. In this paper, we have presented research outputs on tool design, tool path generation, study of mismatch between rigid, semi-rigid tool and aspheric surface. It is indicated that the generation of mid-spatial frequency is proportional to the grit size and misfit between work piece and tool surfaces. Using a Non-Newtonian material tool with a spindle speed of 30 rpm has successfully reduce the mid-spatial error. The optimization of process parameters involve the study the combination effects of the above factors. These optimized parameters will result in a lookup table for reference of given input surface quality. Future work may include the higher spindle speed for grolishing with non- Newtonian tool looking for potential applications regarding to form correction, higher removal rate and edge control.
Rigid-Flexible Coupling Dynamic Analysis of Sub-Launched Vehicle During the Vertical Tube-Exit Stage
Weiyao Zhang; Jingbo Gao; Cong Wang
2015-01-01
During the launching stage,hydrodynamic pressure and adapters’ reaction loads can influence the vehicle’ s rigid motion as well as cause its structural vibration,which is a typical rigid⁃flexible coupling dynamic problem. This paper presents a 2⁃D rigid⁃flexible coupling model to calculate the vehicle’ s dynamic responses in that period.The vehicle was equivalent to a flexure beam with axial deformation. Hybrid coordinate and modal superposition methods were used to describe its large rigid displacement and small deformation. By the second Lagrange equation, the vehicle centroid’ s displacements, rotational angle and modal coordinates were chosen as generalized coordinates and then the vehicle ’ s rigid⁃flexible coupling dynamic equations were obtained. By numerical simulation,the results of vehicle’s motion parameters and transverse internal loads were acquired.The calculation results showed that differences of the vehicle’ s motion parameters between the rigid⁃flexible coupling model and the rigid body assumption are noticeable and the peak magnitude of the vehicle’ s transverse internal loads in the rigid⁃flexible coupling model is higher remarkably than that in the rigid body assumption.
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.
A Rigid Mid-Lift-to-Drag Ratio Approach to Human Mars Entry, Descent, and Landing
Cerimele, Christopher J.; Robertson, Edward A.; Sostaric, Ronald R.; Campbell, Charles H.; Robinson, Phil; Matz, Daniel A.; Johnson, Breanna J.; Stachowiak, Susan J.; Garcia, Joseph A.; Bowles, Jeffrey V.; Kinney, David J.; Theisinger, John E.
2017-01-01
Current NASA Human Mars architectures require delivery of approximately 20 metric tons of cargo to the surface in a single landing. A proposed vehicle type for performing the entry, descent, and landing at Mars associated with this architecture is a rigid, enclosed, elongated lifting body shape that provides a higher lift-to-drag ratio (L/D) than a typical entry capsule, but lower than a typical winged entry vehicle (such as the Space Shuttle Orbiter). A rigid Mid-L/D shape has advantages for large mass Mars EDL, including loads management, range capability during entry, and human spaceflight heritage. Previous large mass Mars studies have focused more on symmetric and/or circular cross-section Mid-L/D shapes such as the ellipsled. More recent work has shown performance advantages for non-circular cross section shapes. This paper will describe efforts to design a rigid Mid-L/D entry vehicle for Mars which shows mass and performance improvements over previous Mid-L/D studies. The proposed concept, work to date and evolution, forward path, and suggested future strategy are described.
无
2001-01-01
Compared with the traditional rigid-plastic/rigid-viscoplastic(RP/RVP) FEM(based on iteration solution),RP/RVP FEM based on linear programming (LP) has some remarkable advantages,such as it's free of convergence problem and its convenience in contact,rigid zone,and friction force treatment.The numerical model of RP/RVP FEM based on LP for axisymmetrical metal forming simulation is studied,and some related key factors and its treatment methods in formulation of constraint condition are proposed.Some solution examples are provided to validate its accuracy and efficiency.
Optimal matrix rigidity for stress fiber polarization in stem cells
Rehfeldt, F.; Brown, A. E. X.; Discher, D. E.; Safran, S. A.
2010-01-01
The shape and differentiation of human mesenchymal stem cells is especially sensitive to the rigidity of their environment; the physical mechanisms involved are unknown. A theoretical model and experiments demonstrate here that the polarization/alignment of stress-fibers within stem cells is a non-monotonic function of matrix rigidity. We treat the cell as an active elastic inclusion in a surrounding matrix whose polarizability, unlike dead matter, depends on the feedback of cellular forces that develop in response to matrix stresses. The theory correctly predicts the monotonic increase of the cellular forces with the matrix rigidity and the alignment of stress-fibers parallel to the long axis of cells. We show that the anisotropy of this alignment depends non-monotonically on matrix rigidity and demonstrate it experimentally by quantifying the orientational distribution of stress-fibers in stem cells. These findings offer a first physical insight for the dependence of stem cell differentiation on tissue elasticity. PMID:20563235
Crystal Frameworks, Matrix-valued Functions and Rigidity Operators
Power, S C
2011-01-01
An introduction and survey is given of some recent work on the infinitesimal dynamics of \\textit{crystal frameworks}, that is, of translationally periodic discrete bond-node structures in $\\mathbb{R}^d$, for $ d=2,3,...$. We discuss the rigidity matrix, a fundamental object from finite bar-joint framework theory, rigidity operators, matrix-function representations and low energy phonons. These phonons in material crystals, such as quartz and zeolites, are known as rigid unit modes, or RUMs, and are associated with the relative motions of rigid units, such as ~SiO$_4$ tetrahedra in the tetrahedral polyhedral bond-node model for quartz. We also introduce semi-infinite crystal frameworks, bi-crystal frameworks and associated multi-variable Toeplitz operators.
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
Resin Infusion Rigidized Inflatable Concept Development and Demonstration Project
National Aeronautics and Space Administration — Utilizing resin infusion to rigidize an inflatable structure and form fiber-reinforced composites on-orbit is a novel concept that builds on current NASA technology...
Genus Ranges of 4-Regular Rigid Vertex Graphs.
Buck, Dorothy; Dolzhenko, Egor; Jonoska, Nataša; Saito, Masahico; Valencia, Karin
2015-01-01
A rigid vertex of a graph is one that has a prescribed cyclic order of its incident edges. We study orientable genus ranges of 4-regular rigid vertex graphs. The (orientable) genus range is a set of genera values over all orientable surfaces into which a graph is embedded cellularly, and the embeddings of rigid vertex graphs are required to preserve the prescribed cyclic order of incident edges at every vertex. The genus ranges of 4-regular rigid vertex graphs are sets of consecutive integers, and we address two questions: which intervals of integers appear as genus ranges of such graphs, and what types of graphs realize a given genus range. For graphs with 2n vertices (n > 1), we prove that all intervals [a, b] for all a genus ranges. For graphs with 2n - 1 vertices (n ≥ 1), we prove that all intervals [a, b] for all a genus ranges. We also provide constructions of graphs that realize these ranges.
Sedimentation of Rigid Cylindrical Particles with Mechanical Contacts
LIN Jian-Zhong; WANG Ye-Long; James A. Olsen
2005-01-01
@@ A collision model of two cylindrical particles is put forward. Based on the model the sedimentation of rigid cylindrical particles with mechanical contacts is simulated numerically by using the lattice Boltzmann method.
Motion of a rigid prolate spheroid in a sound wave field.
Zhou, Hongkun; Hong, Lianjin
2014-08-01
The motions of a rigid and unconstrained prolate spheroid subjected to plane sound waves are computed using preliminary analytic derivation and numerical approach. The acoustically induced motions are found comprising torsional motion as well as translational motion in the case of acoustic oblique incidence and present great relevance to the sound wavelength, body geometry, and density. The relationship between the motions and acoustic particle velocity is obtained through finite element simulation in terms of sound wavelengths much longer than the overall size of the prolate spheroid. The results are relevant to the design of inertial acoustic particle velocity sensors based on prolate spheroids.
Lens rigidity with trapped geodesics in two dimensions
Croke, Christopher B
2011-01-01
We consider the scattering and lens rigidity of compact surfaces with boundary that have a trapped geodesic. In particular we show that the flat cylinder and the flat M\\"obius strip are determined by their lens data. We also see by example that the flat M\\"obius strip is not determined by it's scattering data. We then consider the case of negatively curved cylinders with convex boundary and show that they are lens rigid.
Flexible band versus rigid ring annuloplasty for functional tricuspid regurgitation
Kanji Kawachi
2010-09-01
Full Text Available We review and compare our experience with tricuspid ring annuloplasty between usage of the Cosgrove-Edwards flexible band and the MC3 rigid ring for repair of functional tricuspid regurgitation to determine the efficacy and mid-term durability of tricuspid annuloplasty. 117 patients with functional tricuspid regurgitation undergoing open heart surgery and tricuspid valve repair from May 2005 to December 2007 were reviewed. The flexible bands were used in thirty five patients before October 2006. Since then, the rigid rings were used in the next consecutive eighty two cases. Echocardiographic evaluation of tricuspid regurgitation was performed preoperatively and postoperatively in follow-up schedule. The degree of tricuspid regurgitation was reduced from 2.80±0.67 to 0.71±1.0 (regurgitation severity grade: 0 to 4 in the patients with flexible bands at discharge. It was from 2.68±0.70 to 0.22±0.60 in the patients with rigid rings. At thirty six months postoperative period, tricuspid regurgitation grades in patients with flexible bands and rigid rings were 0.80±0.95 and 0.36±0.77, respectively. Freedom from recurrent tricuspid regurgitation (grade 2 or 3 in patients with flexible bands and rigid rings were 68.6% and 87.8%, respectively. Recurrent tricuspid regurgitation was significantly lower in the patients with rigid rings. Although both flexible band and rigid ring annuloplasty provide low rate of recurrent tricuspid regurgitation, rigid ring annuloplasty might be more effective than flexible band annuloplasty for decreasing functional tricuspid regurgitation in immediate and mid-term postoperative periods.
Plasticity-rigidity cycles: A general adaptation mechanism
Csermely, Peter
2015-01-01
Successful adaptation helped the emergence of complexity. Alternating plastic- and rigid-like states were recurrently considered to play a role in adaptive processes. However, this extensive knowledge remained fragmented. In this paper I describe plasticity-rigidity cycles as a general adaptation mechanism operating in molecular assemblies, assisted protein folding, cellular differentiation, learning, memory formation, creative thinking, as well as the organization of social groups and ecosys...
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.
The rigidity dependence of Forbush decreases observed at the Earth
Lockwood, J.A.; Webber, W.R. (Univ. of New Hampshire, Durham (USA)); Debrunner, H. (Univ. of Bern (Switzerland))
1991-04-01
The rigidity dependence of the large Forbush decreases occurring on July 23, 1981, July 11, 1982, and February 6, 1986, has been determined using neutron monitor and IMP spacecraft data which cover the energy range from about 50 MeV to 30 GeV. The contribution of solar flare protons to the lower-energy data from the IMP cosmic ray telescopes was carefully removed. The authors found that the rigidity dependences of the magnitudes of the July 1981, July 1982, and February 1986 Forbush decreases for P {ge} 2 GV were given by exp ({minus}1/P{sup 0.75}), exp ({minus}1/P{sup 0.6}), and exp ({minus}1/P{sup 1.0}), respectively. For 0.5 {le} P {le} 2 GV the magnitude of the Forbush decreases in July 1981 and July 1982 was rigidity independent. The February 1986 event also appeared to be rigidity independent below {approximately}1 GV. The characteristic recovery time of these Forbush decreases was found to be not strongly rigidity dependent. These results on the rigidity dependence of Forbush decreases for 0.5 < P < 20 GV are discussed in the context of proposed models.
Non-rigid registration using higher-order mutual information
Rueckert, D.; Clarkson, M. J.; Hill, D. L. G.; Hawkes, D. J.
2000-03-01
Non-rigid registration of multi-modality images is an important tool for assessing temporal and structural changesbetween images. For rigid registration, voxel similarity measures like mutual information have been shown to alignimages from different modalities accurately and robustly. For non-rigid registration, mutual information can besensitive to local variations of intensity which in MR images may be caused by RF inhomogeneity. The reasonfor the sensitivity of mutual information towards intensity variations stems from the fact that mutual informationignores any spatial information. In this paper we propose an extension of the mutual information framework whichincorporates spatial information about higher-order image structure into the registration process and has the potentialto improve the accuracy and robustness of non-rigid registration in the presence of intensity variations. We haveapplied the non-rigid registration algorithm to a number of simulated MR brain images of a digital phantom whichhave been degraded by a simulated intensity shading and a known deformation. In addition, we have applied thealgorithm for the non-rigid registration of eight pre- and post-operative brain MR images which were acquired withan interventional MR scanner and therefore have substantial intensity shading due to RF field inhomogeneities. Inall cases the second-order estimate of mutual information leads to robust and accurate registration.
MATLAB在刚体运动教学中的应用%Application of MATLAB in Rigid Motion Teaching
罗春润; 黎雪; 何桂福; 罗志荣
2016-01-01
刚体运动问题是大学物理教学中较抽象的重要知识点。本文应用MATLAB对大学物理的刚体运动学问题进行求解，直观体现物理量之间的关系，让学生更好地理解和掌握物理规律，增加学生学习物理的兴趣。%The rigid body movement is an important knowledge point in college physics teaching. MATLAB is used to solve the problem of rigid body kinematics in college physics,which can directly reflect the relationship between physical quantities,so that students can better understand and master the laws of physics,and increase students' interest in learning physics.
Miana, A N; Prudêncio, M V; Barros, R M L
2009-11-01
The purpose of this study was to compare the two main types of marker sets for human body representation based on rigid clusters of markers and skin surface markers for measuring kinematics during walking and running. Velocity, body segment, and joint angle were considered in the comparison of both protocols. Six male athletes were studied during treadmill gait at 1.4 and 5.5 m/s and recorded with 8 high speed video cameras. The subjects used simultaneously both protocols in the same walking and running cycles, in order to compare the variability in the determination of the joint centers' positions and the joint angles calculated from each protocol. The three-way ANOVA results showed that the variability of the inter-markers distance in the skin surface protocol was higher than that in the rigid clusters of markers, as reported in the literature. However, no statistical differences between the protocols were found in the variability of the determination of the joint centers' positions. Therefore no advantage was verified to rigid cluster protocols even for the upper body segments. Another conclusion is that increases in velocity produced increases in variability of the joint centers' distances and increases in the maximum differences between the joint angles.
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[The role of rigid bronchoscope in the diagnosis and treatment of plastic bronchitis].
Wang, Yafang; Song, Yingluan; Wang, Xiaodong; Zhang, Lili; Liu, Xiaofeng; Wen, Xin; Zhao, Haitao
2015-11-01
To explore the role of rigid bronchoscope in the diagnosis and treatment of plastic bronchitis. Various clinical parameters, the key points of operation and postoperative recovery were analyzed in 8 patients with plastic bronchitis treated in Department and ICU using retrospective analysis. All cases demonstrated bronchial lumen stenosis, mucous membrance coarse, congestion, edema in the affected side. 2 cases had follicular hyperplasia, 1 case had a few ooze after taking out the plastic type. All cases had endogenous foreign bodies, taking the shape of the bronchial tree or a funicular. Block shape and sites were as follows: right main bronchus 2 cases, superior lobe of right lung 1 case, right middle bronchial 1 case, left main bronchus 2 cases, 1 case with left lower lobe, right main bronchus and left lower lobe bronchus 1 case. The breath sounds of the affected side become more enhanced after operation, with the alliviation of dyspnea. All cases recovered after ICU treatment. The pathologic examination were all type I plastic bronchitis. Removement of the endogenous foreign body via rigid bronchoscopy is the effective method in the treatment of plastic bronchitis. Plastic bronchitis is a rapid-developing critical, urgent disease.In order to reduce the mortality, early diagnosis and timely surgery are necessary.
21 CFR 886.5918 - Rigid gas permeable contact lens care products.
2010-04-01
... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Rigid gas permeable contact lens care products... contact lens care products. (a) Identification. A rigid gas permeable contact lens care product is a... rigid gas permeable contact lens. This includes all solutions and tablets used together with rigid...
Barriers to cooperation aid ideological rigidity and threaten societal collapse.
Jusup, Marko; Matsuo, Tadasu; Iwasa, Yoh
2014-05-01
Understanding the factors that promote, disrupt, or shape the nature of cooperation is one of the main tasks of evolutionary biology. Here, we focus on attitudes and beliefs supportive of in-group favoritism and strict adherence to moral consensus, collectively known as ideological rigidity, that have been linked with both ends of the political spectrum. The presence among the political right and the left is likely to make ideological rigidity a major determinant of the political discourse with an important social function. To better understand this function, we equip the indirect reciprocity framework--widely used to explain evaluation-mediated social cooperation--with multiple stylized value systems, each corresponding to the different degree of ideological rigidity. By running game theoretical simulations, we observe the competitive evolution of these systems, map conditions that lead to more ideologically rigid societies, and identify potentially disastrous outcomes. In particular, we uncover that barriers to cooperation aid ideological rigidity. The society may even polarize to the extent where social parasites overrun the population and cause the complete collapse of the social structure. These results have implications for lawmakers globally, warning against restrictive or protectionist policies.
Structural Rigidity of Paranemic (PX) and Juxtapose (JX) DNA Nanostructures
Santosh, Mogurampelly; 10.1016/j.bpj.2011.08.007
2011-01-01
Crossover motifs are integral components for designing DNA based nanostructures and nanomechanical devices due to their enhanced rigidity compared to the normal B-DNA. Although the structural rigidity of the double helix B-DNA has been investigated extensively using both experimental and theoretical tools, to date there is no quantitative information about structural rigidity and the mechanical strength of parallel crossover DNA motifs. We have used fully atomistic molecular dynamics simulations in explicit solvent to get the force-extension curve of parallel DNA nanostructures to characterize their mechanical rigidity. In the presence of mono-valent Na+ ions, we find that the stretch modulus (\\gamma_1) of the paranemic crossover (PX) and its topo-isomer JX DNA structure is significantly higher (~ 30%) compared to normal B-DNA of the same sequence and length. However, this is in contrast to the original expectation that these motifs are almost twice rigid compared to the double-stranded B-DNA. When the DNA mo...
Unified Creep Plasticity Damage (UCPD) Model for Rigid Polyurethane Foams.
Neilsen, Michael K. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Lu, Wei-Yang [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Scherzinger, William M. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Hinnerichs, Terry D. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Lo, Chi S. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
2015-06-01
Numerous experiments were performed to characterize the mechanical response of several different rigid polyurethane foams (FR3712, PMDI10, PMDI20, and TufFoam35) to large deformation. In these experiments, the effects of load path, loading rate, and temperature were investigated. Results from these experiments indicated that rigid polyurethane foams exhibit significant volumetric and deviatoric plasticity when they are compressed. Rigid polyurethane foams were also found to be very strain-rate and temperature dependent. These foams are also rather brittle and crack when loaded to small strains in tension or to larger strains in compression. Thus, a new Unified Creep Plasticity Damage (UCPD) model was developed and implemented into SIERRA with the name Foam Damage to describe the mechanical response of these foams to large deformation at a variety of temperatures and strain rates. This report includes a description of recent experiments and experimental findings. Next, development of a UCPD model for rigid, polyurethane foams is described. Selection of material parameters for a variety of rigid polyurethane foams is then discussed and finite element simulations with the new UCPD model are compared with experimental results to show behavior that can be captured with this model.
Maguinness, Corrina; Newell, Fiona N
2015-04-01
There is growing evidence to suggest that facial motion is an important cue for face recognition. However, it is poorly understood whether motion is integrated with facial form information or whether it provides an independent cue to identity. To provide further insight into this issue, we compared the effect of motion on face perception in two developmental prosopagnosics and age-matched controls. Participants first learned faces presented dynamically (video), or in a sequence of static images, in which rigid (viewpoint) or non-rigid (expression) changes occurred. Immediately following learning, participants were required to match a static face image to the learned face. Test face images varied by viewpoint (Experiment 1) or expression (Experiment 2) and were learned or novel face images. We found similar performance across prosopagnosics and controls in matching facial identity across changes in viewpoint when the learned face was shown moving in a rigid manner. However, non-rigid motion interfered with face matching across changes in expression in both individuals with prosopagnosia compared to the performance of control participants. In contrast, non-rigid motion did not differentially affect the matching of facial expressions across changes in identity for either prosopagnosics (Experiment 3). Our results suggest that whilst the processing of rigid motion information of a face may be preserved in developmental prosopagnosia, non-rigid motion can specifically interfere with the representation of structural face information. Taken together, these results suggest that both form and motion cues are important in face perception and that these cues are likely integrated in the representation of facial identity.
Rigidity and pH dependent Morphology of Beta-Lactoglobulin Spherulites
Gayetsky, Lisa; Armstead, Douglas
2008-03-01
Beta-Lactoglobulin is a milk protein that will denature in acidic solution (less than 2.0 pH) and if heated for extended periods (greater than 18 hours) it will form radial structures called Spherulites. Spherulites, along with the amyloid fibrils that compose them, are of practical importance because they form in the human body and cause the amyloidosis diseases. Different amyloidosis are caused by different types of denatured proteins occurring in different parts of the body. Since it is believed that Spherulite formation is a generic protein characteristic, Beta-Lactoglobulin is a legitimate and easy to use protein to study these structures. In this study we are quantifying the shape of Beta-Lactoglobulin Spherulites to determine if the pH of the protein solution has an impact on the morphology due to side chain interactions or other causes. We are also testing the rigidity of these structures to determine the relevance of small shape changes.
An adaptive numerical method for free surface flows passing rigidly mounted obstacles
Nikitin, Kirill D; Terekhov, Kirill M; Vassilevski, Yuri V; Yanbarisov, Ruslan
2016-01-01
The paper develops a method for the numerical simulation of a free-surface flow of incompressible viscous fluid around a streamlined body. The body is a rigid stationary construction partially submerged in the fluid. The application we are interested in the paper is a flow around a surface mounted offshore oil platform. The numerical method builds on a hybrid finite volume / finite difference discretization using adaptive octree cubic meshes. The mesh is dynamically refined towards the free surface and the construction. Special care is taken to devise a discretization for the case of curvilinear boundaries and interfaces immersed in the octree Cartesian background computational mesh. To demonstrate the accuracy of the method, we show the results for two benchmark problems: the sloshing 3D container and the channel laminar flow passing the 3D cylinder of circular cross-section. Further, we simulate numerically a flow with surface waves around an offshore oil platform for the realistic set of geophysical data.
Witjes, J.A.; Moonen, P.M.J.; Heijden, A.G. van der
2005-01-01
INTRODUCTION AND OBJECTIVE: Several studies have shown that rigid fluorescence cystoscopy (RFC) with hexaminolevulinate (HAL) is superior to standard rigid white light (RWLC) cystoscopy in diagnosing bladder tumours, with a clinically relevant impact on the patient's management. These studies, howev
Foreign body in children?s airways
Cassol Vitor
2003-01-01
Full Text Available OBJECTIVE: To determine the clinical characteristics and the results of bronchoscopic treatment of children due to foreign body aspiration in a university hospital. METHOD: Time series of children who underwent bronchoscopies for foreign bodies aspirated into the airway between March 1993 and July 2002. Each patient was analyzed for age, sex, initial clinical diagnosis, nature and location of the foreign body, duration of symptoms between aspiration and bronchoscopy, radiological findings, results of bronchoscopic removal, complications of bronchoscopy and presence of foreign bodies in the airways. RESULTS: Thirty-four children, 20 (59% boys, ages ranging from nine months to nine years (median = 23 months. In 32 (94% children the foreign body was removed by rigid bronchoscope, and two resulted in thoracotomy. Foreign bodies were more frequent in children under three years of age (66%. A clinical history of foreign body inhalation was obtained in 27 (80% cases. Most of the foreign bodies removed were organic (65% and more frequently found in the right bronchial tree (59%. Foreign bodies were removed within 24 hours in 18 (53% cases. The most frequent radiographic findings were: unilateral air trapping, atelectasis and radiopac foreign body. Major bronchoscopy complications occurred in seven children (22%, and there were no deaths. CONCLUSIONS: More attention is necessary to the respiratory symptoms of aspirations, mainly in boys at early ages, with clinical history and compatible radiological findings. Most foreign bodies removed were of organic nature. In this case series, therapeutic rigid bronchoscopy was effective with few complications.
Friction effects on lateral loading behavior of rigid piles
Zania, Varvara; Hededal, Ole
2012-01-01
The adequacy of the p -y curves used in the current practice for the design of rigid pile foundations with large diameter, like in the case of monopile foundations of offshore wind turbines, has been widely questioned. The current study aims at analyzing the lateral behavior of rigid piles, while...... taking into account the shear frictional resistance along the pile. For this purpose efficient three dimensional finite element models of different diameter have been developed. The increase of the side friction and of the diameter of the pile is shown to alter the failure pattern and increase...... the lateral capacity of the pile. The obtained p - y curves demonstrate the importance of the aforementioned parameters in the design of rigid piles, as the reduction of friction along the interface reduces not only the ultimate load but also the stiffness of the soil-pile response. Read More: http...